Visual Positioning of Nasal Swab Robot Based on Hierarchical Decision

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.