Design and validation of ultrasound-guided femoral vein puncture robots
LIU Lintao
XIA Jing
CHENG Gan
Abstract：[Objective]Femoral veni puncture is widely used in clinical scenarios such as critical emergency treatment,emergency dialysis,drug rehydration,etc.However,the success rate of femoral veni puncture often depends on the experience of doctors.Thus,an ultrasound-guided robot system for femoral vein puncture was developed.[Methods]Firstly,a 2-DOF end puncture actuator of the puncture robot was designed for angle adjustment of the swing arm and femoral vein puncture feeding.Then,based on the 7-DOF serial robot arm,an ultrasound-guided femoral vein puncture robot system was built to ensure the space of ultrasound scanning and puncture.Finally,the positioning accuracy of the end puncture actuator and the robot was veri-fied.[Results]The test results show that the absolute positioning accuracy of the angle of the puncture swing arm of the end puncture actuator is within 0.5°,the absolute positioning accuracy of the puncture feed is within 0.2 mm,and the spatial repeated positioning accuracy of the needle tip of the femoral vein puncture robot based on the 7-DOF robot arm is within 0.2 mm,meet-ing the requirements of clinical puncture accuracy.The robot system is built to realize semi-automatic puncture through remote operation,which provides important experience for realizing automatic puncture of femoral veins.
Keywords：Femoral vein punctureUltrasonic guidancePuncture actuatorMedical robot
Publication Date：2025-03-14
Online Publishing Date：2026-09-12(First online date of this platform, not the publication date of the document)
Pages：10( 69-78 )