State Key Laboratory of Robotics and System, Harbin Institute of Technology, Harbin, China.
Int J Med Robot. 2023 Aug;19(4):e2512. doi: 10.1002/rcs.2512. Epub 2023 Mar 1.
This study aims to develop a venipuncture robot to replace manual venipuncture to ease the heavy workload, lower the risk of 2019-nCoV infection, and boost venipuncture success rates.
The robot is designed with decoupled position and attitude. It consists of a 3-degree-of-freedom positioning manipulator to locate the needle and a 3-degree-of-freedom end-effector that is always vertical to adjust the yaw and pitch angles of the needle. The near-infrared vision and laser sensors obtain the three-dimensional information of puncture positions, while the change in force detects the state feedback of punctures.
The experimental results demonstrate that the venipuncture robot has a compact design, flexible motion, high positioning accuracy and repeatability (0.11 and 0.04 mm), and a high success rate when puncturing the phantom.
This paper presents a decoupled position and attitude venipuncture robot guided by near-infrared vision and force feedback to replace manual venipuncture. The robot is compact, dexterous, and accurate, which helps to improve the success rate of venipuncture, and it is expected to achieve fully automatic venipuncture in the future.
本研究旨在开发一种静脉穿刺机器人，以代替手动静脉穿刺，从而减轻繁重的工作量，降低 2019-nCoV 感染的风险，并提高静脉穿刺的成功率。
该机器人采用解耦的位置和姿态设计，由一个 3 自由度定位机械手定位针头，以及一个 3 自由度末端执行器始终垂直于调整针头的偏航和俯仰角度。近红外视觉和激光传感器获取穿刺位置的三维信息，而力的变化则检测穿刺的状态反馈。
实验结果表明，静脉穿刺机器人具有结构紧凑、运动灵活、定位精度和重复性高（分别为 0.11mm 和 0.04mm）的特点，在穿刺模拟物时具有较高的成功率。
本文提出了一种基于近红外视觉和力反馈的解耦位置和姿态静脉穿刺机器人，以代替手动静脉穿刺。该机器人结构紧凑、灵活、精确，有助于提高静脉穿刺的成功率，预计未来将实现全自动静脉穿刺。
