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A trocar puncture robot for assisting venipuncture blood collection

Published online by Cambridge University Press:  27 March 2024

Zhikang Yang ,
Shikun Wen ,
Qian Qi ,
Zhuhai Lv  and
Aihong Ji Open the ORCID record for Aihong Ji [Opens in a new window]
Zhikang Yang
Affiliation:
Lab of Locomotion Bioinspiration and Intelligent Robots, College of Mechanical and Electrical Engineering, Nanjing University of Aeronautics and Astronautics, Nanjing, China
Shikun Wen
Affiliation:
Lab of Locomotion Bioinspiration and Intelligent Robots, College of Mechanical and Electrical Engineering, Nanjing University of Aeronautics and Astronautics, Nanjing, China
Qian Qi
Affiliation:
Lab of Locomotion Bioinspiration and Intelligent Robots, College of Mechanical and Electrical Engineering, Nanjing University of Aeronautics and Astronautics, Nanjing, China
Zhuhai Lv*
Affiliation:
Department of Neurosurgery, Nanjing Medical University, Nanjing Brain Hospital, Nanjing, China
Aihong Ji*
Affiliation:
Lab of Locomotion Bioinspiration and Intelligent Robots, College of Mechanical and Electrical Engineering, Nanjing University of Aeronautics and Astronautics, Nanjing, China State Key Laboratory of Mechanics and Control for Aerospace Structures, Nanjing University of Aeronautics and Astronautics, Nanjing, China
*
Corresponding authors: Zhuhai Lv, Email: lvzhuhai@163.com; Aihong Ji, Email: meeahji@nuaa.edu.cn
Corresponding authors: Zhuhai Lv, Email: lvzhuhai@163.com; Aihong Ji, Email: meeahji@nuaa.edu.cn
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Abstract

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.

Keywords

venipuncture blood collection robotrigid-flexible composite puncturepuncture trajectory planningprototype experiment
Type
Research Article
Information
Robotica , Volume 42 , Issue 5 , May 2024 , pp. 1597 - 1613
Copyright
© The Author(s), 2024. Published by Cambridge University Press

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