Abstract:
Advanced resuscitative technologies, such as Extra Corporeal Membrane Oxygenation (ECMO) cannulation or Resuscitative Endovascular Balloon Occlusion of the Aorta (REBOA), are technically difficult even for skilled medical personnel. This paper describes the core technologies that comprise a teleoperated system capable of granting femoral vascular access, an essential step in these procedures, and a significant roadblock in their broader use in the field. These technologies include a kinematic manipulator, various sensing modalities, and a user interface. In addition, we evaluate our system on a surgical phantom as well as in-vivo porcine experiments. To the best of our knowledge, these resulted in the first robot-assisted arterial catheterizations, a significant step towards our eventual goal of automatic catheter insertion through the Seldinger technique.
@conference{Zevallos-2021-88457,
author = {Nico Zevallos, Evan Harber, FNU Abhimanyu, Kirtan Patel, Yizhu Gu, Kenny Sladick, Francis Guyette, Leonard Weiss, Michael Pinsky, R. Hero Gomez, John Galeotti, And Howie Choset},
title = {Toward robotically automated femoral vascular access},
booktitle = {Proceedings of Other},
year = {2021},
month = {November},
pages = {1-7},
publisher = {IEEE},
keywords = {System, Surface reconstruction, Ultrasonic, Ultrasound, Scanning, User interface, Needle, Cannulation, Vessel},
}
author = {Nico Zevallos, Evan Harber, FNU Abhimanyu, Kirtan Patel, Yizhu Gu, Kenny Sladick, Francis Guyette, Leonard Weiss, Michael Pinsky, R. Hero Gomez, John Galeotti, And Howie Choset},
title = {Toward robotically automated femoral vascular access},
booktitle = {Proceedings of Other},
year = {2021},
month = {November},
pages = {1-7},
publisher = {IEEE},
keywords = {System, Surface reconstruction, Ultrasonic, Ultrasound, Scanning, User interface, Needle, Cannulation, Vessel},
}