System Design and Development of a Robotic Device for Automated Venipuncture and Diagnostic Blood Cell Analysis.
System Design and Development of a Robotic Device for Automated Venipuncture and Diagnostic Blood Cell Analysis.
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DOI：
10.1109/iros.2016.7759102
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发表时间：
2016-10
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：
Balter ML;Chen AI;Fromholtz A;Gorshkov A;Maguire TJ;Yarmush ML
诊断性血液检测是世界上最流行的医疗程序，是现代医疗保健服务的基石。然而，血液检测仍然主要在中央实验室进行，使用手动静脉穿刺法获取的大量样本，目前还不存在从抽血到样本分析的端到端解决方案。我们的团队正在开发一种平台设备，它将机器人静脉切割术与自动诊断相结合，可以在抽血现场快速传递患者信息。该系统将一个图像引导的静脉穿刺器与一个基于离心机的血液分析仪相结合，以获得血液学的定量测量。在本文中，我们首先介绍了集成设备的系统设计和结构。然后，我们进行了一系列的体外实验，以评估该系统在血管模体上的插管准确性。接下来，我们评估血管直径、针规、流速和粘度对样本采集率的影响。最后，我们使用掺有荧光标记微珠的体外人体样本，在血液分析仪上演示了白细胞检测的概念验证。
Diagnostic blood testing is the most prevalent medical procedure performed in the world and forms the cornerstone of modern health care delivery. Yet blood tests are still predominantly carried out in centralized labs using large-volume samples acquired by manual venipuncture, and no end-to-end solution from blood draw to sample analysis exists today. Our group is developing a platform device that merges robotic phlebotomy with automated diagnostics to rapidly deliver patient information at the site of the blood draw. The system couples an image-guided venipuncture robot, designed to address the challenges of routine venous access, with a centrifuge-based blood analyzer to obtain quantitative measurements of hematology. In this paper, we first present the system design and architecture of the integrated device. We then perform a series of in vitro experiments to evaluate the cannulation accuracy of the system on blood vessel phantoms. Next, we assess the effects of vessel diameter, needle gauge, flow rate, and viscosity on the rate of sample collection. Finally, we demonstrate proof-of-concept of a white cell assay on the blood analyzer using in vitro human samples spiked with fluorescently labeled microbeads.