A Flexible Transoral Robot Towards COVID-19 Swab Sampling

There are high risks of infection for surgeons during the face-to-face COVID-19 swab sampling due to the novel coronavirus’s infectivity. To address this issue, we propose a flexible transoral robot with a teleoperated configuration for swab sampling. The robot comprises a flexible manipulator, an endoscope with a monitor, and a master device. A 3-prismatic-universal (3-PU) flexible parallel mechanism with 3 degrees of freedom (DOF) is used to realize the manipulator’s movements. The flexibility of the manipulator improves the safety of testees. Besides, the master device is similar to the manipulator in structure. It is easy to use for operators. Under the guidance of the vision from the endoscope, the surgeon can operate the master device to control the swab’s motion attached to the manipulator for sampling. In this paper, the robotic system, the workspace, and the operation procedure are described in detail. The tongue depressor, which is used to prevent the tongue’s interference during the sampling, is also tested. The accuracy of the manipulator under visual guidance is validated intuitively. Finally, the experiment on a human phantom is conducted to demonstrate the feasibility of the robot preliminarily.

Deployable Telescopic Tubular Mechanisms With a Steerable Tongue Depressor Towards Self-Administered Oral Swab

Swabbing tests have proved to be an effective method of diagnosis for a wide range of diseases. Potential occupational health hazards and reliance on healthcare workers during traditional swabbing procedures can be mitigated by self-administered swabs. Hence, we report possible methods to apply closed kinematic chain theory to develop a self-administered viral swab to collect respiratory specimens. The proposed sensorized swab models utilizing hollow polypropylene tubes possess mechanical compliance, simple construction, and inexpensive components. In detail, the adaptation of the slider-crank mechanism combined with concepts of a deployable telescopic tubular mechanical system is explored through four different oral swab designs. A closed kinematic chain on suitable material to create a developable surface allows the translation of simple two-dimensional motion into more complex multi-dimensional motion. These foldable telescopic straws with multiple kirigami cuts minimize components involved in the system as the characteristics are built directly into the material. Further, it offers a possibility to include soft stretchable sensors for realtime performance monitoring. A variety of features were constructed and tested using the concepts above, including 1) tongue depressor and cough/gag reflex deflector; 2) changing the position and orientation of the oral swab when sample collection is in the process; 3) protective cover for the swabbing bud; 4) a combination of the features mentioned above.

Channel Buoys in Ports for Navigation

Buoy is a device which floats in the sea water, used to direct the ships in which this paper is preferable to get electricity from salt water/ sea water by using two tongue depressor. Using level sensor has per this paper, where going to sense distance between a ship / a boat and a buoy, regarding the distance between those two objects, alarms or buzzers may indicates. An IOT applications has been implemented on a buoy, so that if any obstacles damage a buoy, the information can be specified to the communication station through SIM900

Measurement of Oral Moisture on Oral Dryness Patients

Many elderly patients have oral dryness; thus, it is necessary to evaluate the oral moisture in a clinical setting. The aim of this study was to clarify the importance of controlling the measuring pressure of the oral moisture-checking device. The influence of the measuring pressure of the oral moisture-checking device was examined using agar under 10 measuring pressure conditions (Kruskal–Wallis test). Fifty-five oral dryness patients were examined the lingual moisture using the device with and without a tongue depressor. The tongue depressor was placed underneath the tongue to support it during the measurement. The mean value and the coefficient of variation of five measurements was evaluated (paired t-test or Wilcoxon signed-ranks test). The agar moisture values changed according to the measuring pressure (p < 0.05). The lingual moisture value with the tongue depressor was higher than that without the tongue depressor (p < 0.05). The coefficient of variation with the tongue depressor was smaller than that without the tongue depressor (p < 0.01). The results of this study indicated that the measuring pressure of oral moisture-checking device influenced the measurement value, and it is necessary to support the tongue for the measurement of lingual mucosal moisture in a uniform manner.