Robotic mechanism for needle´s insertion for catheterization in radial artery

This paper presents a system that allows the precise insertion of a needle in the radial artery of the left hand of a patient for catheterization. The main aim is to avoid the complications caused without the use of an automat system, such as vascular injuries. Secondary aims are the reduction of the procedure time and the reduction of the hospitalization costs to the patients. A detailed description of the robotic mechanism and its motion is included in the paper, along with the functions that control the joints in every motion. Moreover, the sensors required for the proper function of the system and the A/D converter of the analog signal of the sensors to digital are analyzed. Additionally, there is a description of the motors used for the propulsion of each joint. Finally, the detailed topology of the circuit that controls the mechanism is included, as well as the procession steps along with details about the structure of the device.