Preliminary in vivo evaluation of a needle insertion manipulator for central venous catheterization

ROBOMECH Journal

Satoshi Ieiri¹  Takuma Koike¹  Kazutaka Toyoda¹  Ryutaro Hamano¹  Masakatsu G Fujie²  Takeshi Ohdaira²  Makoto Hashizume²  Morimasa Tomikawa³  Hiroki Watanabe⁴  Munenori Uemura⁴  Yo Kobayashi⁴  Jaesung Hong⁴ 

[1] Research Institute for Science and Engineering, Waseda University, Shijuku, Japan;Department of Advanced Medicine and Innovative Technology, Kyushu University Hospital, Fukuoka, Japan;Department of Robotics Engineering, Daegu Gyeongbuk Institute of Science and Technology (DGIST), Daegu, Korea;Faculty of Science and Engineering &

关键词: Central venous catheterization;    Needle insertion;    Surgical robot;   

DOI  :  10.1186/s40648-014-0018-3

学科分类：人工智能

来源: Springer

【 摘 要 】

Central venous catheterization is associated with potential complications secondary to accidental puncture, including venous bleeding and pneumothorax. We developed a system that avoids these complications and simplifies the procedure using a robot to provide puncture assistance. We herein report a puncture experiment conducted in vivo in a porcine to evaluate the manipulator. The right and left jugular veins of a pig were punctured five times each through both opened and unopened skin at a puncture angle and speed. A venous placement rate of 80% was obtained with opened skin. A much lower rate of 40% was obtained with unopened skin. One of five attempts in opened skin was unsuccessful, likely because of the stick-slip phenomenon. This system was effective for jugular venous puncture of opened skin. Future studies should focus on puncture conditions that facilitate needle placement, inhibit the stick-slip phenomenon, and minimize needle bending due to the presence of skin.

【 授权许可】

CC BY