Development of Robot-Assisted Untact Swab Sampling System for Upper Respiratory Disease

We propose a new telerobotic system for untact swab sampling to prevent the infection of medical staff during upper respiratory sample collection. The system consists of a slave robot and two master devices. The slave robot is designed to move a swab in 6 degrees of freedom within the facial area and to insert and remove the swab under remote control by an operator at the master site based on magnified imaging of the patient's facial area. The insertion and removal of the swab into and from the nostril are implemented by means of a swab insertion unit; as the counterpart to this unit, the master system also includes a swab insertion device to control the swab insertion unit remotely. A force sensor installed on the swab holder enables monitoring of the force generated when the swab touches the target. In experiments, a virtual specimen was installed on the posterior nasopharynx wall of a life-size head phantom model. The nasopharyngeal swab samplings of the phantom model were successfully performed thanks to the force monitoring capability of the proposed telerobotic system, showing that this system is suitable for remote upper respiratory sample collection.