Design of a Multi-data Fusion Intelligent Venipuncture Blood Sampling Robot

摘要

The ongoing new crown epidemic has greatly increased the risk of virus transmission during routine diagnosis and treatment operations including vascular puncture, which endangers the health of medical staff and the general public. At present, the clinical practice can only be done by manual blood sampling by skilled medical staff, which brings great challenges to medical staff in terms of physical strength and mental stress. Based on the difficulties faced by traditional venipuncture methods, a multi-data fusion intelligent venipuncture blood collection robot was designed and developed, which not only reduces the pressure of medical staff but also improves the success rate of venipuncture. Design a blood sampling robot structure with low coupling and simple control. Using the monocular near-infrared camera to achieve the best view of the XY plane veins. Laser ranging sensor obtains arm skin Z-axis point information, guiding the ultrasonic probe to reach that point to obtain arm skin depth information for blood vessels, so as to get accurate three-dimensional coordinate information veins. The blood sampling robot is controlled by the EtherCAT bus to send the end effector to the arm near the coordinate point to perform venipuncture. During the puncture process, visual guidance and force feedback control are used to ensure the safety of needle sticking. In the experiment, the arm model is used for the puncture experiment to verify the performance index of the robot. Tests show that the blood sampling robot has high venipuncture repeatability and accuracy, which meets application requirements.