A Flexible Transoral Swab Sampling Robot System with Visual-Tactile Fusion Approach

Jiaxiang Dong ¹ Peng Li ^2* Quanquan Liu ^3* Qi Liu ⁴ Chunbao Wang ⁴ Xuezhi Zhao ¹ Xiping Hu ³

• ¹ South China University of Technology, Guangzhou, Guangdong Province, China
• ² College of Science, Harbin Institute of Technology (Shenzhen), Shenzhen, China
• ³ Shenzhen MSU-BIT University, Shenchzhen, China
• ⁴ Shenzhen Second People's Hospital, Shenzhen, Guangdong Province, China

A significant number of individuals have been affected by pandemic diseases, such as COVID-19 and seasonal influenza. Nucleic acid testing is a common method for identifying infected patients. However, manual sampling methods require the involvement of numerous healthcare professionals. To address this challenge, we propose a novel transoral swab sampling robot designed to autonomously perform nucleic acid sampling using a visual-tactile fusion approach. The robot comprises a series-parallel hybrid flexible mechanism for precise distal posture adjustment and a visual-tactile perception module for navigation within the subject’s oral cavity. The series-parallel hybrid mechanism, driven by flexible shafts, enables omnidirectional bending through coordinated movement of the two segments of the bendable joint. The visual-tactile perception module incorporates a camera to capture oral images of the subject and recognize the nucleic acid sampling point using a deep learning method. Additionally, a force sensor positioned at the distal end of the robot provides feedback on contact force as the swab is inserted into the subject’s oral cavity. The sampling robot is capable of autonomously performing transoral swab sampling while navigating using the visual-tactile perception algorithm. Preliminary experimental trials indicate that the designed robot system is feasible, safe, and accurate for sample collection from subjects.