Research on Robotic Humanoid Venipuncture Method Based on Biomechanical Model

Automatic venipuncture robots are expected to replace manual venipuncture methods owing to their high control precision, steady operation, and measurable perception. However, the lack of perception of the venipuncture status in the human body leads to an increased risk and failure rate, which furthe...

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Bibliographic Details
Published inJournal of intelligent & robotic systems Vol. 106; no. 1; p. 31
Main Authors He, Tianbao, Guo, Chuangqiang, Liu, Hansong, Jiang, Li
Format Journal Article
LanguageEnglish
Published Dordrecht Springer Netherlands 01.09.2022
Springer
Springer Nature B.V
Subjects
Artificial Intelligence
Biomechanics
Control
Elastic deformation
Electrical Engineering
Engineering
Failure rates
Humanoid
Mechanical Engineering
Mechatronics
Methods
Perception
Phlebotomy
Robotics
Robots
Short Paper
Simulation methods
Biomechanical model
Venipuncture robot
Force feedback
Status perception
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Summary:Automatic venipuncture robots are expected to replace manual venipuncture methods owing to their high control precision, steady operation, and measurable perception. However, the lack of perception of the venipuncture status in the human body leads to an increased risk and failure rate, which further restricts the development of such robots. To address this, we propose a humanoid venipuncture method guided by a biomechanical model to imitate human sensations and feedback. This method intends to perceive the venipuncture status and improve the performance of the venipuncture robot. First, this study establishes a biomechanical venipuncture model, which thoroughly considers the elastic deformation, cutting, and friction of tissues and can be applied to different venipuncture conditions. Then, venipuncture simulations and in vitro phantom experiments are performed under various settings to analyze and validate the model. Finally, to evaluate the robotic humanoid venipuncture method, we apply the method to a self-developed six-degree-of-freedom venipuncture robot via rabbit ear veins with a success rate of approximately 90%. This work demonstrates that the humanoid venipuncture method based on the biomechanical model is practical and rapid in processing simple information in venipuncture robots.
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ISSN:0921-0296
1573-0409
DOI:10.1007/s10846-022-01738-6