No Access

LABORATORY STUDY ON NEEDLE–TISSUE INTERACTION: TOWARDS THE DEVELOPMENT OF AN INSTRUMENT FOR AUTOMATIC VENIPUNCTURE

Control Systems Technology Group, Department of Mechanical Engineering, Eindhoven University of Technology, Eindhoven, The Netherlands

Corresponding author. Current address: BioMechanical Engineering Group, Mechanical Engineering Department, Delft University of Technology, Delft, The Netherlands.

Search for more papers by this author

M. STEINBUCH

Control Systems Technology Group, Department of Mechanical Engineering, Eindhoven University of Technology, Eindhoven, The Netherlands

Search for more papers by this author

S. NEERKEN

Care and Health Applications, Philips Research, Eindhoven, The Netherlands

Search for more papers by this author

, and

A. KHARIN

Care and Health Applications, Philips Research, Eindhoven, The Netherlands

Search for more papers by this author

https://doi.org/10.1142/S0219519407002297Cited by:15 (Source: Crossref)

Abstract

Although venipuncture is one of the most common clinical procedures and is performed by trained medical staff, difficulties arise in 5% of insertion procedures. An instrument that guarantees the insertion of a needle into a vein in a single approach is expected to be beneficial to both medical staff and patients. The next step towards automatic venipuncture is to determine if insertion force feedback can be used, irrespective of insertion speed, insertion angle, or vein depth and diameter. Needle insertion experiments are performed on phantom and porcine tissues to study the interaction between the needle and tissue. A prototype instrument is developed to perform automatic venipuncture on the phantom. From the experiments, we conclude that an increased insertion speed of the needle leads to an increase in insertion force and tissue deformation. Furthermore, distinct force peaks are observed at the penetration of phantom skin and vein, thus enabling automatic detection of phantom vein puncture.

Keywords:

References

A. Zivanovic and B. Davies, The development of a haptic robot to take blood samples from the forearm, Proceedings of the 4th International Conference on Medical Image Computing and Computer-Assisted Intervention2208, Lecture Notes in Computer Science, eds. W. J. Niessen and M. A. Viergever (Springer, 2001) pp. 614–620. Google Scholar
P. N. Brettet al., Proc. Inst. Mech. Eng. [H] 211(4), 335 (1997). Crossref, Web of Science, Google Scholar
A. M. Okamura, C. Simone and M. D. O'Leary, IEEE Trans. Biomed. Eng. 51(10), 1707 (2004), DOI: 10.1109/TBME.2004.831542. Crossref, Web of Science, Google Scholar
Y. Kobayashi, J. Okamoto and M. G. Fujie, Int. Congr. Ser. 1281, 719 (2005), DOI: 10.1016/j.ics.2005.03.212. Crossref, Google Scholar
H. Kataokaet al., A model for relations between needle deflection, force, and thickness on needle penetration, Proceedings of the 4th International Conference on Medical Image Computing and Computer-Assisted Intervention2, Lecture Notes in Computer Science, eds. W. J. Niessen and M. A. Viergever (Springer, 2001) pp. 966–974. Google Scholar
T. Washio and K. Chinzei, Needle force sensor, robust and sensitive detection of the instant of needle puncture, Proceedings of the 7th International Conference on Medical Image Computing and Computer-Assisted Intervention3217, Lecture Notes in Computer Science, eds. C. Barillot, D. R. Haynor and P. Hellier (Springer, 2004) pp. 113–120. Google Scholar
N. Abolhassani, R. Patel and M. Moallem, Conf. Proc. IEEE Eng. Med. Biol. Soc. 1, 2730 (2004). Google Scholar
T. K. Podderet al., Evaluation of robotic needle insertion in conjunction with in vivo manual insertion in the operating room, IEEE International Workshop on Robot and Human Interactive Communication (2005) pp. 66–72. Google Scholar
J. Magillet al., Multi-axis mechanical simulator for epidural needle insertion, Medical Simulation: International Symposium3078, Lecture Notes in Computer Science, eds. S. Cotin and D. N. Metaxas (Springer, 2004) pp. 267–276. Google Scholar
K. Matsumiyaet al., Analysis of forces during robotic needle insertion to human vertebra, Proceedings of the 6th International Conference on Medical Image Computing and Computer-Assisted Intervention2878, Lecture Notes in Computer Science, eds. R. E. Ellis and T. M. Peters (Springer, 2003) pp. 271–278. Google Scholar
S. P. DiMaio and S. E. Salcudean, IEEE Trans. Rob. Autom. 19(5), 864 (2003), DOI: 10.1109/TRA.2003.817044. Crossref, Google Scholar
L. Barbé, B. Bayle and M. de Mathelin, Stud. Health Technol. Inform. 119, 43 (2006). Google Scholar
J. R. Crouchet al., A velocity-dependent model for needle tissue insertion in soft tissue, Proceedings of the 8th International Conference on Medical Image Computing and Computer-Assisted Intervention3750, Lecture Notes in Computer Science, eds. J. S. Duncan and G. Gerig (Springer, 2005) pp. 624–632. Google Scholar
C. Simone and A. M. Okamura, Modeling of needle insertion forces for robotic-assisted percutaneous therapy, Proc. IEEE Int. Conf. Rob. Autom.2 (2002) pp. 2085–2091. Google Scholar
D. Okunoet al., Conf. Proc. IEEE Eng. Med. Biol. Soc. 20(4), 1811 (1998). Google Scholar
H. Saito and T. Togawa, Med. Biol. Eng. Comput. 43(2), 240 (2005), DOI: 10.1007/BF02345961. Crossref, Web of Science, Google Scholar
H. Egekvist, P. Bjerring and L. Arendt-Nielsen, Diabetes 54, A103 (2005). Google Scholar
H. Egekvist, P. Bjerring and L. Arendt-Nielsen, Eur. J. Pain 3, 41 (1999), DOI: 10.1016/S1090-3801(99)90187-8. Crossref, Web of Science, Google Scholar