A robot system arranged for autonomously obtaining biological surface samples from a patient

The invention relates to a method for controlling an apparatus (100) for taking biological surface samples of a test surface of a patient, the apparatus comprise a motorized multi-degree of freedom motion system (101) which is connectable with a tool holder (102), wherein the tool holder is configured to hold a sample probe (103) for obtaining the biological sample, a vision system arranged to provide image data, and a control system for controlling the motorized multi-degree of freedom motion system based on the image data, the method comprises setting the sample probe in an initial position, obtaining an image of the test surface during an identification period, determining probe motion data based on the image data of the image, controlling the motorized multi-degree of freedom motion system to move the sample probe until contact with the test surface is determined, and controlling the motorized multi-degree of freedom motion system to move the sample probe while maintaining contact with the test surface based on the probe motion data.