신속 비대면 비강 자동 검체 추출 로봇 시스템 개발

Abstract

It is important to identify and isolate the infected to control the spread of COVID-19. The face-to-face sample collection method has a problem in that it increases the risk of infection and increases the workload of medical staff. In this paper, an image guide-based rapid non-face-to-face nasal automatic sampling robot system is introduced. It consists of a 7-DOF sampling manipulator. The end effector is equipped with a 6-axis force sensor and a mechanical safety mechanism to inherently guarantee the safety of the subject during sample extraction. In an experiment with a phantom model, the possibility of automatic nasal sampling using a robot was confirmed.