Real-time Needle Steering in Response to Rolling Vein Deformation by a 9-DOF Image-Guided Autonomous Venipuncture Robot.
Real-time Needle Steering in Response to Rolling Vein Deformation by a 9-DOF Image-Guided Autonomous Venipuncture Robot.
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DOI：
10.1109/iros.2015.7353736
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发表时间：
2015-09
期刊：
影响因子：
--
通讯作者：
Yarmush ML
中科院分区：
文献类型：
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作者：
Chen AI;Balter ML;Maguire TJ;Yarmush ML
静脉穿刺是美国最常见的侵入性医疗操作，也是医院伤害的首要原因。在儿科和老年患者中，失败率尤其高，因为在插入针头时，他们的静脉往往会变形、移动或滚动。为了提高在具有挑战性的患者群体中静脉穿刺的准确性，我们开发了一种便携式设备，该设备能在图像引导下自动将针头送入合适的静脉。该设备实时运行，结合了近红外和超声成像、计算机视觉软件以及一个能驱动针头的9自由度机器人。在本文中，我们介绍了最新一代机器人的运动学和机械设计。然后，我们通过计算机模拟和体外实验研究了机器人插入针头时血管滚动和变形的力学机制。最后，我们展示了机器人如何在超声图像引导下进行实时调整，以补偿静脉穿刺过程中细微的血管运动。
Venipuncture is the most common invasive medical procedure performed in the United States and the number one cause of hospital injury. Failure rates are particularly high in pediatric and elderly patients, whose veins tend to deform, move, or roll as the needle is introduced. To improve venipuncture accuracy in challenging patient populations, we have developed a portable device that autonomously servos a needle into a suitable vein under image guidance. The device operates in real time, combining near-infrared and ultrasound imaging, computer vision software, and a 9 degrees-of-freedom robot that servos the needle. In this paper, we present the kinematic and mechanical design of the latest generation robot. We then investigate in silico and in vitro the mechanics of vessel rolling and deformation in response to needle insertions performed by the robot. Finally, we demonstrate how the robot can make real-time adjustments under ultrasound image guidance to compensate for subtle vessel motions during venipuncture.