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An Autonomous Swab Sampling Robotic System and Method of Operating the Same

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An Autonomous Swab Sampling Robotic System and Method of Operating the Same

ORDINARY APPLICATION

Published

date

Filed on 5 November 2024

Abstract

ABSTRACT: Title: An Autonomous Swab Sampling Robotic System and Method of Operating the Same The present disclosure proposes an autonomous swab sampling robotic system (100) that avoids human intervention in the swab sampling process in various medical examinations. The autonomous swab sampling robotic system (100) comprises a sample collection unit (104), a swab reload station (115), an autonomous nostril detection and tracking system (116), a swab collection unit (125), a sanitization unit (126), a stripping unit (134) and a controller (136). The sample collection unit (104) is configured to automatically collect samples from a patient who needs to be tested in real-time using at least one swab (10). The autonomous nostril detection and tracking system (116) is configured to extract the three-dimensional coordinates of the patient. The controller (136) is configured to control the swab sampling process for safely collecting the samples from the patient’s nasal cavities

Patent Information

Application ID202441084732
Invention FieldELECTRONICS
Date of Application05/11/2024
Publication Number47/2024

Inventors

NameAddressCountryNationality
Dr. Sudheer A. PAssociate Professor, Department of Mechanical Engineering, National Institute of Technology Calicut, NIT Campus (P.O), Calicut, Kozhikode – 673601, Kerala, India.IndiaIndia
Hemanth Sankar PStudent, Department of Mechanical Engineering, National Institute of Technology Calicut, NIT Campus (P.O), Calicut, Kozhikode – 673601, Kerala, India.IndiaIndia
Srirangam Raj HarshitStudent, Department of Mechanical Engineering, National Institute of Technology Calicut, NIT Campus (P.O), Calicut, Kozhikode – 673601, Kerala, India.IndiaIndia
Nikhil KarnaStudent, Department of Mechanical Engineering, National Institute of Technology Calicut, NIT Campus (P.O), Calicut, Kozhikode – 673601, Kerala, India.IndiaIndia

Applicants

NameAddressCountryNationality
National Institute of Technology CalicutNIT Campus (P.O). Calicut, Kozhikode-673601, Kerala, IndiaIndiaIndia

Specification

Description:DESCRIPTION:
Field of the invention:
[0001] The present disclosure generally relates to the technical field of robots, in particular, relates to an autonomous swab sampling robotic system that avoids human intervention for performing a swab sampling process for various medical examinations.
Background of the invention:
[0002] Swab sampling is a technique to collect samples in various medical examinations. The swab sampling process is performed by collecting one or more samples from a surface by rubbing a sterile swab across the surface. The traditional swab sampling process involves human intervention in collecting samples from the patient or user.

[0003] The prominent task to counter COVID-19 is the initial diagnosis of the SARS-CoV-2 virus. Timely diagnosis guides further anti-infection measurements, such as effective quarantine and dedicated therapy. Currently, most countries and WHO have recommended nasopharyngeal (NP) and oropharyngeal (OP) swab sampling for COVID-19 specimen sampling and diagnosis. The existing realization of OP and NP swab sampling heavily relies on medical staff to swab patients face-to-face manually. Face-to-face sampling of potential virus carriers requires a large number of quantified medical staff and unavoidably exposes the medical staff to potential infection danger. The doctors or nurses have to be armed with heavy protection suits from head to foot. This results in a heavy working burden and yet does not completely eliminate the risk of infection.

[0004] Robotic sampling is a promising solution for this challenge because robots are intrinsically immune to viruses and can work without experiencing fatigue. The introduction of robots aims to improve the automation and efficiency of the COVID-19 swab sampling process. Existing technology uses a swab robot with sampling force limited in the range of 10 to 60 g with a preliminary test. In terms of assisting human labor swab sampling, a low-cost miniature robot is deployed in the existing technology. The existing swab sampling robot uses collaborative robot arms to mount versatile end-effectors dedicated to swab sampling.

[0005] However, the current sampling robot solution has two challenges. One is to ensure the safety of patients when sampling by a bulky and rigid robot and operating inside the marrow oral cavity or nasal cavity with delicate soft tissue. The second one is to replicate human operation dexterity in a compact and lightweight robotic system. For example, in a real OP sampling process, patients will sometimes cough due to discomfort. This results in a potential human-robot collision with operational risk. Besides, successful sampling requires dexterous manipulation of the swab in a confined space. Considering safety, comfort, and dexterity, current robots are significantly inferior compared to human operations.

[0006] By addressing all the above-mentioned problems, there is a need for an autonomous swab sampling robotic system that avoids human intervention in the swab sampling process in various medical examinations. There is also a need for an autonomous swab sampling robotic system that uses a compliant gripper to collect a swab effectively. There is also a need for an autonomous swab sampling robotic system that uses a capturing unit to detect a three-dimensional image and determine the position of at least one patient. There is also a need for an autonomous swab sampling robotic system that uses a sensing unit to detect any irregular movements, external forces, and deflections to ensure smooth and safe operation of at least one swab while collecting at least one sample from the patient.

[0007] There is also a need for an autonomous swab sampling robotic system that can detect the position of at least one nostril and navigate the at least one swab to the nostril for collecting the sample. There is also a need for an autonomous swab sampling robotic system that is integrated with a force feedback system to prevent external forces from acting on a manipulator. Further, there is also a need for an autonomous swab sampling robotic system that uses a compliant end effector, which enables the safety of the patient by preventing injury in case of collision.
Objectives of the invention:
[0008] The primary objective of the present invention is to provide an autonomous swab sampling robotic system that avoids human intervention in the swab sampling process in various medical examinations.

[0009] Another objective of the present invention is to provide an autonomous swab sampling robotic system that uses a compliant end-effector to collect one or more swabs effectively.

[0010] Yet another objective of the present invention is to provide an autonomous swab sampling robotic system that uses an autonomous nostril detection and tracking system to detect a three-dimensional image and determine the position of at least one nostril of a patient.

[0011] Another objective of the present invention is to provide an autonomous swab sampling robotic system that uses a feedback system to detect any irregular movements, external forces, and deflections to ensure smooth and safe operation of at least one swab while collecting at least one sample from the patient.

[0012] Another objective of the present invention is to provide an autonomous swab sampling robotic system that can detect the position of the patient's nasal cavity and navigate the at least one swab to the patient's nasal cavity for collecting the sample.

[0013] Yet another objective of the present invention is to provide an autonomous swab sampling robotic system that is integrated with a force feedback system to adjust to external forces from on the manipulator.

[0014] Another objective of the present invention is to provide an autonomous swab sampling robotic system that uses an automatic sanitization unit to dispense required amounts of sanitizer and providing ample time to dry the compliant end-effector.

[0015] Further objective of the present invention is to provide an autonomous swab sampling robotic system that uses a 3 fingered compliant end effector for collecting the swab, which enables the safety of the patient by preventing injury in case of collision.

Summary of the invention:
[0016] The present disclosure proposes an autonomous swab sampling robotic system. The following presents a simplified summary in order to provide a basic understanding of some aspects of the claimed subject matter. This summary is not an extensive overview. It is not intended to identify key/critical elements or to delineate the scope of the claimed subject matter. Its sole purpose is to present some concepts in a simplified form as a prelude to the more detailed description that is presented later.

[0017] In order to overcome the above deficiencies of the prior art, the present disclosure is to solve the technical problem to provide an autonomous swab sampling robotic system that avoids human intervention for the swab sampling process in various medical examinations.

[0018] According to one aspect, the invention provides the autonomous swab sampling robotic system. The autonomous swab sampling robotic system comprises a sample collection unit, a swab reload station, an autonomous nostril detection and tracking system, a sample collection unit, a sanitization unit, and a stripping unit.

[0019] In one embodiment, the sample collection unit is configured for automatically collecting samples from a patient who needs to be tested in real-time using at least one swab. In one embodiment, the sample collection unit is positioned on a platform.

[0020] In one embodiment, the sample collection unit comprises a manipulator, a compliant end-effector, a feedback system and a controller. In one embodiment, the manipulator having an arm is rotatably supported on a base, in specific the manipulator is configured to move the arm in multiple directions in a controlled manner. In one embodiment, the manipulator is a 6-degree of freedom (DoF) manipulator, which is configured to operate in at least six directions.

[0021] In one embodiment, the compliant end-effector having at least three fingers is movably affixed to the arm. The compliant end-effector is configured to safely and accurately grip at least one swab from the swab reload station by applying a uniform force across the swab, thereby ensuring its structural integrity and preventing bending or torsion, the compliant end-effector is a 3D-printed gripper.

[0022] In one embodiment, the autonomous nostril detection and tracking system configured to extract three-dimensional coordinates of the patient for precisely identifying a position of patient's nasal cavities for navigation of the grabbed swab using the manipulator, thereby allowing the compliant end-effector to controllably insert the grabbed swab into the patient's nasal cavity for safely collecting the samples.

[0023] In one embodiment, the autonomous nostril detection and tracking system is operably positioned on the platform. In one embodiment, the autonomous nostril detection and tracking system comprises a capturing unit, a depth sensor.

[0024] In one embodiment, the capturing unit is configured to capture the patient in real-time and enhance precision in mapping precise coordinates and angle of the patient's nasal cavities, thereby enabling greater accuracy in identifying the nasal cavity's position and controlling the manipulator accordingly. In one embodiment herein, the capturing unit is a stereo vision camera, which is configured to determine x, y and z coordinates of the patient's nostril with respect to the robotic system.

[0025] In one embodiment, the depth sensor is configured to provide depth assessment for allowing the autonomous nostril detection and tracking system to perform accurate detection and tracking of the patient's nasal cavities.

[0026] In one embodiment, the feedback system is configured to allow the manipulator to controllably move the compliant end-effector at a minimal force, which is safely exerted onto the patient's nasal cavity, and enable quick retraction of the compliant end-effector to a safe position in case of sudden jerks or emergency movements of the patient detected by the autonomous nostril detection and tracking system.

[0027] In one embodiment herein, the feedback system comprises a sensing unit, which is configured to detect irregular movements, external forces and deflections acting on the compliant end-effector, thereby preventing harm to the patient's nasal cavities or mitigate the impact in case of sudden jerks or emergency movements of the patient during the swab sampling process.

[0028] In one embodiment, the sanitization unit is securely positioned on the platform. In one embodiment herein, the sanitization unit is configured to sanitize the compliant end-effector upon depositing at least one sample of the at least one patient, thereby preventing the transfer of any potential virus on to the compliant end-effector. In one embodiment, the sanitization unit comprises a nozzle, which is fluidly connected to a pump and configured for spraying required amounts of sanitizer onto the compliant end-effector, thereby ensuring effective sanitization of the compliant end-effector.

[0029] In one embodiment, the sanitization unit comprises a pair of splash guards. In one embodiment, the splash guards are operably positioned to hold the compliant end-effector of the manipulator upon activation for the sanitizing process. In one embodiment, the each splash guard comprises a proximity sensor, which is configured to detect the compliant end-effector entering through the pair of splash guards, thereby activating a pump by the controller to dispense sanitizer via the nozzle on to the compliant end-effector upon detection.

[0030] In one embodiment herein, the stripping unit is configured to separate an applicator stick from the at least one swab collected in each test tube. In one embodiment, the autonomous swab sampling robotic system integrates a database management system (DBMS), which is configured to enhance the post-processing efficiency of the collected swabs.

[0031] In one embodiment, the controller is configured to control the swab sampling process for safely collecting the samples from the patient's nasal cavities by controlling the manipulator and the compliant end-effector based on data received from the autonomous nostril detection and tracking system and the feedback system.

[0032] In one embodiment, the controller is configured to activate the autonomous nostril detection and tracking system to extract three-dimensional coordinates of the patient for precisely identifying a position of the patient's nasal cavities for navigation of at least one swab using the manipulator.

[0033] In one embodiment, the controller is configured to activate the compliant end-effector of the manipulator to safely and accurately grip the at least one swab from the swab reload station by applying a uniform force across the swab, thereby ensuring its structural integrity and preventing bending or torsion.

[0034] In one embodiment, the controller is configured to allow the compliant end-effector to controllably insert the grabbed swab into the patient's nasal cavity for safely collecting the samples.

[0035] In one embodiment, the controller is configured to activate the feedback system for allowing the manipulator to controllably move the compliant end-effector at a minimal force, which is safely exerted onto the patient's nasal cavity, and enable quick retraction of the compliant end-effector to a safe position in case of sudden jerks or emergency movements of the patient detected by the autonomous nostril detection and tracking system.

[0036] In one embodiment, the controller is configured to enable the manipulator to deposit the collected sample into at least one test tube positioned within the swab collection unit.

[0037] In one embodiment, the controller is configured to activate the sanitization unit to sanitize the compliant end-effector upon depositing at least one sample of at least one patient, thereby preventing the transfer of any potential virus onto the compliant end-effector. In one embodiment, the controller is configured to activate the stripping unit to separate the applicator stick from the at least one swab collected in each test tube.

[0038] According to another aspect, the invention provides a method for operating an autonomous swab sampling robotic system for the swab sampling process. At one step, the controller activates the autonomous nostril detection and tracking system to extract three-dimensional coordinates of the patient for precisely identifying a position of the patient's nasal cavities for navigation of at least one swab using the manipulator.

[0039] At another step, the controller activates the compliant end-effector of the manipulator to safely and accurately grip the at least one swab from the swab reload station by applying a uniform force across the swab, thereby ensuring its structural integrity and preventing bending or torsion.

[0040] At another step, the compliant end-effector is enabled to controllably insert the grabbed swab into the patient's nasal cavity for safely collecting the samples. At other step, the controller activates the feedback system and enables the manipulator to controllably move the compliant end-effector at a minimal force, which is safely exerted onto the patient's nasal cavity, and enable quick retraction of the compliant end-effector to a safe position in case of sudden jerks or emergency movements of the patient detected by the autonomous nostril detection and tracking system.

[0041] At another step, the manipulator deposits the collected sample into at least one test tube positioned within the swab collection unit. At another step, the controller activates the sanitization unit to sanitize the compliant end-effector upon depositing at least one sample of the at least one patient, thereby preventing the transfer of any potential virus on to the compliant end-effector.

[0042] Further at another step, the controller activates the stripping unit to separate the applicator stick from the at least one swab collected in each test tube.

[0043] Further, objects and advantages of the present invention will be apparent from a study of the following portion of the specification, the claims, and the attached drawings.
Detailed description of drawings:
[0044] The accompanying drawings, which are incorporated in and constitute a part of the specification, illustrate an embodiment of the invention, and, together with the description, explain the principles of the invention.

[0045] FIG. 1 illustrates an isometric view of an autonomous swab sampling robotic system, in accordance to an exemplary embodiment of the invention.

[0046] FIGs. 2A-2B illustrate isometric views of the autonomous swab sampling robotic system, in accordance to an exemplary embodiment of the invention.

[0047] FIG. 3A illustrates a right side view of the autonomous swab sampling robotic system, in accordance to an exemplary embodiment of the invention.

[0048] FIG. 3B illustrates a left side view of the autonomous swab sampling robotic system, in accordance to an exemplary embodiment of the invention.

[0049] FIG. 4 illustrates a top view of the autonomous swab sampling robotic system, in accordance to an exemplary embodiment of the invention.

[0050] FIG. 5 illustrates a front view of the autonomous swab sampling robotic system, in accordance to an exemplary embodiment of the invention.

[0051] FIG. 6 illustrates an isometric view of a sanitization unit, in accordance to an exemplary embodiment of the invention.

[0052] FIG. 7 illustrates a flowchart of a method for operating an autonomous swab sampling robotic system for swab sampling process, in accordance to an exemplary embodiment of the invention.
Detailed invention disclosure:
[0053] Various embodiments of the present invention will be described in reference to the accompanying drawings. Wherever possible, same or similar reference numerals are used in the drawings and the description to refer to the same or like parts or steps.

[0054] The present disclosure has been made with a view towards solving the problem with the prior art described above, and it is an object of the present invention to provide an autonomous swab sampling robotic system that avoids human intervention for the swab sampling process in various medical examinations.

[0055] The autonomous swab sampling robotic system 100 uses a compliant end-effector 114 to collect one or more swabs 10 effectively. The autonomous swab sampling robotic system 100 uses an autonomous nostril detection and tracking system 116 to detect a three-dimensional image and determine the position of at least one patient. The autonomous swab sampling robotic system 100 detects the position of the patient's nasal cavity and navigates the swab 10 to the patient's nasal cavity for collecting the sample.

[0056] According to one exemplary embodiment of the invention, FIG. 1 refers to an isometric view of an autonomous swab sampling robotic system 100. The autonomous swab sampling robotic system 100 comprises a sample collection unit 104, a swab reload station 115, the autonomous nostril detection and tracking system 116, a swab collection unit 125, a sanitization unit 126, a QR scanner 133, a camera 135 and a stripping unit 134.

[0057] In one embodiment herein, the sample collection unit 104 is configured for automatically collecting samples from a patient who needs to be tested in real-time using at least one swab 10. In one embodiment herein, the sample collection unit 104 is positioned on a platform 102.

[0058] In one embodiment herein, the sample collection unit 104 comprises a manipulator 108, the compliant end-effector 114, a feedback system or a force feedback system 122 (as shown in FIG. 2A) and a controller 136. In one embodiment herein, the manipulator 108 having an arm 110 is rotatably supported on a base 106, in specific the manipulator 108 is configured to move the arm 110 in multiple directions in a controlled manner. In one embodiment herein, the manipulator 108 is a 6-degree of freedom (DoF) manipulator, which is configured to operate in at least six directions.

[0059] The 6-degree of freedom (DoF) manipulator is a robotic arm that has six degrees of freedom, allowing it to move and orient itself in six independent directions. The six independent directions include three linear directions and three rotational directions. The three linear directions comprise up and down directions (z-axis), forward and backward directions (x-axis), left and right directions (y-axis). In one embodiment herein, the three rotational directions comprise clockwise and counter clockwise rotation around the z-axis (yaw), up and down rotation around the x-axis (pitch), left and right rotation around the y-axis (roll).

[0060] In one embodiment herein, the compliant end-effector 114 having at least three fingers 112 is movably affixed to the arm 110. The compliant end-effector 114 is configured to safely and accurately grip at least one swab 10 from the swab reload station 115 by applying a uniform force across the swab 10, thereby ensuring its structural integrity and preventing bending or torsion. In one embodiment herein, the compliant end-effector 114 is a 3D-printed gripper.

[0061] In one embodiment herein, the autonomous nostril detection and tracking system 116 configured to extract three-dimensional coordinates of the patient for precisely identifying a position of patient's nasal cavities for navigation of the grabbed swab 10 using the manipulator 108, thereby allowing the compliant end-effector 114 to controllably insert the grabbed swab 10 into the patient's nasal cavity for safely collecting the samples.

[0062] In one embodiment herein, the feedback system 122 is configured to allow the manipulator 108 to controllably move the compliant end-effector 114 at a minimal force, which is safely exerted onto the patient's nasal cavity, and enable quick retraction of the compliant end-effector 114 to a safe position in case of sudden jerks or emergency movements of the patient detected by the autonomous nostril detection and tracking system 116.

[0063] In one embodiment herein, the sanitization unit 126 is securely positioned on the platform 102. In one embodiment herein, the sanitization unit 126 is configured to sanitize the compliant end-effector 114 upon depositing at least one sample of the at least one patient, thereby preventing the transfer of any potential virus on to the compliant end-effector 114.

[0064] In one embodiment herein, the stripping unit 134 is configured to separate an applicator stick from the at least one swab 10 collected in each test tube 12. In one embodiment herein, the autonomous swab sampling robotic system 100 integrates a database management system (DBMS), which is configured to enhance the post-processing efficiency of the collected swabs 10.

[0065] In one embodiment herein, the controller 136 is configured to control the swab sampling process for safely collecting the samples from the patient's nasal cavities by controlling the manipulator 108 and the compliant end-effector 114 based on data received from the autonomous nostril detection and tracking system 116 and the feedback system 122.

[0066] In one embodiment herein, the controller 136 is configured to activate the autonomous nostril detection and tracking system 116 to extract three-dimensional coordinates of the patient for precisely identifying a position of patient's nasal cavities for navigation of at least one swab 10 using the manipulator 108.

[0067] In one embodiment herein, the controller 136 is configured to activate the compliant end-effector 114 of the manipulator 108 to safely and accurately grip the at least one swab 10 from the swab reload station 115 by applying a uniform force across the swab 10, thereby ensuring its structural integrity and preventing bending or torsion.

[0068] In one embodiment herein, the controller 136 is configured to allow the compliant end-effector 114 to controllably insert the grabbed swab 10 into the patient's nasal cavity for safely collecting the samples.

[0069] In one embodiment herein, the controller 136 is configured to activate the feedback system 122 for allowing the manipulator 108 to controllably move the compliant end-effector 114 at a minimal force, which is safely exerted onto the patient's nasal cavity, and enable quick retraction of the compliant end-effector 114 to a safe position in case of sudden jerks or emergency movements of the patient detected by the autonomous nostril detection and tracking system 116.

[0070] In one embodiment herein, the controller 136 is configured to enable the manipulator 108 to deposit the collected sample into at least one test tube 12 positioned within the swab collection unit 125.

[0071] In one embodiment herein, the controller 136 is configured to activate the sanitization unit 126 to sanitize the compliant end-effector 114 upon depositing at least one sample of the at least one patient, thereby preventing the transfer of any potential virus on to the compliant end-effector 114. In one embodiment herein, the controller 136 is configured to activate the stripping unit 134 to separate the applicator stick from the at least one swab 10 collected in each test tube 12.

[0072] In one embodiment herein, the autonomous swab sampling robotic system 100 allows the patients to assume a relaxed position without being constrained by any components or parts of the system 100, thereby fostering a hygienic sampling environment that minimises contact between the patients and any part of the robotic system 100.

[0073] According to another exemplary embodiment of the invention, FIGs. 2A-2B refer to isometric views of the autonomous swab sampling robotic system 100. In one embodiment herein, the autonomous nostril detection and tracking system 116 is operably positioned on the platform 102. In one embodiment, the autonomous nostril detection and tracking system 116 comprises a capturing unit 118, a depth sensor 120.

[0074] In one embodiment herein, the capturing unit 118 is configured to capture the patient in real-time and enhance precision in mapping precise coordinates and angle of the patient's nasal cavities, thereby enabling greater accuracy in identifying the nasal cavity's position and accordingly controlling the manipulator 108. In one embodiment herein, the capturing unit 118 could be a stereo vision camera, which is configured to determine x and y coordinates of the patient for detecting the position of the nasal cavities.

[0075] The stereo vision camera uses two or more image sensors to capture images from slightly different perspectives, mimicking human binocular vision. This allows the camera to perceive depth and create a 3D image of the surrounding environment. The stereo vision camera is used for tasks such as object recognition, navigation, and manipulation.

[0076] In one embodiment herein, the depth sensor 120 is configured to provide depth assessment for allowing the autonomous nostril detection and tracking system 116 to perform accurate detection and tracking of the patient's nasal cavities.

[0077] In one embodiment herein, the feedback system 122 comprises a sensing unit 124, which is configured to detect irregular movements, external forces and deflections acting on the compliant end-effector 114, thereby preventing harm to the patient's nasal cavities or mitigate the impact in case of sudden jerks or emergency movements of the patient during the swab sampling process. In one embodiment herein, the sensing unit 124 could be at least one of any force sensors. The force sensors provide real-time information about the force applied during the sample collecting process. This allows the sample collection unit 104 to adjust its grip strength dynamically, ensuring a secure hold of at least one swab 10 without causing any disturbances or damage to the patient. The force sensor detects changes in force that might indicate an external force acting on at least one swab 10 likely due to contact with the patient's nasal wall at the compliant end-effector 114. This allows the sample collection unit 104 to take corrective actions, such as adjusting or retracting back the arm 110 of the manipulator 108 to initial position.

[0078] According to another exemplary embodiment of the invention, FIG. 3A refers to a right side view of the autonomous swab sampling robotic system 100. The autonomous swab sampling robotic system 100 integrates a database management system (DBMS), which is designed to enhance the post-processing efficiency of the collected swabs 10. The database management system (DBMS) employs the QR scanner 133 and the camera 135 positioned above a matrix of test tubes 10 containing viral transport medium for sample storage. The proposed functionality entails that when the patient submits at least one sample, they use the QR scanner 133 to scan an ID (such as a patient card from the hospital or any government ID with accessible data). The camera 135 positioned over the collection unit 125, assigns a position to each test tube 10 based on a simple matrix system. Upon scanning the ID, patient data can be retrieved. Additionally, as soon as a new test tube receives the sample, the camera detects a change in color balance. Utilizing the aforementioned matrix system, the program determines the position of the newly collected sample, enabling the mapping of patient details to the collected sample. According to another exemplary embodiment of the invention, FIG. 3B refers to a left-side view of the autonomous swab sampling robotic system 100.

[0079] According to another exemplary embodiment of the invention, FIG. 4 refers to a top view of the autonomous swab sampling robotic system 100. The sanitization unit 126 is configured to sanitize the compliant end-effector 114 upon depositing at least one sample of the at least one patient, thereby preventing the transfer of any potential virus onto the compliant end-effector 114. A swab stripper mechanism capable of planar translation above the swab collection unit 125 is used to break the applicator stick of at least one swab 10 once the at least one swab 10 is placed in the test tube 10.

[0080] According to another exemplary embodiment of the invention, FIG. 5 refers to a front view of the autonomous swab sampling robotic system 100. The autonomous swab sampling robotic system 100 is integrated with the force feedback system 122 to prevent external forces from acting on the manipulator 108. The autonomous swab sampling robotic system uses the compliant end-effector 114, which enables the safety of the patient by preventing injury in case of collision.

[0081] According to another exemplary embodiment of the invention, FIG. 6 refers to an isometric view of the sanitization unit 126. In one embodiment herein, the sanitization unit 126 comprises a nozzle 128, which is fluidly connected to a pump and configured for spraying required amount of sanitizer on to the compliant end-effector 114, thereby ensuring effective sanitization of the compliant end-effector 114.

[0082] In one embodiment herein, the sanitization unit 126 comprises a pair of splash guards 130. In one embodiment herein, the splash guards 130 are operably positioned to hold the compliant end-effector 114 of the manipulator 108 upon activation for sanitizing process. In one embodiment herein, each of the splash guard 130 comprises a proximity sensor 132, which is configured to detect the compliant end-effector 114 entering through the pair of splash guards 130, thereby activating a pump by the controller 136 to dispense sanitizer via the nozzle 128 on to the compliant end-effector 114 upon detection.

[0083] According to another exemplary embodiment of the invention, FIG. 7 refers to a flowchart 700 of a method for operating an autonomous swab sampling robotic system 100 for the swab sampling process. At step 702, the controller 134 activates the autonomous nostril detection and tracking system 116 to extract three-dimensional coordinates of the patient for precisely identifying the position of the patient's nasal cavities for navigation of at least one swab 10 using the manipulator 108.

[0084] At step 704, the controller 134 activates the compliant end-effector 114 of the manipulator 108 to safely and accurately grip the at least one swab 10 from the swab reload station 115 by applying a uniform force across the swab 10, thereby ensuring its structural integrity and preventing bending or torsion.

[0085] At step 706, the compliant end-effector 114 is enabled to controllably insert the grabbed swab 10 into the patient's nasal cavity for safely collecting the samples. At step 708, the controller 136 activates the feedback system 122 and enables the manipulator 108 to controllably move the compliant end-effector 114 at a minimal force, which is safely exerted onto the patient's nasal cavity, and allow quick retraction of the compliant end-effector 114 to a safe position in case of sudden jerks or emergency movements of the patient detected by the autonomous nostril detection and tracking system 116.

[0086] At step 710, the manipulator 108 deposits the collected sample into at least one test tube 12 positioned within the swab collection unit 125. At step 712, the controller 136 activates the sanitization unit 126 to sanitize the compliant end-effector 114 upon depositing at least one sample of the at least one patient, thereby preventing the transfer of any potential virus on to the compliant end-effector 114.

[0087] Further at step 714, the controller 136 activates the stripping unit 134 to separate the applicator stick from the at least one swab 10 collected in each test tube 12.

[0088] Numerous advantages of the present disclosure may be apparent from the discussion above. In accordance with the present disclosure an autonomous swab sampling robotic system 100, is disclosed. The proposed invention provides the autonomous swab sampling robotic system 100 that avoids human intervention in the swab sampling process in various medical examinations. The autonomous swab sampling robotic system 100 uses the compliant end-effector 114 to collect one or more swabs 10 effectively. The autonomous swab sampling robotic system 100 uses the autonomous nostril detection and tracking system 116 to detect a three-dimensional image and determine the position of at least one patient. The proposed invention provides a passive safety system for the patients in the form of the compliant soft end-effector 114 and an active safety system in the form of the manipulator 108.

[0089] The autonomous swab sampling robotic system uses the feedback system 122 to detect any irregular movements, external forces, and deflections to ensure smooth and safe operation of at least one swab 10 while collecting at least one sample from the patient. The autonomous swab sampling robotic system 100 detects the position of the patient's nasal cavity and navigates at least one swab 10 to the nostril for collecting the sample. The autonomous swab sampling robotic system 100 is integrated with the force feedback system to prevent external forces from acting on the manipulator 108. The autonomous swab sampling robotic system 100 enables the safety of the patient by preventing injury in case of collision.

[0090] It will readily be apparent that numerous modifications and alterations can be made to the processes described in the foregoing examples without departing from the principles underlying the invention, and all such modifications and alterations are intended to be embraced by this application.
, Claims:CLAIMS:
I/We Claim:
1. An autonomous swab sampling robotic system (100), comprising:
a sample collection unit (104) configured to automatically collect samples from a patient who needs to be tested in real-time using at least one swab (10), wherein said sample collection unit (104) is positioned on a platform (102),
wherein said sample collection unit (104) comprises:
a manipulator (108) having an arm (110) rotatably supported on a base (106), wherein said manipulator (108) is configured to move said arm (110) in multiple directions in a controlled manner;
a compliant end-effector (114) having at least three fingers (112) movably affixed to said arm (110), wherein said compliant end-effector (114) is configured to safely and accurately grip the at least one swab (10) from a swab reload station (115) by applying a uniform force across the swab (10), thereby ensuring its structural integrity and preventing bending or torsion,
wherein said compliant end-effector (114) is a 3D-printed gripper;
an autonomous nostril detection and tracking system (116) configured to extract three-dimensional coordinates of the patient for precisely identifying a position of patient's nasal cavities for navigation of the grabbed swab (10) using the manipulator (108), thereby allowing said compliant end-effector (114) to controllably insert the grabbed swab (10) into the patient's nasal cavity for safely collecting the samples,
wherein said autonomous nostril detection and tracking system (116) is operably positioned on said platform (102), wherein said autonomous nostril detection and tracking system (116) comprises:
a capturing unit (118) configured to capture the patient in real-time and enhance precision in mapping precise coordinates and angle of the patient's nasal cavities, thereby enabling greater accuracy in identifying the nasal cavity's position and controlling the manipulator (108) accordingly;
a depth sensor (120) configured to provide depth assessment for allowing said autonomous nostril detection and tracking system (116) to perform accurate detection and tracking of the patient's nasal cavities;
a feedback system (122) configured to allow said manipulator (108) to controllably move said compliant end-effector (114) at a minimal force, which is safely exerted onto the patient's nasal cavity, and enable quick retraction of the compliant end-effector (114) to a safe position in case of sudden jerks or emergency movements of the patient detected by said autonomous nostril detection and tracking system (116),
wherein said feedback system (122) comprises:
a sensing unit (124) configured to detect irregular movements, external forces and deflections acting on said compliant end-effector (114), thereby preventing harm to the patient's nasal cavities or mitigate the impact in case of sudden jerks or emergency movements of the patient during the swab sampling process; and
a controller (136) configured to control the swab sampling process for safely collecting the samples from the patient's nasal cavities by controlling said manipulator (108) and said compliant end-effector (114) based on data received from said autonomous nostril detection and tracking system (116) and said feedback system (122).
2. The autonomous swab sampling robotic system (100) as claimed in claim 1, wherein the autonomous swab sampling robotic system (100) comprises:
a sanitization unit (126) securely positioned on the platform (102), wherein the sanitization unit (126) is configured to sanitize the compliant end-effector (114) upon depositing at least one sample of the at least one patient, thereby preventing the transfer of any potential virus on to the compliant end-effector (114),
wherein the sanitization unit (126) comprises a nozzle (128), which is fluidly connected to a pump and configured for spraying required amount of sanitizer on to the compliant end-effector (114), thereby ensuring effective sanitization of the compliant end-effector (114).
3. The autonomous swab sampling robotic system (100) as claimed in claim 2, wherein the sanitization unit (126) comprises:
a pair of splash guards (130) operably positioned to hold the compliant end-effector (114) of the manipulator (108) upon activation for sanitizing process, wherein said each splash guard (130) comprises a proximity sensor (132), which is configured to detect the compliant end-effector (114) entering through the pair of splash guards (130), thereby activating a pump by the controller (136) to dispense sanitizer via the nozzle (128) on to the compliant end-effector (114) upon detection.
4. The autonomous swab sampling robotic system (100) as claimed in claim 1, wherein the autonomous swab sampling robotic system (100) comprises a stripping unit (134) configured to separate an applicator stick from the at least one swab (10) collected in the each test tube (12).
5. The autonomous swab sampling robotic system (100) as claimed in claim 1, wherein the controller (136) is configured to:
activate the autonomous nostril detection and tracking system (116) to extract three-dimensional coordinates of the patient for precisely identifying a position of patient's nasal cavities for navigation of the at least one swab (10) using the manipulator (108);
activate said compliant end-effector (114) of the manipulator (108) to safely and accurately grip the at least one swab (10) from the swab reload station (115) by applying a uniform force across the swab (10), thereby ensuring its structural integrity and preventing bending or torsion;
allow said compliant end-effector (114) to controllably insert the grabbed swab (10) into the patient's nasal cavity for safely collecting the samples;
activate the feedback system (122), thereby allowing said manipulator (108) to controllably move said compliant end-effector (114) at a minimal force, which is safely exerted onto the patient's nasal cavity, and enable quick retraction of the compliant end-effector (114) to a safe position in case of sudden jerks or emergency movements of the patient detected by said autonomous nostril detection and tracking system (116); and
enable said manipulator (108) to deposit the collected sample into at least one test tube (12) positioned within the swab collection unit (125).
6. The autonomous swab sampling robotic system (100) as claimed in claim 1, wherein the controller (134) is configured to:
activate the sanitization unit (126) to sanitize the compliant end-effector (114) upon depositing at least one sample of the at least one patient, thereby preventing the transfer of any potential virus on to the compliant end-effector (114), and
activate the stripping unit (134) to separate the applicator stick from the at least one swab (10) collected in each test tube (12).
7. The autonomous swab sampling robotic system (100) as claimed in claim 1, wherein the manipulator (108) is a 6-degree of freedom (DoF) manipulator, which is configured to operate in at least six directions.
8. The autonomous swab sampling robotic system (100) as claimed in claim 1, wherein the capturing unit (118) is a stereo vision camera, which is configured to determine x and y coordinates of the patient's nasal cavity.
9. The autonomous swab sampling robotic system (100) as claimed in claim 1, wherein the autonomous swab sampling robotic system (100) integrates a database management system (DBMS), which is configured to store data related to the patients and the collected swab samples, thereby enhancing the post-processing efficiency of the collected swabs (10).
10. A method for operating an autonomous swab sampling robotic system (100) for swab sampling process, comprising:
activating, by a controller (136), an autonomous nostril detection and tracking system (116) to extract three-dimensional coordinates of the patient for precisely identifying a position of patient's nasal cavities for navigation of at least one swab (10) using a manipulator (108);
activating, by the controller (136), a compliant end-effector (114) of the manipulator (108) to safely and accurately grip the at least one swab (10) from a swab reload station (115) by applying a uniform force across the swab (10), thereby ensuring its structural integrity and preventing bending or torsion;
enabling, the compliant end-effector (114) to controllably insert the grabbed swab (10) into the patient's nasal cavity for safely collecting the samples;
activating, by the controller (136), a feedback system (122) and enabling said manipulator (108) to controllably move said compliant end-effector (114) at a minimal force, which is safely exerted onto the patient's nasal cavity, and enable quick retraction of the compliant end-effector (114) to a safe position in case of sudden jerks or emergency movements of the patient detected by said autonomous nostril detection and tracking system (116);
depositing, by the manipulator (108), the collected sample into the at least one test tube (12) positioned within the swab collection unit (125);
activating, by the controller (136), a sanitization unit (126) to sanitize the compliant end-effector (114) upon depositing at least one sample of the at least one patient, thereby preventing the transfer of any potential virus onto the compliant end-effector (114); and
activating, by the controller (136), a stripping unit (134) to separate the applicator stick from the at least one swab (10) collected in each test tube (12).

Documents

NameDate
202441084732-EVIDENCE OF ELIGIBILTY RULE 24C1f [06-11-2024(online)].pdf06/11/2024
202441084732-FORM 18A [06-11-2024(online)].pdf06/11/2024
202441084732-COMPLETE SPECIFICATION [05-11-2024(online)].pdf05/11/2024
202441084732-DECLARATION OF INVENTORSHIP (FORM 5) [05-11-2024(online)].pdf05/11/2024
202441084732-DRAWINGS [05-11-2024(online)].pdf05/11/2024
202441084732-EDUCATIONAL INSTITUTION(S) [05-11-2024(online)].pdf05/11/2024
202441084732-EVIDENCE FOR REGISTRATION UNDER SSI(FORM-28) [05-11-2024(online)].pdf05/11/2024
202441084732-FORM 1 [05-11-2024(online)].pdf05/11/2024
202441084732-FORM FOR SMALL ENTITY(FORM-28) [05-11-2024(online)].pdf05/11/2024
202441084732-FORM-9 [05-11-2024(online)].pdf05/11/2024
202441084732-POWER OF AUTHORITY [05-11-2024(online)].pdf05/11/2024
202441084732-REQUEST FOR EARLY PUBLICATION(FORM-9) [05-11-2024(online)].pdf05/11/2024

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