Force-based needle insertion for medical applications

Needle insertion is pervasive in almost all medical activities. The development of compact, lightweight automated tools for needle insertion with the reliability of an expert needle-inserting nurse could significantly reduce the risk to both civilian and military patients. Such tools could open the door to many advanced concepts for future medicine by being an ¿enabler¿ of one of the first actions in almost all procedures. The purpose of this paper is to discuss two force-based devices that address the needle insertion problem: a compliance-sensing system that mimics the nurse palpation to determine the best needle insertion point across a vein, and a needle insertion device that uses force-based profiles during insertion to achieve successful catheterization without puncturing the vein back wall. The methodologies and implementation approaches for the two enabling systems are described. Experimental data obtained with training pads and phantom arms are presented and discussed.