이종복 김호빈 김선우 김상도 이호석 김용재 박신석 이종원 2024-01-19T09:30:58Z 2024-01-19T09:30:58Z 2023-06-29 2023-06 1975-6291 https://pubs.kist.re.kr/handle/201004/113652 To control the spread of COVID-19, it is important to identify the infection in its incipient stages so that the infected persons can be dealt with accordingly. The currently used face to face sampling method may increase the risk of infection for medical professionals as it exposes them to the asymptomatic yet infectious patients. This can result in further increases in the load on the medical system and workload of the medical staff. As a solution to this problem, in this paper, we present a robotic system for rapid non-face-to-face automatic nasopharyngeal swab sample collection. The system consists of a custom designed 7-DoF manipulator equipped with a specially developed safety mechanism for restricting the maximum force applied by the tip of the swab. During the swab sampling process, the force applied by the tip of the swab is continuously monitored in real-time by a 3-axis force sensor in order to detect contact with the nasopharynx. The possibility of using this system for automaticnasopharyngeal swab sample collection is proven through experimentation with a phantom model. Korean 한국로봇학회 다자유도 비강 자동 검체 채취 로봇 메커니즘 개발 Development of Multi-DoF Automatic Nasopharyngeal Swab Sampling Robot Article 10.7746/jkros.2023.18.2.164 2 로봇학회 논문지, v.18, no.2, pp.164 - 171 로봇학회 논문지 18 2 164 171 N kci ART002961925 Automatic Swab Sampling Robot Nasal Sampling Quarantine Robot COVID-19