簡単化した光の屈折を考慮した模擬血管への自動穿刺

抄録

Automatic puncture method into artificial blood vessel is discussed. An industrial silicon tube is substituted for blood vessel and is covered with artificial skin model which is made of soft and transparent gel. The three-dimensional (3D) location of blood vessel is estimated using two IR cameras applying stereo visualization technique. 3D plane equation which includes 3D location of blood vessel image on the skin captured by one camera and a focus point of the camera is obtained. A cross line of two 3D planes obtained from two cameras provides the 3D position of blood vessel. Because artificial skin model refracts the light from the blood vessel, the depth of the blood vessel from skin surface looks shallower than the actual one. Therefore, to modify the location of blood vessel model, the 3D plane equations are rotated around blood vessel images on the skin surface by considering the angle of refraction. The cross line of two rotated planes provides the actual position of blood vessel. Automatic puncture experiment is conducted using the robot system with a puncture needle and the experimental results show that the robot successfully punctures the blood vessel into the transparent skin model.