The application of autonomous robotics to close-contact healthcare tasks has a clear role for the future due to its potential to reduce infection risks to staff and improve clinical efficiency. Nasopharyngeal (NP) swab sample collection for diagnosing upper-respiratory illnesses is one type of close contact task that is interesting for robotics due to the dexterity requirements and the unobservability of the nasal cavity. We propose a control system that performs the test using a collaborative manipulator arm with an instrumented end-effector to take visual and force measurements, under the scenario that the patient is unrestrained and the tools are general enough to be applied to other close contact tasks. The system employs a visual servo controller to align the swab with the nostrils. A compliant joint velocity controller inserts the swab along a trajectory optimized through a simulation environment, that also reacts to measured forces applied to the swab. Additional subsystems include a fuzzy logic system for detecting when the swab reaches the nasopharynx and a method for detaching the swab and aborting the procedure if safety criteria is violated. The system is evaluated using a second robotic arm that holds a nasal cavity phantom and simulates the natural head motions that could occur during the procedure. Through extensive experiments, we identify controller configurations capable of effectively performing the NP swab test even with significant head motion, which demonstrates the safety and reliability of the system.

The nasopharyngeal (NP) swab test is a method for collecting cultures to diagnose for different types of respiratory illnesses, including COVID-19. Delegating this task to robots would be beneficial in terms of reducing infection risks and bolstering the healthcare system, but a critical component of the NP swab test is having the swab aligned properly with the nasal cavity so that it does not cause excessive discomfort or injury by traveling down the wrong passage. Existing research towards robotic NP swabbing typically assumes the patient's head is held within a fixture. This simplifies the alignment problem, but is also dissimilar to clinical scenarios where patients are typically free-standing. Consequently, our work creates a vision-guided pipeline to allow an instrumented robot arm to properly position and orient NP swabs with respect to the nostrils of free-standing patients. The first component of the pipeline is a precomputed joint lookup table to allow the arm to meet the patient's arbitrary position in the designated workspace, while avoiding joint limits. Our pipeline leverages semantic face models from computer vision to estimate the Euclidean pose of the face with respect to a monocular RGB-D camera placed on the end-effector. These estimates are passed into an unscented Kalman filter on manifolds state estimator and a pose based visual servo control loop to move the swab to the designated pose in front of the nostril. Our pipeline was validated with human trials, featuring a cohort of 25 participants. The system is effective, reaching the nostril for 84% of participants, and our statistical analysis did not find significant demographic biases within the cohort.

The nasopharyngeal (NP) swab sample test, commonly used to detect COVID-19 and other respiratory illnesses, involves moving a swab through the nasal cavity to collect samples from the nasopharynx. While typically this is done by human healthcare workers, there is a significant societal interest to enable robots to do this test to reduce exposure to patients and to free up human resources. The task is challenging from the robotics perspective because of the dexterity and safety requirements. While other works have implemented specific hardware solutions, our research differentiates itself by using a ubiquitous rigid robotic arm. This work presents a case study where we investigate the strengths and challenges using compliant control system to accomplish NP swab tests with such a robotic configuration. To accomplish this, we designed a force sensing end-effector that integrates with the proposed torque controlled compliant control loop. We then conducted experiments where the robot inserted NP swabs into a 3D printed nasal cavity phantom. Ultimately, we found that the compliant control system outperformed a basic position controller and shows promise for human use. However, further efforts are needed to ensure the initial alignment with the nostril and to address head motion.

It's safe to say that proboscis monkeys are some of the strangest looking creatures in the animal kingdom. While female monkeys have pointy noses, the males have large, rather phallic noses – earning them the title of the'world's ugliest animals'. Now, a study has finally got to the bottom of this unusual facial feature. Scientists from the Australian National University say that their large noses are more than just an eye sore. Instead, they offer several major benefits – especially when it comes to attracting a female partner.

Researchers from Brigham and Women's Hospital unveiled an array of cutting-edge medical technology in a Thursday virtual showcase that included a bedside teddy bear powered by artificial intelligence and a nasal spray that can prevent the spread of viruses. The Discover Brigham event united doctors and scientists from all corners of the medical community to share the latest research and development of ideas and products that can shape the health care industry. One such development is a nasal spray that can prevent the transmission of respiratory viruses by capturing and killing the inhaled aerosols in the nasal cavity. "In addition to containing the virus, the components of the formulation are also able to deactivate the virus within a few minutes of capture," said John Joseph, BWH postdoctoral fellow in the Center for Nanomedicine. The pocket-sized spray coats the nasal cavity for up to four hours without irritation or sensory impairment, and can be used as a barrier when masks aren't feasible such as while eating and drinking, Joseph said during Thursday's virtual demo.

It was a key moment that allowed our species to spread around the world from humble beginnings in Africa. But the migration of our ancestors from the African continent around 50,000 years ago was not helped by the evolution of our noses. In fact, our protruding noses formed as a result of other changes in our face and did not help us adapt to new climates as was previously thought, new research suggests. The researchers used a computer model to simulate the flow of air through human noses, pictured, compared to chimpanzees and macaques. We are flat-faced hominins with external noses that protrude from our faces.