A trocar puncture robot for assisting venipuncture blood collection

The venous blood test is a prevalent auxiliary medical diagnostic method. Venous blood collection equipment can improve blood collection’s success rate and stability, reduce the workload of medical staff, and improve the efficiency of diagnosis and treatment. This study proposed a rigid-flexible com...

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Bibliographic Details
Published in:Robotica 2024-05, Vol.42 (5), p.1597-1613
Main Authors: Yang, Zhikang, Wen, Shikun, Qi, Qian, Lv, Zhuhai, Ji, Aihong
Format: Article
Language:English
Subjects:
Accuracy
Algorithms
Blood vessels
Collection
Degrees of freedom
Design
End effectors
Evolutionary algorithms
Evolutionary computation
Inverse kinematics
Medical research
Needles
Phlebotomy
Polynomials
Robot control
Robot dynamics
Robots
Strategy
Success
Trajectory control
Trajectory planning
Ultrasonic imaging
Veins & arteries
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Summary:The venous blood test is a prevalent auxiliary medical diagnostic method. Venous blood collection equipment can improve blood collection’s success rate and stability, reduce the workload of medical staff, and improve the efficiency of diagnosis and treatment. This study proposed a rigid-flexible composite puncture (RFCP) strategy, based on which a small 7-degree-of-freedom (DOF) auxiliary venipuncture blood collection (VPBC) robot using a trocar needle was designed. The robot consists of a position and orientation adjustment mechanism and a RFCP end-effector, which can perform RFCP to avoid piercing the blood vessel’s lower wall during puncture. The inverse kinematics solution and validation of the robot were analyzed based on the differential evolution algorithm, after which the quintic polynomial interpolation algorithm was applied to achieve the robot trajectory planning control. Finally, the VPBC robot prototype was developed for experiments. The trajectory planning experiment verified the correctness of the inverse kinematics solution and trajectory planning, and the composite puncture blood collection experiment verified the feasibility of the RFCP strategy.
ISSN:0263-5747
1469-8668
DOI:10.1017/S0263574724000407