中心静脈カテーテルを支援する血管穿刺支援マニピュレータの開発

摘要

本研究では，中心静脈カテーテルにおける手技の困難さ を解決し，合併症の危険性を低下させることを目的として， 静脈穿刺を支援するロボットシステムを提案した。本稿に おいては，提案した全体システムのうち，穿刺支援マニピ ユレ一夕の可動範囲等の設計仕様を明確にすることおよ び，その仕様を実現するハードウェアの開発を行った。血 管への針の留置のためには血管への刺入角度が重要となる ことに注目し，マニピュレータに必要な角度域を詳細に検 討した。%Central venous catheterization is a procedure, which a doctor insert a catheter into the patient's vein for transfusion. Since there are risks of bleeding from arterial puncture or pneumothorax from pleural puncture. Physicians are strictly required to make needle reach up into the vein and to stop the needle in the middle of vein. We proposed a robot system for assisting the venous puncture, which can relieve the difficulties in conventional procedure, and the risks of complication. This paper reports the design structuring and experimental results of needle insertion manipulator. First, we investigated the relationship between insertion force and angle into the vein. The results indicated that the judgment of perforation using the reaction force is possible in case where the needling angle is from 10 to 20 degree. The experiment to evaluate accuracy of the robot also revealed that it has beyond 0.5 mm accuracy. We also evaluated the positioning accuracy in the ultrasound images. The results displays that the accuracy is beyond 1.0 mm and it has enough for venous puncture. We also carried out the venous puncture experiment to the phantom and confirm our manipulator realized to make needle reach up into the vein.