Robotic Manipulation System Design and Control for Non-Contact Remote Diagnosis in Otolaryngology: Digital Twin Approach

The COVID-19 pandemic has emphasized the need for non-contact medical robots to alleviate the heavy workload and emotional stress experienced by healthcare professionals while preventing infection. In response, we propose a non-contact robotic diagnostic system for otolaryngology clinics, utilizing a digital twin model for initial design optimization. The system employs a master-slave robot architecture, with the slave robot comprising a flexible endoscope manipulation robot and a parallel robot arm for controlling additional medical instruments. The novel 4 degrees of freedom (DOF) control mechanism enables the single robotic arm to handle the endoscope, facilitating the process compared to the traditional two-handed approach. Phantom experiments were conducted to evaluate the effectiveness of the proposed flexible endoscope manipulation system in terms of diagnosis completion time, NASA task load index (NASA-TLX), and subjective risk score. The results demonstrate the system's usability and its potential to alternate conventional diagnosis. © 2013 IEEE.

UVC and Far-UVC light disinfection ground robot design for sterilizing the Coronavirus on vertical surfaces

With the global coronavirus pandemic still persisting, the repeated disinfection of large spaces and small rooms has become a priority and matter of focus for researchers and developers. The use of ultraviolet light (UV) for disinfection is not new;however, there are new efforts to make the methods safer, more thorough, and automated. Indeed, continuous very low dose-rate far-UVC light in indoor public locations is a promising, safe and inexpensive tool to reduce the spread of airborne-mediated microbial diseases. This paper investigates the problem of disinfecting surfaces using autonomous mobile robots equipped with UV light towers. In order to demonstrate the feasibility of our autonomous disinfection framework, we also present a teleoperated robotic prototype. It consists of a robotic rover unit base, on which two separate UV light towers carrying 254 nm UVC and 222 nm far-UVC lights are mounted. It also includes a live-feed camera for remote operation, as well as power and communication electronics for the remote operation of the UV lamps. The 222 nm far-UVC light has been recently shown to be non-inammatory and non-photo carcinogenic when radiated on mammalian skin, while still sterilizing the coronavirus on irradiated surfaces. With far-UVC light, disinfection robots may no longer require the evacuation of spaces to be disinfected. The robot demonstrates promising disinfection performance and potential for future autonomous applications. © 2022 SPIE. All rights reserved.