Intuitive Remote Robotic Nasal Sampling by Orientation Control With Variable RCM in Limited Space

When performing polymerase chain reaction testing, collecting nasopharyngeal swabs from patients is necessary. Hence, the development of a noncontact specimen collection system is desired to avoid the risk of secondary infection from direct contact between the medical personnel and patients. This study aims to develop a master-follower-type remote specimen collection system to achieve infection protection through adequate isolation. A teleoperated robot is used for specimen collection work instead of a human; the teleoperated robot moves remotely, and a cotton swab is grasped and inserted into the nostril by the robot. A remote center of motion (RCM) mechanism was implemented to prevent the cotton swabs from making excessive contact with the nostril during specimen collection. Further, a variable RCM constraint that combines safety and operability is proposed as the conventional RCM control modification. The evaluation results indicated that the variable RCM restraint allowed a quicker and safer collection of specimens than the conventional RCM constraint.