• CN:11-2187/TH
  • ISSN:0577-6686

机械工程学报 ›› 2021, Vol. 57 ›› Issue (3): 1-10.doi: 10.3901/JME.2021.03.001

• 机器人及机构学 •    下一篇

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静脉穿刺机器人研究进展

何天宝, 郭闯强, 任浩, 姜力   

  1. 哈尔滨工业大学机器人技术与系统国家重点实验室 哈尔滨 150080
  • 收稿日期:2020-03-15 修回日期:2020-08-26 出版日期:2021-02-05 发布日期:2021-03-16
  • 通讯作者: 郭闯强(通信作者),男,1982年出生,博士,副研究员。主要研究方向为电机驱动与机器人控制技术。E-mail:chuangqiang.guo@hit.edu.cn
  • 作者简介:何天宝,男,1996年出生,博士研究生。主要研究方向为静脉穿刺机器人设计。E-mail:hetb@hit.edu.cn
  • 基金资助:
    国家自然科学基金委创新研究群体(51521003)和黑龙江省博士后科研启动金(LBH-Q18059)资助项目。

Research Progress of Venipuncture Robot

HE Tianbao, GUO Chuangqiang, REN Hao, JIANG Li   

  1. State Key Laboratory of Robotics and System, Harbin Institute of Technology, Harbin 150080
  • Received:2020-03-15 Revised:2020-08-26 Online:2021-02-05 Published:2021-03-16

摘要: 随着医疗技术的发展,静脉穿刺已经成为人体健康评估、病情诊断、治疗的必要手段,目前几乎全部依靠医护人员手动操作完成,自动化需求日益强烈。为了减轻医护人员的精神和体力负担,推进医疗自动化和智慧医疗的发展,在巨大的社会经济前景的激励下,静脉穿刺机器人已成为世界范围内的研究热点,各大研究机构相继发布各自研究成果。简要概述了静脉穿刺机器人的发展现状,详细分析了所涉及的静脉感知、自主决策、机器人结构设计、控制方法等关键技术,总结了存在的问题和面临的挑战,并对未来发展趋势进行了展望。

关键词: 静脉穿刺, 医疗机器人, 静脉识别, 感知反馈, 自主决策

Abstract: With the development of medical technology, venipuncture has become an indispensable means for human health assessment, diagnosis, and treatment. By far almost all of those actions are performed manually by medical personnel, which stimulates the demand for automation, also brings great social and economic prospect to automatic venipuncture robots. In order to relive the mental and physical burden of medical personnel as well as to promote the development of medical automation and wise information technology, venipuncture robots have become a worldwide research hotspot, and many researches have been released by research institutions. This research briefly summarizes the development status of venipuncture robots, analyzes the key technologies referred in venous sensing, autonomous decision making, robot structural design, control methods and so on. This paper further summarizes the existing problems and challenges, and finally looks forward to the development trends of venipuncture robots.

Key words: venipuncture, medical robot, vein recognition, perceptual feedback, autonomous decision-making

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