用于辅助静脉穿刺采血的套管穿刺机器人

IF 1.9 4区计算机科学 Q3 ROBOTICS

Robotica Pub Date : 2024-03-27 DOI:10.1017/s0263574724000407

Zhikang Yang, Shikun Wen, Qian Qi, Zhuhai Lv, Aihong Ji

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引用次数: 0

摘要

静脉血检测是一种普遍的辅助医疗诊断方法。静脉采血设备可以提高采血成功率和稳定性，减轻医务人员的工作量，提高诊疗效率。本研究提出了一种刚柔复合穿刺（RFCP）策略，并在此基础上设计了一种使用套管针的小型 7 自由度（DOF）辅助静脉穿刺采血（VPBC）机器人。该机器人由位置和方向调整机构以及 RFCP 末端执行器组成，可执行 RFCP 以避免在穿刺过程中刺穿血管下壁。基于微分进化算法分析了机器人的逆运动学求解和验证，然后应用五次多项式插值算法实现了机器人轨迹规划控制。最后，研制出了 VPBC 机器人原型进行实验。轨迹规划实验验证了逆运动学求解和轨迹规划的正确性，复合穿刺采血实验验证了RFCP策略的可行性。

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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 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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来源期刊

Robotica 工程技术-机器人学

CiteScore

4.50

自引率

22.20%

发文量

181

审稿时长

9.9 months

期刊介绍： Robotica is a forum for the multidisciplinary subject of robotics and encourages developments, applications and research in this important field of automation and robotics with regard to industry, health, education and economic and social aspects of relevance. Coverage includes activities in hostile environments, applications in the service and manufacturing industries, biological robotics, dynamics and kinematics involved in robot design and uses, on-line robots, robot task planning, rehabilitation robotics, sensory perception, software in the widest sense, particularly in respect of programming languages and links with CAD/CAM systems, telerobotics and various other areas. In addition, interest is focused on various Artificial Intelligence topics of theoretical and practical interest.