五自由度PICC精密细微静脉穿刺机械臂的运动分析与控制策略

Motion Analysis and Control Strategy of Five-degree-of-freedom PICC Precious Venipuncture Manipulator

医护人员的经验对PICC静脉穿刺置管手术的成功率有关键的影响,对于血管条件不好的患者,人工操作很难保证穿刺成功率。设计了一套高精度的五自由度机械穿刺装置,利用超声图像、力传感器、陀螺仪作为传感模块,形成闭环控制,使得机械装置能准确定位并精准穿刺。阐述了机械穿刺装置的运动分析和控制策略。系统由三自由度并联机械手臂实现针尖在三维空间中的定位,末端执行器为串联机械臂有两个自由度,一个自由度由丝杆电机控制针穿刺皮肤进入血管,另外一个自由度由旋转电机控制留置针针芯与软管的分离。经过实验表明,静脉穿刺系统能在给定目标位置后准确到达目标点,找到目标进行穿刺,完成静脉穿刺置管。

The experience of medical staff has a critical impact on the success rate of PICC venous catheterization. For patients with poor vascular conditions, it is difficult to ensure the success rate of puncture for manual operation. In this study, a set of high-precision five-degree-of-freedom mechanical puncture device was designed. The ultrasonic image, force sensor,and gyroscope were used as the sensing module to form a closed-loop control, which enabled the mechanical device to accurately locate and accurately puncture. This paper mainly describes the motion analysis and control strategy of the mechanical puncture device. The system uses a three-degree-of-freedom parallel mechanical arm to realize the positioning of the needle tip in three-dimensional space. The end effector has two degrees of freedom for the series mechanical arm. One degree of freedom is controlled by the screw motor to puncture the skin into the blood vessel, and another degree of freedom is rotated motor, which controls the separation of the needle core from the hose. Experiments have shown that the venipuncture system can accurately reach the target point after a given target position, and then complete the venipuncture catheter.