A robotic system for blood sampling

Author

Zivanovic, Aleksandar ; Davies, Brian L.

Author_Institution

Dept. of Mech. Eng., Imperial Coll. of Sci., Technol. & Med., London, UK

Volume

4

Issue

1

fYear

2000

fDate

3/1/2000 12:00:00 AM

Firstpage

8

Lastpage

14

Abstract

A robotic system to take blood samples autonomously from the forearm is presented, and preliminary results are discussed which demonstrate its feasibility. Force/position profiles, while pressing a flat-headed probe against the surface of the skin, enable the determination of a vein´s location to within 1 mm on a phantom. When a needle is inserted, the characteristic force/position profile, on puncturing the vein wall, is distinctive enough to implement automatic needle withdrawal to prevent overshoot. Future developments of the project are presented that provide both an autonomous blood sampling robot and a force-feedback surgical trainer.

Keywords

blood; blood vessels; force feedback; medical robotics; position control; probes; sampling methods; skin; automatic needle withdrawal; autonomous blood sampling robot; flat-headed probe; force-feedback surgical trainer; force/position profiles; forearm; needle insertion; needle overshoot prevention; palpation; robotic blood sampling system; skin surface; soft tissue; vein location determination; vein wall puncturing; Blood; Imaging phantoms; Needles; Pressing; Probes; Robotics and automation; Robots; Sampling methods; Skin; Veins; Analog-Digital Conversion; Databases as Topic; Education, Medical; Equipment Design; Feasibility Studies; Feedback; Forearm; Humans; Models, Anatomic; Needles; Palpation; Phlebotomy; Robotics; Signal Processing, Computer-Assisted; Skin; Software; Stress, Mechanical; User-Computer Interface; Veins;

fLanguage

English

Journal_Title

Information Technology in Biomedicine, IEEE Transactions on

Publisher

ieee

ISSN

1089-7771

Type

jour

DOI

10.1109/4233.826854

Filename

826854