Design and development of robotic system for precise vascular access and autonomous veinpuncture

The medical robot systems have the effect of reducing the work load and preventing accidents by supporting task that are difficult for inexperienced medical practitioners. Recently, research on automated blood collection and injection robotic system has been increasing, but work is still necessary such as replacing needle tips, setting tourniquet and fixing the patient's arm. In this letter, we propose an intelligent intravenous injection robot without having to see the medical workers face-to-face. We design a revolving system for automatic needle replacement and an arm holder for vessel fixation. Finally, we experiment positioning the needle at the target point by position control based on mathematical modeling and velocity kinematics.