Vision Language Models (VLMs) excel in zero-shot image classification by pairing images with textual category names. The expanding variety of Pre-Trained VLMs enhances the likelihood of identifying a suitable VLM for specific tasks. To better reuse the VLM resource and fully leverage its potential on different zero-shot image classification tasks, a promising strategy is selecting appropriate Pre-Trained VLMs from the VLM Zoo, relying solely on the text data of the target dataset without access to the dataset's images. In this paper, we analyze two inherent challenges in assessing the ability of a VLM in this Language-Only VLM selection: the "Modality Gap"--the disparity in VLM's embeddings across two different modalities, making text a less reliable substitute for images; and the "Capability Gap"-- the discrepancy between the VLM's overall ranking and its ranking for target dataset, hindering direct prediction of a model's dataset-specific performance from its general performance. We propose VLM Selection With gAp Bridging (SWAB) to mitigate the negative impact of two gaps. SWAB first adopts optimal transport to capture the relevance between open-source and target datasets with a transportation matrix. It then uses this matrix to transfer useful statistics of VLMs from open-source datasets to the target dataset for bridging two gaps. By bridging two gaps to obtain better substitutes for test images, SWAB can accurately predict the performance ranking of different VLMs on the target task without the need for the dataset's images.

Diabetic foot ulcers (DFUs), a class of chronic wounds, affect ~750,000 individuals every year in the US alone and identifying non-healing DFUs that develop to chronic wounds early can drastically reduce treatment costs and minimize risks of amputation. There is therefore a pressing need for diagnostic tools that can detect non-healing DFUs early. We develop a low cost, multi-analyte 3D printed assays seamlessly integrated on swabs that can identify non-healing DFUs and a Wound Sensor iOS App - an innovative mobile application developed for the controlled acquisition and automated analysis of wound sensor data. By comparing both the original base image (before exposure to the wound) and the wound-exposed image, we developed automated computer vision techniques to compare density changes between the two assay images, which allow us to automatically determine the severity of the wound. The iOS app ensures accurate data collection and presents actionable insights, despite challenges such as variations in camera configurations and ambient conditions. The proposed integrated sensor and iOS app will allow healthcare professionals to monitor wound conditions real-time, track healing progress, and assess critical parameters related to wound care.

Vision Language Models (VLMs) excel in zero-shot image classification by pairing images with textual category names. The expanding variety of Pre-Trained VLMs enhances the likelihood of identifying a suitable VLM for specific tasks. To better reuse the VLM resource and fully leverage its potential on different zero-shot image classification tasks, a promising strategy is selecting appropriate Pre-Trained VLMs from the VLM Zoo, relying solely on the text data of the target dataset without access to the dataset's images. In this paper, we analyze two inherent challenges in assessing the ability of a VLM in this Language-Only VLM selection: the "Modality Gap"--the disparity in VLM's embeddings across two different modalities, making text a less reliable substitute for images; and the "Capability Gap"-- the discrepancy between the VLM's overall ranking and its ranking for target dataset, hindering direct prediction of a model's dataset-specific performance from its general performance. We propose VLM Selection With gAp Bridging (SWAB) to mitigate the negative impact of two gaps.

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.

Manual oropharyngeal (OP) swab sampling is an intensive and risky task. In this article, a novel OP swab sampling device of low cost and high compliance is designed by combining the visuo-tactile sensor and the pneumatic actuator-based gripper. Here, a concave visuo-tactile sensor called CoTac is first proposed to address the problems of high cost and poor reliability of traditional multi-axis force sensors. Besides, by imitating the doctor's fingers, a soft pneumatic actuator with a rigid skeleton structure is designed, which is demonstrated to be reliable and safe via finite element modeling and experiments. Furthermore, we propose a sampling method that adopts a compliant control algorithm based on the adaptive virtual force to enhance the safety and compliance of the swab sampling process. The effectiveness of the device has been verified through sampling experiments as well as in vivo tests, indicating great application potential. The cost of the device is around 30 US dollars and the total weight of the functional part is less than 0.1 kg, allowing the device to be rapidly deployed on various robotic arms. Videos, hardware, and source code are available at: https://sites.google.com/view/swab-sampling/.

He's 11-years-old and, until he can receive his shots, Gronvall's been using at-home COVID-19 test kits in order to determine if his sniffles are more than allergies or a slight cold. The test swabs are longer than a Q-tip, but easier on the nasal cavity than a flu diagnostic or the original "brain swab" used to test for COVID since early in the pandemic. "There's often a lot of stuff coming out of their nose," Gronvall said of her kids, with a slight chuckle, when we talked recently. As an associate professor at the Johns Hopkins Bloomberg School of Public Health, Gronvall knows the importance of testing. "We can't all rely on everybody being extra scrupulous and paying attention to all of the COVID restrictions," she said.

A new COVID-19 diagnostic low-cost test now allows users to self-test for variants at home using a sample of their saliva. According to experts, the test could cost as low as $2. Scientists from Wyss Institute for Biologically Inspired Engineering at Harvard University and the Massachusetts Institute of Technology (MIT), and several Boston-area hospitals recently created the Minimally Instrumented SHERLOCK (miSHERLOCK) diagnostic test that gives users their results within 55 minutes. The CRISPR-based diagnostic test was designed to be able to distinguish between three different COVID-19 variants, including the highly contagious Delta strain. The test will only need a sample of the user's saliva. The results will then be sent to an accompanying smartphone app within an hour.

Covid-19 can be accurately detected by skin swabs rubbed on the face, neck or back, a study suggests. Currently, the only way to reliably detect Covid-19 is with highly-invasive swabs which go up the nose or to the back of the throat. But University of Surrey researchers say sebum -- a waxy substance made by glands in the skin -- is altered by the coronavirus and can therefore be used to detect signs of infection. Currently, the only way to reliably detect Covid-19 is with highly-invasive swabs which go up the nose or to the back of the throat. Sixty-seven hospitalised patients were recruited for the study between May and June 2020.