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Preliminary in vivo evaluation of a needle insertion manipulator for central venous catheterization
- Preliminary in vivo evaluation of a needle insertion manipulator for central venous catheterization
- Kobayashi, Y.[Kobayashi, Yo]; Hamano, R.[Hamano, Ryutaro]; Watanabe, H.[Watanabe, Hiroki]; Koike, T.[Koike, Takuma]; Hong, J.[Hong, Jae Sung]; Toyoda, K.[Toyoda, Kazutaka]; Uemura, M.[Uemura, Munenori]; Ieiri, S.[Ieiri, Satoshi]; Tomikawa, M.[Tomikawa, Morimasa]; Ohdaira, T.[Ohdaira, Takeshi]; Hashizume, M.[Hashizume, Makoto]; Fujie, M.G.[Fujie, Masakatsu G.]
- DGIST Authors
- Hong, J.[Hong, Jae Sung]
- Issue Date
- Afrika Matematika, 1(1), 1-7
- Article Type
- Article in Press
- Central Venous Catheterization; Needle Insertion; Surgical Robot
- Central venous catheterization is associated with potential complications secondary to accidental puncture, including venous bleeding and pneumothorax. We developed a system that avoids these complications and simplifies the procedure using a robot to provide puncture assistance. We herein report a puncture experiment conducted in vivo in a porcine to evaluate the manipulator. The right and left jugular veins of a pig were punctured five times each through both opened and unopened skin at a puncture angle and speed. A venous placement rate of 80% was obtained with opened skin. A much lower rate of 40% was obtained with unopened skin. One of five attempts in opened skin was unsuccessful, likely because of the stick-slip phenomenon. This system was effective for jugular venous puncture of opened skin. Future studies should focus on puncture conditions that facilitate needle placement, inhibit the stick-slip phenomenon, and minimize needle bending due to the presence of skin. © 2014 Kobayashi et al.; licensee Springer.
- Springer Verlag
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- Robotics EngineeringETC1. Journal Articles
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