Visual Positioning of Nasal Swab Robot Based on Hierarchical Decision  

作　　者：李国志 邹水中 丁数学 LI Guozhi;ZOU Shuizhong;DING Shuxue(School of Artificial Intelligence,Guilin University of Electronic Technology,Guilin 541004,Guangxi,China;School of Electronic Engineering and Automation,Guilin University of Electronic Technology,Guilin 541004,Guangxi,China)

机构地区：[1]School of Artificial Intelligence,Guilin University of Electronic Technology,Guilin 541004,Guangxi,China [2]School of Electronic Engineering and Automation,Guilin University of Electronic Technology,Guilin 541004,Guangxi,China

出　　处：《Journal of Shanghai Jiaotong university(Science)》2023年第3期323-329,共7页上海交通大学学报（英文版）

基　　金：the Director Foundation of Guangxi Key Laboratory of Automatic Detection Technology and Instrument(No.YQ21110)。

摘　　要：This study focuses on a robot vision localization method for coping with the operational task ofautomatic nasal swab sampling. The application is important in the detection and epidemic prevention of CoronaVirus Disease 2019 (COVID-19) to alleviate the large-scale negative impact of individuals suffering from pneumoniaowing to COVID-19. In this method, the idea of a hierarchical decision network is used to consider the stronginfectious characteristics of the COVID-19, which is followed by processing the robot behavior constraint condition.The visual navigation and positioning method using a single-arm robot for sampling is also planned, whichconsiders the operation characteristics of medical staff. In the decision network, the risk factor for potentialcontact infection caused by swab sampling operations is established to avoid the spread among personnel. A robotvisual servo control with artificial intelligence characteristics is developed to achieve a stable and safe nasal swabsampling operation. Experiments demonstrate that the proposed method can achieve good vision positioning forthe robots and provide technical support for managing new major public health situations.

关 键 词：surgical robot nasal swab sampling vision servo hierarchical decision 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置] R314[自动化与计算机技术—控制科学与工程]