Semi-automated mid-turbinate swab sampling using a six degrees of freedom collaborative robot and cameras

Mid-turbinate swab sampling is an effective way to detect the severe acute respiratory syndrome coronavirus 2 (SARS-CoV-2) virus. Several articles discussed importance and benefits of using robotic technology alleviate healthcare workers’ daily burdens against disease 2019 (COVID-19). Therefore, a semi-automated approach for collecting samples from mid-turbinate area-approximately 4 cm inside nose proposed. The system utilizes six-degrees-of-freedom (6-DOF) Doosan Robot M1509 two smart visual sensors: one on end effector other fixed side estimating angle nasal path. This work suggests method robot human collaboration in process that could minimize infections samplings guarantee uniformly administered processes. effectiveness this proposed was tested live patient phantom head; meanwhile, insertion only head. Although overall time experiment greater than manual swab, feasibility implementing applications COVID-19 has been practically showcased paper.