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. 2022 Mar 2;16(2):021015. doi: 10.1115/1.4053688

Fig. 2.

Internal components and mechanisms of the VeniBot device. The device features a 2D ultrasound probe combined with a needle manipulator unit. This robotic system comprises 3 degrees-of-freedom for performing the venipuncture: 1) the alignment motor (Zm) for vertical motion, 2) the insertion-angle motor (θm) for adjusting the angle-of-insertion, and 3) the insertion motor (Injm) responsible for needle translation. A needle clip containing the PIVC is loaded into the device and held in place via a neodymium magnet. A custom ultrasound gel clip is attached to the transducer head to provide acoustic coupling. A blood flash sensor is located within the catheter sheath push to detect if blood flow is present through the catheter sheath postpuncture.

Internal components and mechanisms of the VeniBot device. The device features a 2D ultrasound probe combined with a needle manipulator unit. This robotic system comprises 3 degrees-of-freedom for performing the venipuncture: 1) the alignment motor (Zm) for vertical motion, 2) the insertion-angle motor (θm) for adjusting the angle-of-insertion, and 3) the insertion motor (Injm) responsible for needle translation. A needle clip containing the PIVC is loaded into the device and held in place via a neodymium magnet. A custom ultrasound gel clip is attached to the transducer head to provide acoustic coupling. A blood flash sensor is located within the catheter sheath push to detect if blood flow is present through the catheter sheath postpuncture.