採血支援システムにおける腕姿勢に対応した針制御に関する研究

抄録

The purpose of this study is development a blood collection assistant system for accident prevention. In the previous studies, a vein detection system by using absorbance of the hemoglobin, a needle puncture system by using the peak detection of puncture force and blood detection by electrode were developed and integrated. In this study, needle posture control following arm posture was performed with posture markers placed on a NIR-illuminator for vein detection. The arm angle was calculated from the relationship of distance between camera and each marker in the captured image. Experiments were performed to evaluate the accuracy of needle posture control for angle, position and direction according to the arm. As the results, maximum error of control was 6°, 2.8mm and 2.2° in the angle, position and direction, respectively. It seemed that the accuracy of position control was enough for needle puncture to vein of 4mm diameter with 21G needle of 0.8mm diameter. However, improvements of link mechanism and control algorithm were required to reduce the error of angle and direction control.