Title :
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
fDate :
3/1/2000 12:00:00 AM
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;
Journal_Title :
Information Technology in Biomedicine, IEEE Transactions on
DOI :
10.1109/4233.826854