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- 저자 : Jongwoon Lee(이종원) (검색결과 1 건)
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Visual Control of Automated COVID-19 Swab Sampling Robot
Guebin Hwang(황규빈),Jongwoon Lee(이종원),Sungwook Yang(양성욱) 대한기계학회 2021 대한기계학회 춘추학술대회 Vol.2021 No.11
As coronavirus disease 2019 (COVID-19) has become a global pandemic, the initial screening of patients is regarded as the most effective way to prevent the spread of COVID-19. However, enormous swap sampling has led to the high workload of medical professionals as the number of infection has increased. Therefore, we propose a swab sampling robot systems in a fully automated fashion to address these issues. For automation of nasopharyngeal swab, the proposed robot system is designed to automatically insert a sampling swab through one nostril and collect sample via visual feedback. A prototype of the robot system incorporates a 6-DOF manipulator and a RGB-D sensor to investigate the feasibility of a visual-servo control scheme in automatic swab sampling. For accurate and safe operation, a deep learning-based nostril detection algorithm is adopted, which offers an accuracy of 99% at 60 FPS. Given the nostril position in 3D, the robot is planned to reach the target within a specific time. Since the kinematic control of the robot is prone to failure in reaching the target, we introduce the visual-servo control of the robot via the detection and tracking of error between the target position and the current swab tip. As a result, the visual-servo controlled robot could successfully reach the nostril target within an error of 1.11 mm on average for 30 trails trials different swabs, while the non-visual control with a 10.58-mm positioning error failed to reach the target.
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