Collaborative robot precision task in medical microbiology laboratory

Baumkircher, Aljaž (avtor), Seme, Katja (avtor), Munih, Marko (avtor), Mihelj, Matjaž (avtor)

This study focuses on the feasibility of collaborative robot implementation in a medical microbiology laboratory by demonstrating fine tasks using kinesthetic teaching. Fine tasks require sub-millimetre positioning accuracy. Bacterial colony picking and identification was used as a case study. Colonies were picked from Petri dishes and identified using matrix-assisted laser desorption/ionization (MALDI) time-of-flight (TOF) mass spectrometry. We picked and identified 56 colonies (36 colonies of Gram-negative Acinetobacter baumannii and 20 colonies of Gram-positive Staphylococcus epidermidis). The overall identification error rate was around 11%, although it was significantly lower for Gram-positive bacteria (5%) than Gram-negative bacteria (13.9%). Based on the identification scores, it was concluded that the system works similarly well as a manual operator. It was determined that tasks were successfully demonstrated using kinesthetic teaching and generalized using dynamic movement primitives (DMP). Further improvement of the identification error rate is possible by choosing a different deposited sample treatment method (e.g., semi-extraction, wet deposition).

• Jezik: Angleški jezik
• Ključne besede: kinesthetic teaching, learning from demonstration, mass spectrometry, sub-millimetre accuracy, MALDI, colony picking
• Vrsta gradiva: Članek v reviji
• Tipologija: 1.01 - Izvirni znanstveni članek
• Organizacija: FE - Fakulteta za elektrotehniko; MF - Medicinska fakulteta
• Status publikacije: Objavljeno
• Različica publikacije: Objavljena publikacija
• Leto izida: 2022
• Št. strani: 10 str.
• Številčenje: Vol. 22, iss. 8, art. 2862
• PID: 20.500.12556/RUL-145172
• UDK: 579.6
• ISSN pri članku: 1424-8220
• DOI: 10.3390/s22082862
• COBISS.SI-ID: 105011971
• Datum objave v RUL: 12.04.2023

Gradivo je del revije

• Naslov: Sensors
• Skrajšan naslov: Sensors
• Založnik: MDPI
• ISSN: 1424-8220
• COBISS.SI-ID: 10176278

Licence

• Licenca: CC BY 4.0, Creative Commons Priznanje avtorstva 4.0 Mednarodna
• Povezava: http://creativecommons.org/licenses/by/4.0/deed.sl
• Opis: To je standardna licenca Creative Commons, ki daje uporabnikom največ možnosti za nadaljnjo uporabo dela, pri čemer morajo navesti avtorja.

Sekundarni jezik

• Jezik: Slovenski jezik
• Ključne besede: kinestetično poučevanje, učenje iz demonstracije, masna spektrometrija

Projekti

• Financer: ARRS - Agencija za raziskovalno dejavnost Republike Slovenije
• Številka projekta: P2-0228
• Naslov: Analiza in sinteza gibanja pri človeku in stroju