System design and development of a robotic device for automated venipuncture and diagnostic blood cell analysis

Abstract

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.

A Socio-Analytical Approach to the Integration of Drones into Health Care Systems

“…During our analysis of the documents and development of the discussion, we supplemented our literature review with further publications where appropriate, following a deductive identification of relevant articles. We included five additional recently published review articles [72][73][74][75][76], one essay [77], two online sources [78,79], and five research articles [80][81][82][83][84].…”

“…In laboratory services, methodological concepts, such as sample collection decision support systems, innovations for automated robotic phlebotomy, novel sampling technologies such as fully traceable automated blood tube dispensers, and algorithms that detect sample collection errors, have been proposed to enhance patients' quality of care and the efficiency of the health care system. Whether such solutions result in an improvement of the quality of specimens and minimization of harm is still to be documented [71,[80][81][82].…”

Machine learning based robotic End Effector System for Monitoring and Control of External Bleeding of Vehicle Accident Victims, Review Paper

“…A Although robotic systems are now being applied in the medical field, it is still entering at a slow rate especially in complex medical situations, however, outside the operating room robots can still assist human beings like in blood sampling, force sensing and even guiding robots position and its orientation like guiding the needle tip (Yarmush, 2018). Diagnostic blood testing which is very vital in the medical field is being enhanced through an image-guided venipuncture robotic system thus precision, time, and efficiency are guaranteed (Balter et al, 2017). Micro-actuator technologies based on nanotechnology concepts such as the Shape Memory Alloy (SMA) have led to innovations such as the miniature ultrasound motors which can be implemented in dexterous artificial hands and these latest technologies boosted the number of degrees of freedom for robotic joints thus much better flexibility and efficiency (Massa et al, 2002).…”

A venipuncture robot with decoupled position and attitude guided by near‐infrared vision and force feedback

“…The angle change will induce the movement of the needle tip. Although the pitch angle of the third-generation venipuncture robot can be adjusted independently,18,25 the position and attitude are coupled, and the pitch angle adjustment relies on another height direction to maintain the needle tip position constant. As shown in Table3, the experimental results demonstrate that the structural design of position and attitude decoupling increases the actual control accuracy of the robot.…”