A robotic system for blood sampling

Zivanovic, Aleksandar; Davies, Brian

doi:10.1109/4233.826854

Cited by 62 publications

(36 citation statements)

References 5 publications

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“…The majority of approaches perform the insertion with the aid of an imaging device [1,2]. Some of them monitor the insertion with a force sensor instead of imaging [3,4]. Force sensing has no spatial information, though it has advantages over imaging in the view of its ability to sense the dynamic and local properties of tissue [9] and its great cost effectiveness.…”

Section: Introductionmentioning

confidence: 99%

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Needle Force Sensor, Robust and Sensitive Detection of the Instant of Needle Puncture

Washio¹,

Chinzei²

2004

Medical Image Computing and Computer-Assisted Intervention – MICCAI 2004

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Abstract.A force sensor based method to detect the instant of needle puncture to the layers of tissues is proposed. A set of needle and sheath attached to a pair of coaxial force sensors was used to separately measure the cutting force at the needle tip and the sidewall friction. Change of the force profile was observed and marked at the instant of the puncture, and robustly eliminated artifacts caused by body motion such as the respiratory or cardiac motion. The agreement between the subjective feeling of a skilled surgeon and the sensor was good. In several cases the sensor detected the puncture even when the surgeon could not clearly identify it. It was suggested that the sensor is potentially more sensitive than skilled professionals.

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Section: Introductionmentioning

confidence: 99%

“…Many attempts of robotic needle insertion [1][2][3][4] as well as the simulation of puncture [5][6][7][8] have been reported in literature. Generally, it is desirable that a robotic needle drive be equipped with at least one monitoring method for safety.…”

Section: Introductionmentioning

confidence: 99%

Needle Force Sensor, Robust and Sensitive Detection of the Instant of Needle Puncture

Washio¹,

Chinzei²

2004

Medical Image Computing and Computer-Assisted Intervention – MICCAI 2004

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“…The use of force signals characteristics in the medical field has already been demonstrated. To our knowledge [29] first used the needle insertion force profile to localize veins and to detect vein wall breakthrough. They apply this detection to prototype a blood sampling machine.…”

Section: Haptic Events Detection: Introductionmentioning

confidence: 99%

Robot Interaction Control in Medicine and Surgery: Original Results and Open Problems

Bayle

Joinie-Maurin

Barbé

et al. 2013

Computational Surgery and Dual Training

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In robot-assisted medical procedures, the control of interactions between tools and tissues has recently raised much interest. In this chapter, we give an original perspective to this subject. In Sect. 11.1, we discuss the pros and cons of force feedback for medical applications. We also highlight some original works and point out open problems that would deserve more interest. Then, in Sects. 11.2 and 11.3, we focus on two of our recent contributions to the field of force feedback teleoperation for medical procedures: the automatic detection of haptic events and the compensation of physiological motions. In robot-assisted medical procedures, the control of interactions between tools and tissues has recently raised much interest. In this chapter, we give an original perspective to this subject. In Sect. 11.1, we discuss the pros and cons of force feedback for medical applications. We also highlight some original works and point out open problems that would deserve more interest. Then, in Sects. 11.2 and 11.3, we focus on two of our recent contributions to the field of force feedback teleoperation for medical procedures: the automatic detection of haptic events and the compensation of physiological motions. Keywords

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“…Another robot system for diagnosis is automatically measuring the pulse at the wrist, which works through palpation by a tendon actuated anthropomorphic finger 17 . A similar system is the Bloodbot, which is used beside vein palpation for assisting in taking blood samples 107 . It identifies the location of a suitable vein by pressing a probe against the surface tissue of the ante-cubital fossa and measuring the force on the probe.…”

mentioning

confidence: 99%