Case study on force compliant robot arm controller for nasopharyngeal swab insertion
Abstract The nasopharyngeal (NP) swab sample test, commonly used to detect COVID-19 and other respiratory illnesses, involves moving a swab through the nasal cavity to collect samples from the nasopharynx. While typically this is done by human healthcare workers, there is a significant societal inte...
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| Format: | Article |
| Language: | English |
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Nature Portfolio
2025-07-01
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| Series: | Scientific Reports |
| Online Access: | https://doi.org/10.1038/s41598-025-06032-7 |
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| _version_ | 1849238728190459904 |
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| author | Peter Q. Lee John S. Zelek Katja Mombaur |
| author_facet | Peter Q. Lee John S. Zelek Katja Mombaur |
| author_sort | Peter Q. Lee |
| collection | DOAJ |
| description | Abstract The nasopharyngeal (NP) swab sample test, commonly used to detect COVID-19 and other respiratory illnesses, involves moving a swab through the nasal cavity to collect samples from the nasopharynx. While typically this is done by human healthcare workers, there is a significant societal interest to enable robots to do this test to reduce exposure to patients and to free up human resources. The task is challenging from the robotics perspective because of the dexterity and safety requirements. While other works have implemented specific hardware solutions, our research differentiates itself by using a ubiquitous rigid robotic arm. This work presents a case study where we investigate the strengths and challenges using compliant control system to accomplish NP swab tests with such a robotic configuration. To accomplish this, we designed a force sensing end-effector that integrates with the proposed torque controlled compliant control loop. We then conducted experiments where the robot inserted NP swabs into a 3D printed nasal cavity phantom. Ultimately, we found that the compliant control system outperformed a basic position controller and shows promise for human use. However, further efforts are needed to ensure the initial alignment with the nostril and to address head motion. |
| format | Article |
| id | doaj-art-d5c7788eaaa449f6a2102a1ce630ca8e |
| institution | Kabale University |
| issn | 2045-2322 |
| language | English |
| publishDate | 2025-07-01 |
| publisher | Nature Portfolio |
| record_format | Article |
| series | Scientific Reports |
| spelling | doaj-art-d5c7788eaaa449f6a2102a1ce630ca8e2025-08-20T04:01:25ZengNature PortfolioScientific Reports2045-23222025-07-0115111110.1038/s41598-025-06032-7Case study on force compliant robot arm controller for nasopharyngeal swab insertionPeter Q. Lee0John S. Zelek1Katja Mombaur2Systems Design Engineering, University of WaterlooSystems Design Engineering, University of WaterlooSystems Design Engineering, University of WaterlooAbstract The nasopharyngeal (NP) swab sample test, commonly used to detect COVID-19 and other respiratory illnesses, involves moving a swab through the nasal cavity to collect samples from the nasopharynx. While typically this is done by human healthcare workers, there is a significant societal interest to enable robots to do this test to reduce exposure to patients and to free up human resources. The task is challenging from the robotics perspective because of the dexterity and safety requirements. While other works have implemented specific hardware solutions, our research differentiates itself by using a ubiquitous rigid robotic arm. This work presents a case study where we investigate the strengths and challenges using compliant control system to accomplish NP swab tests with such a robotic configuration. To accomplish this, we designed a force sensing end-effector that integrates with the proposed torque controlled compliant control loop. We then conducted experiments where the robot inserted NP swabs into a 3D printed nasal cavity phantom. Ultimately, we found that the compliant control system outperformed a basic position controller and shows promise for human use. However, further efforts are needed to ensure the initial alignment with the nostril and to address head motion.https://doi.org/10.1038/s41598-025-06032-7 |
| spellingShingle | Peter Q. Lee John S. Zelek Katja Mombaur Case study on force compliant robot arm controller for nasopharyngeal swab insertion Scientific Reports |
| title | Case study on force compliant robot arm controller for nasopharyngeal swab insertion |
| title_full | Case study on force compliant robot arm controller for nasopharyngeal swab insertion |
| title_fullStr | Case study on force compliant robot arm controller for nasopharyngeal swab insertion |
| title_full_unstemmed | Case study on force compliant robot arm controller for nasopharyngeal swab insertion |
| title_short | Case study on force compliant robot arm controller for nasopharyngeal swab insertion |
| title_sort | case study on force compliant robot arm controller for nasopharyngeal swab insertion |
| url | https://doi.org/10.1038/s41598-025-06032-7 |
| work_keys_str_mv | AT peterqlee casestudyonforcecompliantrobotarmcontrollerfornasopharyngealswabinsertion AT johnszelek casestudyonforcecompliantrobotarmcontrollerfornasopharyngealswabinsertion AT katjamombaur casestudyonforcecompliantrobotarmcontrollerfornasopharyngealswabinsertion |