Collaborative robot precision task in medical microbiology laboratory

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

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).

• Language: English
• Keywords: kinesthetic teaching, learning from demonstration, mass spectrometry, sub-millimetre accuracy, MALDI, colony picking
• Work type: Article
• Typology: 1.01 - Original Scientific Article
• Organization: FE - Faculty of Electrical Engineering; MF - Faculty of Medicine
• Publication status: Published
• Publication version: Version of Record
• Year: 2022
• Number of pages: 10 str.
• Numbering: Vol. 22, iss. 8, art. 2862
• PID: 20.500.12556/RUL-145172
• UDC: 579.6
• ISSN on article: 1424-8220
• DOI: 10.3390/s22082862
• COBISS.SI-ID: 105011971
• Publication date in RUL: 12.04.2023

Record is a part of a journal

• Title: Sensors
• Shortened title: Sensors
• Publisher: MDPI
• ISSN: 1424-8220
• COBISS.SI-ID: 10176278

Licences

• License: CC BY 4.0, Creative Commons Attribution 4.0 International
• Link: http://creativecommons.org/licenses/by/4.0/
• Description: This is the standard Creative Commons license that gives others maximum freedom to do what they want with the work as long as they credit the author.

Secondary language

• Language: Slovenian
• Keywords: kinestetično poučevanje, učenje iz demonstracije, masna spektrometrija

Projects

• Funder: ARRS - Slovenian Research Agency
• Project number: P2-0228
• Name: Analiza in sinteza gibanja pri človeku in stroju