超声引导的股静脉穿刺机器人的设计和验证  

Design and validation of ultrasound-guided femoral vein puncture robots

作　　者：刘琳涛 夏晶 程干 LIU Lintao;XIA Jing;CHENG Gan(College of Mechanical Engineering,Xi’an University of Science and Technology,Xi’an 710054,China;Hefei Hebin Intelligent Robot Co.,Ltd.,Hefei 230601,China)

机构地区：[1]西安科技大学机械工程学院,西安710054 [2]合肥合滨智能机器人有限公司,合肥230601

出　　处：《机械传动》2025年第3期69-78,共10页Journal of Mechanical Transmission

基　　金：国家自然科学基金面上项目(52174149);陕西省重点研发计划项目(2022GY-241)。

摘　　要：【目的】股静脉穿刺在重症急救、急症透析、给药补液等临床场景有着广泛的应用,但股静脉穿刺的成功率往往依赖于医生的经验。研究开发了一种超声引导的股静脉穿刺机器人系统。【方法】首先,设计一款2自由度的穿刺机器人末端穿刺执行器,用于穿刺摆臂的角度调整和股静脉穿刺进给;然后,基于7自由度串联机械臂,搭建了超声引导的股静脉穿刺机器人系统,保证超声扫查和穿刺空间;最后,对末端穿刺执行器及机器人的定位精度进行了验证。【结果】试验结果表明,末端穿刺执行器穿刺摆臂角度的绝对定位精度在0.5°以内,穿刺进给的绝对定位精度在0.2 mm以内,基于7自由度机械臂股静脉穿刺机器人针尖的空间重复定位精度在0.2mm以内,满足临床穿刺精度需求;搭建的机器人系统通过遥控操作实现了半自动穿刺,为实现股静脉的自动穿刺提供了重要的借鉴。[Objective]Femoral veni puncture is widely used in clinical scenarios such as critical emergency treatment,emergency dialysis,drug rehydration,etc.However,the success rate of femoral veni puncture often depends on the experience of doctors.Thus,an ultrasound-guided robot system for femoral vein puncture was developed.[Methods]Firstly,a 2-DOF end puncture actuator of the puncture robot was designed for angle adjustment of the swing arm and femoral vein puncture feeding.Then,based on the 7-DOF serial robot arm,an ultrasound-guided femoral vein puncture robot system was built to ensure the space of ultrasound scanning and puncture.Finally,the positioning accuracy of the end puncture actuator and the robot was veri‐fied.[Results]The test results show that the absolute positioning accuracy of the angle of the puncture swing arm of the end puncture actuator is within 0.5°,the absolute positioning accuracy of the puncture feed is within 0.2 mm,and the spatial repeated positioning accuracy of the needle tip of the femoral vein puncture robot based on the 7-DOF robot arm is within 0.2 mm,meet‐ing the requirements of clinical puncture accuracy.The robot system is built to realize semi-automatic puncture through remote operation,which provides important experience for realizing automatic puncture of femoral veins.

关 键 词：股静脉穿刺 超声引导 穿刺执行器 医疗机器人 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置]