Portable robot for autonomous venipuncture using 3D near infrared image guidance

Abstract

Venipuncture is pivotal to a wide range of clinical interventions and is consequently the leading cause of medical injury in the U.S. Complications associated with venipuncture are exacerbated in difficult settings, where the rate of success depends heavily on the patient's physiology and the practitioner's experience. In this paper, we describe a device that improves the accuracy and safety of the procedure by autonomously establishing a peripheral line for blood draws and IV's. The device combines a near-infrared imaging system, computer vision software, and a robotically driven needle within a portable shell. The device operates by imaging and mapping in real-time the 3D spatial coordinates of subcutaneous veins in order to direct the needle into a designated vein. We demonstrate proof of concept by assessing imaging performance in humans and cannulation accuracy on an advanced phlebotomy training model.

The System Design and Evaluation of a 7-DOF Image-Guided Venipuncture Robot

“…The NIR imaging system and image analysis software, which then scans the arm and segments the veins, is described in detail in [21]. Briefly, the device uses 940-nm NIR light to improve the contrast of subcutaneous peripheral veins and extracts the 3-D spatial coordinates of the segmented veins from images acquired by a pair of calibrated stereo cameras.…”

“…Briefly, the device uses 940-nm NIR light to improve the contrast of subcutaneous peripheral veins and extracts the 3-D spatial coordinates of the segmented veins from images acquired by a pair of calibrated stereo cameras. Suitable veins, selected based on continuity, length, and vessel diameter [21], are displayed on the device's user interface (UI), from which the clinician selects the final cannulation site. Then, the US probe lowers down on the patient's arm to provide a magnified longitudinal image of the chosen vein and confirms venous blood flow.…”

“…A first-generation (first-gen) prototype was introduced in [21], which utilized 3-D NIR imaging to guide a 4-degree-of-freedom (DOF) robot. The system was shown to significantly increase vein visualization compared with a clinician and to cannulate a phlebotomy training arm with 100% accuracy.…”

“…The reader is referred to [21] for in-depth details of the image-processing algorithms. Here, we first describe detailed designs of the robot in Sections II–IV and, then, present experimental tracking, positioning, and phantom cannulation results in Section V. Finally, Section VI draws conclusions and presents future work.…”

Automatic Puncture System Based on NIR Image and Ultrasonic Image

“…In 2006, Western University successfully developed an automatic puncture device using ultrasound guidance similar to the PICC, however, different from the PICC, this system used machine instead of manpower to insert a needle. [10]In 2013, Rutgers University successfully developed a Nearinfrared(NIR) and ultrasound-based automatic venipuncture system, which allows the puncture needle into the blood vessels automatically, [11]and in 2015 a comprehensive upgrade of the system has been realized. [12] 2 System design Venipuncture in this paper is not only aimed to collect blood samples, but also aimed to administrate intravenous infusion.…”