ArticleIEEE transactions on industrial electronics (1982)2017
Adaptive Kinematic Control of a Robotic Venipuncture Device Based on Stereo Vision, Ultrasound, and Force Guidance.
Article in IEEE transactions on industrial electronics (1982), 2017. The graph could read no effect estimate from its abstract, so it casts no vote on the map. Cited by 15 papers.
What it found
Each row is one number read from the abstract, on the scale the paper reported it, with its interval. Left of the dashed line favours the treatment, right favours the comparator. Under each row is the sentence it came from. New to these charts? A ten-minute tutorial.
The abstract states no effect estimate the extractor could read, or names no intervention and outcome on the map, so this paper lights no cell and moves no belief. It is still indexed, cited and linked below.
The trial behind it
Trials whose registry record cites this paper, or whose number appears in the abstract. A trial that started after this paper was published is citing it as background, not reporting it.
Neither the registry nor the abstract names a trial number. If this is a trial report, that itself is worth knowing.
Who cites it
15 citing papers in PubMed, 70 citations in OpenAlex.
- Transforming hemodialysis care: a tripartite collaboration model among medical staff, AI agents, and robots.Clinical and experimental nephrology · 2026Review
- Non-pixelated in-materia retinomorphic sensor via photocarrier dynamics for precise spatiotemporal perception.Nature communications · 2026Article
- Intelligent blood collection robot: key technologies, clinical applications, and future challenges.Frontiers in bioengineering and biotechnology · 2025Review
- Advances of surgical robotics: image-guided classification and application.National science review · 2024Review
- Application of Medical Image Navigation Technology in Minimally Invasive Puncture Robot.Sensors (Basel, Switzerland) · 2023Review
- Puncture site decision method for venipuncture robot based on near-infrared vision and multiobjective optimization.Science China. Technological sciences · 2023Article
- Design and Evaluation of a Handheld Robotic Device for Peripheral Catheterization.Journal of medical devices · 2022Article
- Coronary vessel detection methods for organ-mounted robots.The international journal of medical robotics + computer assisted surgery : MRCAS · 2021Article
- Ultrasound-guided needle insertion robotic system for percutaneous puncture.International journal of computer assisted radiology and surgery · 2021Article
- Health Care-Associated Infections and the Radiology Department.Journal of medical imaging and radiation sciences · 2019Review
- Automated end-to-end blood testing at the point-of-care: Integration of robotic phlebotomy with downstream sample processing.Technology · 2018Article
- Design and Evaluation of a Robotic Device for Automated Tail Vein Cannulations in Rodent Models.Journal of medical devices · 2017Article
- System Design and Development of a Robotic Device for Automated Venipuncture and Diagnostic Blood Cell Analysis.Proceedings of the ... IEEE/RSJ International Conference on Intelligent Robots and Systems. IEEE/RSJ International Conference on Intelligent Robots and Systems · 2016Article
- 3D Near Infrared and Ultrasound Imaging of Peripheral Blood Vessels for Real-Time Localization and Needle Guidance.Medical image computing and computer-assisted intervention : MICCAI ... International Conference on Medical Image Computing and Computer-Assisted Intervention · 2016Article
- First-in-human evaluation of a hand-held automated venipuncture device for rapid venous blood draws.TechnologyArticle
Corrections and comments
PubMed lists nothing against this paper. Absence here is not a guarantee, only a check that was made.
Authors and funding
4 authors at 2 institutions in 1 country.
Funding
Abstract
Robotic systems have slowly entered the realm of modern medicine; however, outside the operating room, medical robotics has yet to be translated to more routine interventions such as blood sampling or intravenous fluid delivery. In this paper, we present a medical robot that safely and rapidly cannulates peripheral blood vessels-a procedure commonly known as venipuncture. The device uses near-infrared and ultrasound imaging to scan and select suitable injection sites, and a 9-DOF robot to insert the needle into the center of the vessel based on image and force guidance. We first present the system design and visual servoing scheme of the latest generation robot, and then evaluate the performance of the device through workspace simulations and free-space positioning tests. Finally, we perform a series of motion tracking experiments using stereo vision, ultrasound, and force sensing to guide the position and orientation of the needle tip. Positioning experiments indicate sub-millimeter accuracy and repeatability over the operating workspace of the system, while tracking studies demonstrate real-time needle servoing in response to moving targets. Lastly, robotic phantom cannulations demonstrate the use of multiple system states to confirm that the needle has reached the center of the vessel.
Indexed as
Identifiers
What OpenQuestion holds
Registered trials
Read under generation 80e0d062 · epoch 390. Bibliography from PubMed, PubMed Central and OpenAlex; grants from NIH RePORTER; trial links from ClinicalTrials.gov; estimates, votes and beliefs from the OpenQuestion graph.