Robotic Manipulation System Design and Control for Non-Contact Remote Diagnosis in Otolaryngology: Digital Twin Approach

Since the COVID-19 pandemic, development of a non-contact medical robot that prevents infection is increasingly required due to field’s heavy workload and emotional stress. To reduce prevent infection, we propose robotic diagnostic system can be applied conventional otolaryngology clinics. A digital twin model was used leverage initial design optimisation system. The proposed developed based on master-slave architecture. slave comprises flexible endoscope manipulation parallel arm controls other instruments. In contrast approach employs two hands, our novel 4 degrees freedom (DOF) control mechanism deal with an single arm. Phantom experiments were performed confirm effectiveness experimental results demonstrate usability in terms three evaluation metrics (i.e. diagnosis completion time, NASA task load index (NASA-TLX), subjective risk score).