A Development of a Prototype COVID-19 Swab Sampling using Educational 4-axis Robotic Arm

The heightened transmissibility of the coronavirus presents significant hazards for medical professionals conducting face-to-face COVID-19 swab tests. To address this concern, we recommend employing a 4-axis instructional robotic arm, outfitted with a variety of control mechanisms for swab collection. The robot is designed with a versatile manipulator, an endoscope paired with a display, and a master apparatus. The adaptable manipulator enhances testee safety, while the master apparatus's analogous structure simplifies operation for medical professionals. By leveraging the endoscope's visual output, the practitioner can manage the movement of the swab affixed to the manipulator during the collection process. This paper introduces the preliminary robotic system, encompassing its functional space and procedural steps. We also propose future experimental endeavors, such as 1) assessing the manipulator's precision under visual supervision, and 2) conducting a human phantom experiment to validate the robot's practicality.