Venipuncture robots have superior perception and stability to humans and are expected to replace manual venipuncture.However, their use is greatly restricted because they cannot make decisions regarding the puncture s...Venipuncture robots have superior perception and stability to humans and are expected to replace manual venipuncture.However, their use is greatly restricted because they cannot make decisions regarding the puncture sites. Thus, this study presents a multi-information fusion method for determining puncture sites for venipuncture robots to improve their autonomy in the case of limited resources. Here, numerous images have been gathered and processed to establish an image dataset of human forearms for training the U-Net with the soft attention mechanism(SAU-Net) for vein segmentation. Then, the veins are segmented from the images, feature information is extracted based on near-infrared vision, and a multiobjective optimization model for puncture site decision is provided by considering the depth, diameter, curvature, and length of the vein to determine the optimal puncture site. Experiments demonstrate that the method achieves a segmentation accuracy of 91.2% and a vein extraction rate of 86.7%while achieving the Pareto solution set(average time: 1.458 s) and optimal results for each vessel. Finally, a near-infrared camera is applied to the venipuncture robot to segment veins and determine puncture sites in real time, with the results transmitted back to the robot for an attitude adjustment. Consequently, this method can enhance the autonomy of venipuncture robots if implemented dramatically.展开更多
The aim of present study was to assess the effects of a eutectic mixture of topical anesthetics (EMLA cream) on pain responses of preschoolers during venipuncture. The pain responses were reported by children, nurses,...The aim of present study was to assess the effects of a eutectic mixture of topical anesthetics (EMLA cream) on pain responses of preschoolers during venipuncture. The pain responses were reported by children, nurses, and the children’s mothers. The pre- and post-test-designed study, which included a non-equivalent control group, was carried out in a pediatric unit at E University Hospital in South Korea. Pain responses during venipuncture were measured by the self-reporting of the children using the Face Pain Rating Scale (FPRS), the Procedure Behavior Checklist by nurses (PBCL), the Visual Analog Scale (VAS) by mothers, in addition to measurements of the children’s pulse rate and level of oxygen saturation. EMLA cream was effective in decreasing the pain responses of the children as assessed by FPRS, PBCL, and VAS scores. However, pulse rate and level of oxygen saturation of the children during venipuncture were not significantly different between the two groups. EMLA cream could be a useful option for reducing pain in preschool children during invasive procedures.展开更多
基金supported by the National Natural Science Foundation of China (Grant No. U1813209)Self-Planned Task of State Key Laboratory of Robotics and System (Harbin Institute of Technology)(Grant No.SKLRS202112B)。
文摘Venipuncture robots have superior perception and stability to humans and are expected to replace manual venipuncture.However, their use is greatly restricted because they cannot make decisions regarding the puncture sites. Thus, this study presents a multi-information fusion method for determining puncture sites for venipuncture robots to improve their autonomy in the case of limited resources. Here, numerous images have been gathered and processed to establish an image dataset of human forearms for training the U-Net with the soft attention mechanism(SAU-Net) for vein segmentation. Then, the veins are segmented from the images, feature information is extracted based on near-infrared vision, and a multiobjective optimization model for puncture site decision is provided by considering the depth, diameter, curvature, and length of the vein to determine the optimal puncture site. Experiments demonstrate that the method achieves a segmentation accuracy of 91.2% and a vein extraction rate of 86.7%while achieving the Pareto solution set(average time: 1.458 s) and optimal results for each vessel. Finally, a near-infrared camera is applied to the venipuncture robot to segment veins and determine puncture sites in real time, with the results transmitted back to the robot for an attitude adjustment. Consequently, this method can enhance the autonomy of venipuncture robots if implemented dramatically.
文摘The aim of present study was to assess the effects of a eutectic mixture of topical anesthetics (EMLA cream) on pain responses of preschoolers during venipuncture. The pain responses were reported by children, nurses, and the children’s mothers. The pre- and post-test-designed study, which included a non-equivalent control group, was carried out in a pediatric unit at E University Hospital in South Korea. Pain responses during venipuncture were measured by the self-reporting of the children using the Face Pain Rating Scale (FPRS), the Procedure Behavior Checklist by nurses (PBCL), the Visual Analog Scale (VAS) by mothers, in addition to measurements of the children’s pulse rate and level of oxygen saturation. EMLA cream was effective in decreasing the pain responses of the children as assessed by FPRS, PBCL, and VAS scores. However, pulse rate and level of oxygen saturation of the children during venipuncture were not significantly different between the two groups. EMLA cream could be a useful option for reducing pain in preschool children during invasive procedures.
