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arXiv 2004.05702cs.RO

一种用于基于PfSPZ的疟疾疫苗生产的蚊子拾放系统

A Mosquito Pick-and-Place System for PfSPZ-based Malaria Vaccine Production

Johns Hopkins University（约翰斯·霍普金斯大学）；Georgia Tech（佐治亚理工学院）；Accenture（埃森哲）；Auris Health（奥里斯健康）；Technical University of Munich（慕尼黑工业大学）；National University of Singapore（新加坡国立大学）；Sanaria, Inc.（萨纳利亚公司）
Henry Phalen, Prasad Vagdargi, Mariah L. Schrum, Sumana Chakravarty, Amanda Canezin, Michael Pozin, Suat Coemert, Iulian Iordachita, Stephen L. Hoffman, Gregory… 展开作者

Henry Phalen, Prasad Vagdargi, Mariah L. Schrum, Sumana Chakravarty, Amanda Canezin, Michael Pozin, Suat Coemert, Iulian Iordachita, Stephen L. Hoffman, Gregory S. Chirikjian, Russell H. Taylor

备注：
12 pages, 11 figures, Manuscript submitted for Special Issue of IEEE CASE 2019 for IEEE T-ASE
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AI总结：

本文提出一种基于计算机视觉和4-DOF机器人的蚊子自动拾放系统，通过定制微夹爪与凹口刀片实现蚊头切除以获取PfSPZ，在50只蚊子测试中实现100%抓取率和90%放置准确率，提升了疟疾疫苗生产效率。

摘要：

疟疾的治疗是一项全球性健康挑战，广泛引入针对该疾病的疫苗将使其受益。目前已开发出一种方法，利用恶性疟原虫（Plasmodium falciparum，Pf）的子孢子（sporozoites，SPZ）制造活生物体疫苗，这些子孢子集中在受感染蚊子的唾液腺中。目前用于获取这些PfSPZ的人工解剖方法在大规模疫苗生产方面并非最优效率。我们提出了一种改进的解剖流程和一种机械固定装置，可提高蚊子解剖速率，并有助于降低该生产环节对操作技能的依赖。我们进一步展示了该生产过程中一个关键步骤的自动化，即从暂存装置中拾取蚊子并将其放入解剖组件中。该机器人蚊子拾放系统的单元测试使用一个定制设计的微型夹爪进行，该夹爪安装在一个四自由度（4-DOF）机器人上，并在计算机视觉系统的引导下运行。蚊子被自主抓取并拉向一对带凹口的解剖刀片，以去除蚊子头部，从而暴露唾液腺。放入这些刀片的过程会根据计算机视觉的输出进行调整，以适应每只被抓取蚊子独特的解剖结构和朝向。在该系统对50只蚊子进行的初步测试中，我们展示了100%的抓取准确率和90%的放置准确率，即能够将蚊子颈部放入刀片凹口内，使头部可以被切除。对于这一困难且非标准的拾放任务而言，这是一个有前景的结果。

英文摘要：

The treatment of malaria is a global health challenge that stands to benefit from the widespread introduction of a vaccine for the disease. A method has been developed to create a live organism vaccine using the sporozoites (SPZ) of the parasite Plasmodium falciparum (Pf), which are concentrated in the salivary glands of infected mosquitoes. Current manual dissection methods to obtain these PfSPZ are not optimally efficient for large-scale vaccine production. We propose an improved dissection procedure and a mechanical fixture that increases the rate of mosquito dissection and helps to deskill this stage of the production process. We further demonstrate the automation of a key step in this production process, the picking and placing of mosquitoes from a staging apparatus into a dissection assembly. This unit test of a robotic mosquito pick-and-place system is performed using a custom-designed micro-gripper attached to a four degree of freedom (4-DOF) robot under the guidance of a computer vision system. Mosquitoes are autonomously grasped and pulled to a pair of notched dissection blades to remove the head of the mosquito, allowing access to the salivary glands. Placement into these blades is adapted based on output from computer vision to accommodate for the unique anatomy and orientation of each grasped mosquito. In this pilot test of the system on 50 mosquitoes, we demonstrate a 100% grasping accuracy and a 90% accuracy in placing the mosquito with its neck within the blade notches such that the head can be removed. This is a promising result for this difficult and non-standard pick-and-place task.

机构、总结、中文摘要均由AI分析而来，可能存在错误，请以论文正文为准。

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