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Published on: May 31, 2019
Multisensory System for the Detection and Localization of Peripheral Subcutaneous Veins
Roemi Fernández1, Manuel Armada2
1Centre for Automation and Robotics (CAR) CSIC-UPM, Carretera de Campo Real, Km. 0,200. La Poveda, Arganda del Rey, 28500 Madrid, Spain. roemi.fernandez@car.upm-csic.es.
Abstract:
This paper proposes a multisensory system for the detection and localization of peripheral subcutaneous veins, as a first step for achieving automatic robotic insertion of catheters in the near future. The multisensory system is based on the combination of a SWIR (Short-Wave Infrared) camera, a TOF (Time-Of-Flight) camera and a NIR (Near Infrared) lighting source. The associated algorithm consists of two main parts: one devoted to the features extraction from the SWIR image, and another envisaged for the registration of the range data provided by the TOF camera, with the SWIR image and the results of the peripheral veins detection. In this way, the detected subcutaneous veins are mapped onto the 3D reconstructed surface, providing a full representation of the region of interest for the automatic catheter insertion. Several experimental tests were carried out in order to evaluate the capabilities of the presented approach. Preliminary results demonstrate the feasibility of the proposed design and highlight the potential benefits of the solution.
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