Puncture and Needle Picking Action of Venipuncture Manipulator
10.16156/j.1004-7220.2023.02.25
- VernacularTitle:静脉穿刺机械臂穿刺与挑针动作
- Author:
Hao DING
1
;
Yi ZHUANG
2
;
Mengfei KAN
2
;
Dongyang XIA
2
;
Siji DING
2
;
Shimeng SHENG
2
;
Xinru XU
2
;
Kun SHANG
1
;
Geer YANG
1
;
Jie LÜ
3
Author Information
1. School of Medical Instruments, Shanghai University of Medicine & Health Sciences
2. School of Health Science and Engineering, University of Shanghai for Science and Technology
3. College of Rehabilitation Sciences, Shanghai University of Medicine & Health Sciences
- Publication Type:Journal Article
- Keywords:
venipuncture;
puncture mechanics;
robot control;
positive and inverse kinematics
- From:
Journal of Medical Biomechanics
2023;38(2):E375-E381
- CountryChina
- Language:Chinese
-
Abstract:
Objective To propose a new multi-joint series venipuncture system, explore the mechanics and kinematics-based related control problems involved in needle insertion and needle picking during the puncture process, and verify feasibility of this system. Methods A puncture manipulator was built, and needle displacement control algorithm was proposed by combing with the puncture mechanics model. The the forward kinematics was calculated by using DH method, so as to obtain the tip coordinates. Then the inverse kinematics was calculated by using the geometric method. The forward and inverse processes were closely connected. The position error of the end coordinates before and after needle picking was compared by using the method of kinematics positive solution-inverse solution-re-positive solution. Finally, experimental verification and simulation were conducted by combining with the physical object. Results Through simulation and experiments, accuracy of the theoretical model was verified. The needle insertion algorithm could be used to achieve success with only one needle insertion, which provided theoretical basis for the control of robot arm. The position error before and after needle picking could be controlled within 1 mm from the end trajectory. The end needle tip of robot arm was almost kept fixed during the needle picking process. Therefore, this needle picking scheme was feasible and could basically verify that the needle picking action of robot arm met the accuracy and safety requirements. Conclusions The venipuncture manipulator truly simulates the needle insertion and needle picking action during the puncture process, and can safely and accurately realize the needle insertion and needle picking action with needle tip as the fixed point, indicating that it has certain clinical value.
