静脉穿刺是医疗行业中最为普遍操作之一，目前仍然使用人工操作方式，存在重复操作次数多、穿刺失败率高、人员数量需求大等问题。因此，采用自动化的穿刺机器人代替人工重复劳动成为现代医疗技术手段的前沿和趋势。然而，每位患者的静脉特征千差万别，自动化穿刺的准确率以及操作过程中的用户体验对全自动静脉穿刺机器人的设计和控制提出了严峻挑战。本项目围绕血管穿刺位点精准定位和穿刺柔顺进针控制方法的科学问题进行多学科交叉研究，开展静脉管网自动识别、静脉穿刺精确定位、机械臂柔顺控制、穿刺速度与角度实时控制、穿刺针与采集管更换系统设计以及大鼠尾静脉穿刺测试等关键技术基础研究和实验研究。提出基于红外平面定位和超声深度定位的静脉穿刺点位精确定位方法，建立基于实时位姿反馈的穿刺进针柔顺控制策略，开发全自主静脉穿刺机器人原型样机，开展小鼠尾静脉自动穿刺测试。为我国智能医疗机器人的发展和应用提供新理论、新方法和新技术。

Venipuncture is one of the most common operations in the medical industry, which is still manual operation at present. There are many problems，such as repetitive operations, high failure rate, and large number of nurse needs. Therefore, the use of automated puncture robots instead of manual repetitive work has become the frontier and trend of modern medical technology. However, the venous characteristics of each patient vary greatly. The accuracy of automatic venipuncture and user experience in the operation process pose a serious challenge to the design and control of automatic venipuncture robot. This project focuses on the scientific issues of precise positioning of puncture sites and puncture compliance puncture control methods, and carries out basic research and practice on key technologies such as automatic identification of venous network, precise positioning of venipuncture, compliance control of mechanical arm, real-time control of puncture speed and angle, design of replacement system of puncture needle and acquisition tube, and puncture test of rat tail vein. A precise positioning method of venipuncture points based on infrared plane positioning and ultrasonic depth positioning was proposed. A control strategy of puncture compliance based on real-time position and attitude feedback was established. A prototype of autonomous venipuncture robot was developed to carry out automatic puncture test of tail vein in mice. It provides new theories, methods and technologies for the development and application of intelligent medical robots in China.