Design and development of robotic system for precise vascular access and autonomous venipuncture

摘要

Abstract The medical robot systems have the effect of reducing the work load and preventing accidents by supporting task that are difficult for inexperienced medical practitioners. Recently, research on automated blood collection and injection robotic system has been increasing, but work is still necessary such as replacing needle tips, setting tourniquet, and fixing the patient's arm. This letter proposes an intelligent intravenous injection robot without having to see the medical workers face‐to‐face. A revolving system is designed for automatic needle replacement and an arm holder for vessel fixation. Finally, positioning the needle at the target point is experimented by position control based on mathematical modelling and velocity kinematics.