Vessel Site Selection for Autonomous Cannulation Under NIR Image Guidance

Zhao, Yibo; Ji, Jiarui; Xie, Tenghui; Du, Fuxin; Qi, Peng

doi:10.1007/978-3-031-13841-6_9

Cited by 3 publications

(2 citation statements)

References 11 publications

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“…The prototype was designed based on binocular near-infrared imaging and pressure sensing technologies. In 2021, Qi et al from Tongji University developed a compact venipuncture robot VeniBot [16, 17], adopting binocular near-infrared and ultrasound for vascular imaging. They also proposed a novel deep-learning algorithm for automatic navigation of puncture devices.…”

Section: Introductionmentioning

confidence: 99%

A trocar puncture robot for assisting venipuncture blood collection

Yang,

Wen,

et al. 2024

Robotica

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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.

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Section: Introductionmentioning

confidence: 99%

A trocar puncture robot for assisting venipuncture blood collection

Yang,

Wen,

et al. 2024

Robotica

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“…Current research in the field of intelligent injection robotics focuses on vein imaging [ 10 , 11 ], detection and segmentation [ 12 , 13 ], decision on needle insertion point location [ 14 , 15 ], and robot system design [ 16 , 17 ]. At the same time, fewer studies are related to the needle insertion angle for dorsal hand intravenous injection robots.…”

Section: Introductionmentioning

confidence: 99%

Decision Method of Optimal Needle Insertion Angle for Dorsal Hand Intravenous Robot

Zhu

Zhang

et al. 2023

Sensors

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In the context of COVID-19, the research on various aspects of the venipuncture robot field has become increasingly hot, but there has been little research on robotic needle insertion angles, primarily performed at a rough angle. This will increase the rate of puncture failure. Furthermore, there is sometimes significant pain due to the patients’ differences. This paper investigates the optimal needle entry angle decision for a dorsal hand intravenous injection robot. The dorsal plane of the hand was obtained by a linear structured light scan, which was used as a basis for calculating the needle entry angle. Simulation experiments were also designed to determine the optimal needle entry angle. Firstly, the linear structured optical system was calibrated and optimized, and the error function was constructed and solved iteratively by the optimization method to eliminate measurement error. Besides, the dorsal hand was scanned to obtain the spatial point clouds of the needle entry area, and the least squares method was used to fit it to obtain the dorsal hand plane. Then, the needle entry angle was calculated based on the needle entry area plane. Finally, the changes in the penetration force under different needle entry angles were analyzed to determine the optimal needle insertion angle. According to the experimental results, the average error of the optimized structured light plane position was about 0.1 mm, which meets the needs of the project, and a large angle should be properly selected for needle insertion during the intravenous injection.

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Puncture site decision method for venipuncture robot based on near-infrared vision and multiobjective optimization

Guo

Jiang

2022

Sci. China Technol. Sci.

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Venipuncture robots have superior perception and stability to humans and are expected to replace manual venipuncture. However, their use is greatly restricted because they cannot make decisions regarding the puncture sites. Thus, this study presents a multi-information fusion method for determining puncture sites for venipuncture robots to improve their autonomy in the case of limited resources. Here, numerous images have been gathered and processed to establish an image dataset of human forearms for training the U-Net with the soft attention mechanism (SAU-Net) for vein segmentation. Then, the veins are segmented from the images, feature information is extracted based on near-infrared vision, and a multiobjective optimization model for puncture site decision is provided by considering the depth, diameter, curvature, and length of the vein to determine the optimal puncture site. Experiments demonstrate that the method achieves a segmentation accuracy of 91.2% and a vein extraction rate of 86.7% while achieving the Pareto solution set (average time: 1.458 s) and optimal results for each vessel. Finally, a near-infrared camera is applied to the venipuncture robot to segment veins and determine puncture sites in real time, with the results transmitted back to the robot for an attitude adjustment. Consequently, this method can enhance the autonomy of venipuncture robots if implemented dramatically.

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Vessel Site Selection for Autonomous Cannulation Under NIR Image Guidance

Cited by 3 publications

References 11 publications

A trocar puncture robot for assisting venipuncture blood collection

A trocar puncture robot for assisting venipuncture blood collection

Decision Method of Optimal Needle Insertion Angle for Dorsal Hand Intravenous Robot

Puncture site decision method for venipuncture robot based on near-infrared vision and multiobjective optimization

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