Balter Max L, Chen Alvin I, Maguire Timothy J, Yarmush Martin L
Department of Biomedical Engineering, Rutgers University, Piscataway, NJ, 08854, USA.
VascuLogic, LLC, Piscataway, NJ, 08854, USA.
IEEE Trans Ind Electron. 2017 Feb;64(2):1626-1635. doi: 10.1109/TIE.2016.2557306. Epub 2016 Apr 21.
Robotic systems have slowly entered the realm of modern medicine; however, outside the operating room, medical robotics has yet to be translated to more routine interventions such as blood sampling or intravenous fluid delivery. In this paper, we present a medical robot that safely and rapidly cannulates peripheral blood vessels-a procedure commonly known as venipuncture. The device uses near-infrared and ultrasound imaging to scan and select suitable injection sites, and a 9-DOF robot to insert the needle into the center of the vessel based on image and force guidance. We first present the system design and visual servoing scheme of the latest generation robot, and then evaluate the performance of the device through workspace simulations and free-space positioning tests. Finally, we perform a series of motion tracking experiments using stereo vision, ultrasound, and force sensing to guide the position and orientation of the needle tip. Positioning experiments indicate sub-millimeter accuracy and repeatability over the operating workspace of the system, while tracking studies demonstrate real-time needle servoing in response to moving targets. Lastly, robotic phantom cannulations demonstrate the use of multiple system states to confirm that the needle has reached the center of the vessel.
机器人系统已逐渐进入现代医学领域；然而，在手术室之外，医疗机器人技术尚未转化为诸如采血或静脉输液等更常规的干预措施。在本文中，我们展示了一种能够安全、快速地穿刺外周血管的医疗机器人——这一过程通常称为静脉穿刺。该设备使用近红外和超声成像来扫描并选择合适的注射部位，并利用一个9自由度机器人基于图像和力引导将针头插入血管中心。我们首先介绍了最新一代机器人的系统设计和视觉伺服方案，然后通过工作空间模拟和自由空间定位测试评估该设备的性能。最后，我们使用立体视觉、超声和力传感进行了一系列运动跟踪实验，以引导针尖的位置和方向。定位实验表明，在系统的操作工作空间内具有亚毫米级的精度和可重复性，而跟踪研究则证明了针对移动目标的实时针头伺服控制。最后，机器人模拟穿刺演示了使用多种系统状态来确认针头已到达血管中心。
