Yang Zhikang, Wen Shikun, Qi Qian, Zhang Xiaoshu, Shen Huan, Chen Guangming, Xu Jiajun, Lv Zhuhai, Ji Aihong
Lab of Locomotion Bioinspiration and Intelligent Robots, College of Mechanical and Electrical Engineering, Nanjing University of Aeronautics and Astronautics, Nanjing, China.
Department of Neurosurgery, Nanjing Medical University, Nanjing Brain Hospital, Nanjing, China.
Comput Methods Biomech Biomed Engin. 2025 Aug;28(11):1743-1754. doi: 10.1080/10255842.2024.2338474. Epub 2024 Apr 8.
Venous blood collection testing is one of the most commonly used medical diagnostic methods. Compared with conventional venous blood collection, robotic collection can reduce needle-stick injuries, medical staff workload, and infection risk; allow doctor-patient isolation; and improve collection reliability. Existing venous blood collection robots use rigid puncture needles, which can easily puncture the lower wall of blood vessels, causing vessel damage and collection failure. This paper proposes a bionic blood collection strategy based on a composite puncture needle that mimics the structure and function of mosquito mouthparts. A bionic composite puncture needle insertion system with puncture-force sensing was designed, and venipuncture forces were simulated and mathematically modelled. A prototype insertion system was built and used in an experiment, which demonstrated effective composite puncture blood collection and explored the factors influencing puncture force. Puncture force decreases with increased puncture speed and angle and with a decreased needle diameter. This provides a basis for optimising the parameters of blood collection robots.
静脉采血检测是最常用的医学诊断方法之一。与传统静脉采血相比，机器人采血可减少针刺伤、医护人员工作量和感染风险；实现医患隔离；提高采血可靠性。现有的静脉采血机器人使用刚性穿刺针，容易刺穿血管下壁，导致血管损伤和采血失败。本文提出了一种基于复合穿刺针的仿生采血策略，该复合穿刺针模仿了蚊子口器的结构和功能。设计了一种具有穿刺力传感的仿生复合穿刺针插入系统，并对静脉穿刺力进行了模拟和数学建模。构建了一个原型插入系统并用于实验，实验证明了复合穿刺采血的有效性，并探讨了影响穿刺力的因素。穿刺力随着穿刺速度和角度的增加以及针直径的减小而降低。这为优化采血机器人的参数提供了依据。
