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Decision Method of Optimal Needle Insertion Angle for Dorsal Hand Intravenous Robot

In the context of COVID-19, the research on various aspects of the venipuncture robot field has become increasingly hot, but there has been little research on robotic needle insertion angles, primarily performed at a rough angle. This will increase the rate of puncture failure. Furthermore, there is...

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Autores principales: Zhu, Zihan, Li, Kefeng, Zhang, Guangyuan, Jin, Hualei, Zhu, Zhenfang, Wang, Peng
Formato: Online Artículo Texto
Lenguaje:English
Publicado: MDPI 2023
Materias:
Acceso en línea:https://www.ncbi.nlm.nih.gov/pmc/articles/PMC9864605/
https://www.ncbi.nlm.nih.gov/pubmed/36679644
http://dx.doi.org/10.3390/s23020848
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author Zhu, Zihan
Li, Kefeng
Zhang, Guangyuan
Jin, Hualei
Zhu, Zhenfang
Wang, Peng
author_facet Zhu, Zihan
Li, Kefeng
Zhang, Guangyuan
Jin, Hualei
Zhu, Zhenfang
Wang, Peng
author_sort Zhu, Zihan
collection PubMed
description In the context of COVID-19, the research on various aspects of the venipuncture robot field has become increasingly hot, but there has been little research on robotic needle insertion angles, primarily performed at a rough angle. This will increase the rate of puncture failure. Furthermore, there is sometimes significant pain due to the patients’ differences. This paper investigates the optimal needle entry angle decision for a dorsal hand intravenous injection robot. The dorsal plane of the hand was obtained by a linear structured light scan, which was used as a basis for calculating the needle entry angle. Simulation experiments were also designed to determine the optimal needle entry angle. Firstly, the linear structured optical system was calibrated and optimized, and the error function was constructed and solved iteratively by the optimization method to eliminate measurement error. Besides, the dorsal hand was scanned to obtain the spatial point clouds of the needle entry area, and the least squares method was used to fit it to obtain the dorsal hand plane. Then, the needle entry angle was calculated based on the needle entry area plane. Finally, the changes in the penetration force under different needle entry angles were analyzed to determine the optimal needle insertion angle. According to the experimental results, the average error of the optimized structured light plane position was about 0.1 mm, which meets the needs of the project, and a large angle should be properly selected for needle insertion during the intravenous injection.
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spelling pubmed-98646052023-01-22 Decision Method of Optimal Needle Insertion Angle for Dorsal Hand Intravenous Robot Zhu, Zihan Li, Kefeng Zhang, Guangyuan Jin, Hualei Zhu, Zhenfang Wang, Peng Sensors (Basel) Article In the context of COVID-19, the research on various aspects of the venipuncture robot field has become increasingly hot, but there has been little research on robotic needle insertion angles, primarily performed at a rough angle. This will increase the rate of puncture failure. Furthermore, there is sometimes significant pain due to the patients’ differences. This paper investigates the optimal needle entry angle decision for a dorsal hand intravenous injection robot. The dorsal plane of the hand was obtained by a linear structured light scan, which was used as a basis for calculating the needle entry angle. Simulation experiments were also designed to determine the optimal needle entry angle. Firstly, the linear structured optical system was calibrated and optimized, and the error function was constructed and solved iteratively by the optimization method to eliminate measurement error. Besides, the dorsal hand was scanned to obtain the spatial point clouds of the needle entry area, and the least squares method was used to fit it to obtain the dorsal hand plane. Then, the needle entry angle was calculated based on the needle entry area plane. Finally, the changes in the penetration force under different needle entry angles were analyzed to determine the optimal needle insertion angle. According to the experimental results, the average error of the optimized structured light plane position was about 0.1 mm, which meets the needs of the project, and a large angle should be properly selected for needle insertion during the intravenous injection. MDPI 2023-01-11 /pmc/articles/PMC9864605/ /pubmed/36679644 http://dx.doi.org/10.3390/s23020848 Text en © 2023 by the authors. https://creativecommons.org/licenses/by/4.0/Licensee MDPI, Basel, Switzerland. This article is an open access article distributed under the terms and conditions of the Creative Commons Attribution (CC BY) license (https://creativecommons.org/licenses/by/4.0/).
spellingShingle Article
Zhu, Zihan
Li, Kefeng
Zhang, Guangyuan
Jin, Hualei
Zhu, Zhenfang
Wang, Peng
Decision Method of Optimal Needle Insertion Angle for Dorsal Hand Intravenous Robot
title Decision Method of Optimal Needle Insertion Angle for Dorsal Hand Intravenous Robot
title_full Decision Method of Optimal Needle Insertion Angle for Dorsal Hand Intravenous Robot
title_fullStr Decision Method of Optimal Needle Insertion Angle for Dorsal Hand Intravenous Robot
title_full_unstemmed Decision Method of Optimal Needle Insertion Angle for Dorsal Hand Intravenous Robot
title_short Decision Method of Optimal Needle Insertion Angle for Dorsal Hand Intravenous Robot
title_sort decision method of optimal needle insertion angle for dorsal hand intravenous robot
topic Article
url https://www.ncbi.nlm.nih.gov/pmc/articles/PMC9864605/
https://www.ncbi.nlm.nih.gov/pubmed/36679644
http://dx.doi.org/10.3390/s23020848
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