Decision Method of Optimal Needle Insertion Angle for Dorsal Hand Intravenous Robot

Area of Science:

• Medical robotics
• Biomedical engineering
• Surgical simulation

Background:

• Robotic venipuncture research is growing, but optimal needle insertion angles are understudied.
• Current methods use rough angles, leading to increased puncture failure and patient discomfort.
• Patient anatomical variations necessitate precise angle determination for successful intravenous injections.

Purpose of the Study:

• To investigate and determine the optimal needle entry angle for a dorsal hand intravenous injection robot.
• To enhance the precision and success rate of robotic venipuncture procedures.
• To minimize patient pain by optimizing the needle insertion angle.

Main Methods:

• Acquired dorsal hand surface data using a calibrated linear structured light scan.
• Calculated the optimal needle entry angle based on the fitted dorsal hand plane.
• Analyzed penetration forces under varying angles to identify the most effective insertion angle.
• Utilized iterative optimization methods and least squares fitting to minimize measurement errors.

Main Results:

• Achieved an average error of approximately 0.1 mm in structured light plane positioning.
• Successfully calculated needle entry angles based on precise dorsal hand surface reconstruction.
• Identified that a larger needle entry angle is generally optimal for intravenous injections.
• Demonstrated a method for determining optimal angles to reduce puncture failure and pain.

Conclusions:

• The developed method accurately determines optimal needle entry angles for robotic venipuncture.
• Selecting a larger needle entry angle can significantly improve the success rate of dorsal hand intravenous injections.
• This research contributes to the advancement of safer and more effective robotic-assisted medical procedures.