Faculty of Science and Engineering, Waseda University, Tokyo, Japan.
Med Eng Phys. 2013 May;35(5):684-9. doi: 10.1016/j.medengphy.2012.12.003. Epub 2013 Jan 14.
Central venous catheterization involves venous puncture and catheter insertion for transfusions. Quantitative conditions that facilitate insertion of the needle, such as the angle and velocity of insertion, have not been clarified. We previously developed a robotic system for guiding the needle along a specified puncture path with high precision and are currently implementing a hardware design for a robotic system to assist in blood vessel puncture. In this study, we proposed the insertion angle and velocity for stopping the needle in a blood vessel, assuming that a robotic system such as ours is used during the procedure. We inserted a needle into a segment of porcine jugular vein and obtained the puncture reaction force. Evaluation indices were the magnitude of the sudden decrease in reaction force at the point at which the needle advances and the length of time that the needle is present within the vein. Results indicated that the conditions under which it was easiest to stop the needle inside the vein were an insertion angle range of 10-20 and an insertion velocity of 3mm/s.
中心静脉置管术包括静脉穿刺和导管插入用于输血。便于插入针的定量条件，如插入的角度和速度，尚未明确。我们之前开发了一种用于引导针沿指定穿刺路径高精度移动的机器人系统，目前正在实施一种用于辅助血管穿刺的机器人系统硬件设计。在这项研究中，我们假设在手术过程中使用了我们这样的机器人系统，提出了在血管中停止针的插入角度和速度。我们将一根针插入一段猪颈静脉，并获得了穿刺反作用力。评估指标是针前进时反作用力突然减小的幅度和针在静脉内存在的时间长度。结果表明，最容易将针停留在静脉内的条件是插入角度范围为 10-20，插入速度为 3mm/s。
