SwabBot-An oral Swabbing Robotic arm

COVID-19, SARS, and other contagious diseases risk medical staff, during swab collection of the patients. To address this issue, a robotic arm named as "SwabBot" is designed for swab collection without any human intervention. The Swab-Bot is a three link robotic arm with five degrees of freedom. The main components of the arm are Raspberry Pi, Adafruit Servo Hat, Servo Motors MG996R, SG90 and MG90S, Raspberry Pi Camera, 3D printed parts using PLA and the Python Libraries Numpy, Dlib and Servokit. For the working of the arm, face is placed on the chin stand and then the Raspberry Pi Camera detects the face and uses Dlib facial recognition algorithm and detects the mouth. Then the information is given to the Raspberry Pi which makes the servo motors perform the necessary movements within the arm exoskeleton through the servo hat. These movements include grabbing of the swab, then using the swab to collect the required samples from the mouth and finally placing it in the test capsule.