Host: The Japan Society of Mechanical Engineers
Name : [in Japanese]
Date : March 07, 2022 - March 08, 2022
In clinical medicine, blood collection is frequently performed, but there are risks such as blood infection and nerve damage. To solve these problems, automated blood collection is effective. In this study, we estimated the three-dimensional position of the artificial blood vessel in the artificial skin using conventional method and proposed one, and then compared the success of the automated puncture using a robot. The conventional method assumes that all light paths after refraction exist in the same plane. The proposed method assumes that the light paths after refraction are subdivided into smaller ones, which is closer to reality. The artificial skin and blood vessels used in the experiments were made of transparent and soft urethane resin and silicon tubes. The silicone tube was filled with black ink as simulated blood. The artificial skin and blood vessels were placed in arbitrary positions and postures. The posture was either horizontal or tilted ±10° around the vascular axis. After the artificial skin was placed, the three-dimensional position of the blood vessel was estimated by two methods, and automatic puncture operation was performed based on the estimated values. As a result, the puncture success rate of the conventional method was 33%, and that of the proposed method was 76%. The difference in success rate was especially large under the condition that the artificial skin was tilted.
