Abstract
We developed the measurement system of blood drawing motion using the artificial blood vessel phantom. When the expert person such as a nurse collects the blood samples, they check the position and depth of subject's blood vessel by their visual sensation and palpation. Then they prick the subject’s arm with the needle. During inserting the needle in vein, expert person sense the force from needle when the needle punctures the skin and the blood vessel. They use this information to set up the needle correct position adjusting the position and angle of the needle. In this study, we tried to evaluate the blood collecting motion using the artificial blood vessel phantom with three-dimensional motion analysis system and six-axis force/torque sensor. As the result of experiments, we can clarify the relationship between the needle positions from the skin surface and axial direction resistance force when the needle punctures the skin and the blood vessel.
