Abstract
Central venous catheterization is a procedure, which a doctor inject the patient's vein and insert a catheter. This procedure is applied for various cases. However, there are risks of bleeding from arterial puncture or pneumothorax from pleural puncture in needling. Besides, doctors are strictly required to make needle reach up into the vein and to stop the needle in the vein. We proposed a robot system for assisting the venous puncture, which resolves the difficulty in procedure, and the risks of complication. We reported the relationship between needling angle and reaction force, then the mechanism of the needle insertion manipulator and its assessment experiment. The results of the needle insertion experiment suggested that the judgment of perforation using the reaction force was sure in case where the needling angle was from 10[deg] to 20[deg]. In addition, the assessment experiment revealed that the needle insertion manipulator had enough accuracy for venous puncture.
