Development of a needle insertion manipulator for central venous catheterization

Yo Kobayashi, Jaesung Hong, Ryutaro Hamano, Kaoru Okada, Masakatsu G. Fujie, Makoto Hashizume

Research output: Contribution to journalArticle

15 Citations (Scopus)

Abstract

Background: Central venous catheterization is a procedure in which a doctor inserts a catheter into a patient's vein for transfusions. Risks of this procedure include bleeding from the puncture of blood vessels and pneumothorax caused by pleural puncture. To avoid these and other risks, physicians are required to ensure that the needle is inserted securely and that it stops within the vein. Methods: We propose a robotic system for assisting venous puncture that is capable of alleviating the difficulties encountered during the conventional procedure, as well as minimizing the risks of complications. This paper describes the design and results of experiments conducted using a needle insertion manipulator. First, we investigated the relation between insertion force and angle into the vein to determine the appropriate insertion angle in relation to the blood vessel under physical conditions. The results indicated that the reaction force can be used to gauge whether the needle has been inserted into the vein in cases where the insertion angle is in the range 10-20°. Based on this result, we determined the mechanisms of the puncture device, which comprises a small, compact configuration. Experiments for accuracy validation were performed on a phantom. Results: We evaluated the positioning accuracy using ultrasound images, and the results indicated an accuracy of 1.0mm or better, which is considered feasible for venous puncture. In the phantom experiments, we confirmed that our manipulator was capable of placing the needle within the vein. Conclusions: The feasibility of this system was demonstrated in our experiments. Further studies, such as in vivo experiments, are required.

Original languageEnglish
Pages (from-to)34-44
Number of pages11
JournalInternational Journal of Medical Robotics and Computer Assisted Surgery
Volume8
Issue number1
DOIs
Publication statusPublished - 2012 Mar

Fingerprint

Central Venous Catheterization
Punctures
Needles
Manipulators
Veins
Blood vessels
Experiments
Blood Vessels
Catheters
Robotics
Pneumothorax
Gages
Ultrasonics
Hemorrhage
Physicians
Equipment and Supplies

Keywords

  • Central venous catheterization
  • Needle insertion
  • Surgical robot

ASJC Scopus subject areas

  • Computer Science Applications
  • Biophysics
  • Surgery

Cite this

Development of a needle insertion manipulator for central venous catheterization. / Kobayashi, Yo; Hong, Jaesung; Hamano, Ryutaro; Okada, Kaoru; Fujie, Masakatsu G.; Hashizume, Makoto.

In: International Journal of Medical Robotics and Computer Assisted Surgery, Vol. 8, No. 1, 03.2012, p. 34-44.

Research output: Contribution to journalArticle

Kobayashi, Yo ; Hong, Jaesung ; Hamano, Ryutaro ; Okada, Kaoru ; Fujie, Masakatsu G. ; Hashizume, Makoto. / Development of a needle insertion manipulator for central venous catheterization. In: International Journal of Medical Robotics and Computer Assisted Surgery. 2012 ; Vol. 8, No. 1. pp. 34-44.
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