非对准情况下静脉穿刺针力测量

Venipuncture Force Measurement on Needle and Vein Axes IVIismatch Case

目的静脉入针是医院的常规操作,但存在失误率,易导致二次入针等不利情况。因此,提高入针准确率是关键。作为提高入针准确率的基础性工作,本文研究静脉入针力在非理想情况下的特点。当前,对静脉穿刺针头插入血管的现有研究基于理想情况,即,静脉穿刺针的轴线与目标静脉的轴线共面且共线。然而在实际中,这种精准入针的情况不易发生,在静脉和针的轴向之间存在偏差。本文研究非理想/实际入针状态,即静脉轴向和针轴向的之间未对准。方法首先,实验平台被设计为具有5个自由度,并且静脉穿刺针由具有3个平移自由度的平移运动驱动以将针移动到静脉。然后,通过调整针的轴线与静脉的轴线之间的角度和针轴线的俯仰角进行一系列实验。结果本文获得一系列非理想情况下静脉入针的力作用实验曲线。结论获得的力作用曲线与轴线重合情况下力作用曲线不同。本研究首次提出非理想情况下静脉入针的受力规律,有助于确定针和静脉轴线之间的错位,进一步为提高入针准确率提供规律性指导。

Objective: Venipuncture is one of the most routine medical procedure, it is crucial to realize high precision and highsuccess rate of venipuncture needle insertion. Being the first and fundamental step for higher needle insertion precision,investigation of force of needle insertion into soft tissue should be studied.Existing investigations on venipuncture needle insertion blood vessel addressed the ideal case, i.e., the axis of venipuncture needle is co-planed with the axis of target vein. While in practical, this precise case seldom occurs,that's to say, there exists error, more or less, between the axes of vein and needle. In this paper, the study is concentrated on experimentally study the nonideal or practical case, i.e., mis-alignment between two axes of vein and needle shaft. Methods: First, an experimental platform is setup which is designed with 5 degrees of freedom and the venipuncture needle is driven by a translational motion with three more translational degree of freedom to move the needle to the vein. Results: Then,a series of experiments are implemented with adjusting angle between axis of needle and that of vein and the pitch angle of needle axis. Conclusion: The insertion force is recorded and it is different from that of the co-planed case which is investigated before this study. This study, for the first time, presents the experimental results for the case, and it is helpful to identify the mis-alignment of the needle and vein.