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Image-guided robotics for autonomous venipuncture
Descriptive
TitleInfo
Title
Image-guided robotics for autonomous venipuncture
Name
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Chen
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Alvin I.
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1988-
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Alvin I. Chen
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author
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Yarmush
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Martin l
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Martin l Yarmush
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Advisory Committee
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chair
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Maguire
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Timothy J
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Timothy J Maguire
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Advisory Committee
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internal member
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(type = family)
Pierce
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(type = given)
Mark C
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Mark C Pierce
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Advisory Committee
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internal member
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Pantin
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Enrique J
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Enrique J Pantin
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Advisory Committee
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outside member
Name
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Alam
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Kaisar S
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Kaisar S Alam
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Advisory Committee
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outside member
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Rutgers University
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degree grantor
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Graduate School - New Brunswick
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theses
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2016
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2016-10
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2016
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xx
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eng
Abstract
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Performed over 1.5 billion times each year, venipuncture is the most ubiquitous clinical intervention and leading cause of medical injury in the United States. This dissertation describes the development of a medical device aimed at minimizing venipuncture-related adverse events by drawing blood and placing peripheral vascular catheters in an automated manner. The device may be particularly suited to challenging populations, including pediatric, geriatric, chronically-ill, and obese patients, for whom the rates of success depend heavily on practitioner skill. The device combines 3D near-infrared and ultrasound imaging, computer vision software, and a miniaturized dexterous robot that inserts the needle based on real-time image guidance. Methods to robustly segment, localize, and track the pose of the vessels are presented, and robotic prototypes capable of autonomously aligning and servoing the needle under real-time image guidance are introduced. In imaging studies on human volunteers spanning a broad range of demographic characteristics, the device was able to detect a majority of forearm veins that remained invisible to clinical visual assessment. In cannulation studies on in vitro and in vivo models, the device demonstrated significant improvements in first-stick accuracy and completion time compared to unassisted and image-guided manual venipuncture techniques. The results of these studies may be used to inform future clinical trials evaluating device feasibility in normal and difficult patient groups. Once translated, the device may be targeted to high-volume laboratory testing facilities and hospitals, and the underlying technologies may be extended to other diagnostic and interventional procedures, including automated point-of-care blood analysis, in-clinic and at-home hemodialysis venipuncture, peripherally-inserted central catheter placement, and emergency or military use.
Subject
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Topic
Biomedical Engineering
Subject
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Topic
Robotics in medicine
Subject
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Topic
Veins--Puncture
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Rutgers University Electronic Theses and Dissertations
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ETD_7600
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electronic resource
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application/pdf
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Extent
1 online resource (xv, 256 p. : ill.)
Note
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Ph.D.
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Includes bibliographical references
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by Alvin I. Chen
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Graduate School - New Brunswick Electronic Theses and Dissertations
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rucore19991600001
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doi:10.7282/T3GX4DT0
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ETD doctoral
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Rights
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The author owns the copyright to this work.
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Name
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Chen
GivenName
Alvin
MiddleName
I.
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Permission or license
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2016-09-22 01:12:32
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Alvin Chen
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Affiliation
Rutgers University. Graduate School - New Brunswick
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Author Agreement License
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I hereby grant to the Rutgers University Libraries and to my school the non-exclusive right to archive, reproduce and distribute my thesis or dissertation, in whole or in part, and/or my abstract, in whole or in part, in and from an electronic format, subject to the release date subsequently stipulated in this submittal form and approved by my school. I represent and stipulate that the thesis or dissertation and its abstract are my original work, that they do not infringe or violate any rights of others, and that I make these grants as the sole owner of the rights to my thesis or dissertation and its abstract. I represent that I have obtained written permissions, when necessary, from the owner(s) of each third party copyrighted matter to be included in my thesis or dissertation and will supply copies of such upon request by my school. I acknowledge that RU ETD and my school will not distribute my thesis or dissertation or its abstract if, in their reasonable judgment, they believe all such rights have not been secured. I acknowledge that I retain ownership rights to the copyright of my work. I also retain the right to use all or part of this thesis or dissertation in future works, such as articles or books.
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2016-10-31
DateTime
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2017-10-31
Type
Embargo
Detail
Access to this PDF has been restricted at the author's request. It will be publicly available after October 31st, 2017.
Copyright
Status
Copyright protected
Availability
Status
Open
Reason
Permission or license
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windows xp
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2016-09-27T17:57:44
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2016-09-27T17:57:44
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