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. 2022 Sep 17;106(1):31. doi: 10.1007/s10846-022-01738-6

Research on Robotic Humanoid Venipuncture Method Based on Biomechanical Model

Tianbao He 1, Chuangqiang Guo 1, Hansong Liu 1, Li Jiang 1,✉
PMCID: PMC9483373  PMID: 36158114

Abstract

Automatic venipuncture robots are expected to replace manual venipuncture methods owing to their high control precision, steady operation, and measurable perception. However, the lack of perception of the venipuncture status in the human body leads to an increased risk and failure rate, which further restricts the development of such robots. To address this, we propose a humanoid venipuncture method guided by a biomechanical model to imitate human sensations and feedback. This method intends to perceive the venipuncture status and improve the performance of the venipuncture robot. First, this study establishes a biomechanical venipuncture model, which thoroughly considers the elastic deformation, cutting, and friction of tissues and can be applied to different venipuncture conditions. Then, venipuncture simulations and in vitro phantom experiments are performed under various settings to analyze and validate the model. Finally, to evaluate the robotic humanoid venipuncture method, we apply the method to a self-developed six-degree-of-freedom venipuncture robot via rabbit ear veins with a success rate of approximately 90%. This work demonstrates that the humanoid venipuncture method based on the biomechanical model is practical and rapid in processing simple information in venipuncture robots.

Keywords: Biomechanical model, Force feedback, Status perception, Venipuncture robot

Biographies

Tianbao He

received the B.S. degree in Mechanical Engineering from Harbin Institute of Technology, Harbin, China, in 2018. He is currently pursuing the Ph.D. degree with the State Key Laboratory of Robotics and System, Harbin Institute of Technology. His research interests include venous perception and autonomous decision-making for the venipuncture robot.

Chuangqiang Guo

received the B.S. and M.S. degrees from the Harbin University of Science and Technology, Harbin, China, in 2005 and 2008, respectively, and the Ph.D.degree from Harbin Institute of Technology (HIT), Harbin, China, in 2012, all in mechanical engineering. He is currently an Associate Research Fellow with the State Key Laboratory of Robotics and Systems, HIT. His research interests include the design and control technologies of ac motor drive and robotic systems.

Hansong Liu

received the B.S. degree in Automation from Northeastern University, Shenyang, China, in 2020. He is currently pursuing the Master’s degree with the State Key Laboratory of Robotics and System, Harbin Institute of Technology. His research interests include the design of sensing and control systems for the venipuncture robot.

Li Jiang

received the B.S. degree in optical instrumentation from Tsinghua University, Beijing, China, in 1993, and the Ph.D. degree in mechanical engineering from the Harbin Institute of Technology, Harbin, China, in 2001. He is currently a Professor with the State Key Laboratory of Robotics and System, Harbin Institute of Technology. His research interests include the robotic hand, prostheses, medical robot, sensors and control algorithms.

Author Contributions

Tianbao He and Li Jiang conceived and designed the study. Tianbao He and Hansong Liu performed the experiments. Tianbao He wrote the paper. Tianbao He, Li Jiang, and Chuangqiang Guo reviewed and edited the manuscript. All authors read and approved the manuscript.

Funding

This work was supported by the National Natural Science Foundation of China (U1813209), Self-Planned Task (NO. SKLRS202112B) of State Key Laboratory of Robotics and System (HIT).

Code or Data Availability

Not applicable.

Declarations

Conflicts of Interest

We declare that we have no financial and personal relationships with other people or organizations that can inappropriately influence our work. There is no professional or other personal interest of any nature or kind in any product, service, or company that could be construed as influencing the position presented in or the review of the manuscript entitled.

Ethics Approval

This study did not cause harm to the subjects, and the subjects were well fed and cared for. We consulted extensively with the IRB that our study did not need ethical approval.

Consent to Participate

Not applicable.

Consent for Publication

Not applicable.

Footnotes

Publisher’s Note

Springer Nature remains neutral with regard to jurisdictional claims in published maps and institutional affiliations.

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