Preliminary in vivo evaluation of a needle insertion manipulator for central venous catheterization

Yo Kobayashi*, Ryutaro Hamano, Hiroki Watanabe, Takuma Koike, Jaesung Hong, Kazutaka Toyoda, Munenori Uemura, Satoshi Ieiri, Morimasa Tomikawa, Takeshi Ohdaira, Makoto Hashizume, Masakatsu G. Fujie

*Corresponding author for this work

Research output: Contribution to journalArticlepeer-review

5 Citations (Scopus)


Central venous catheterization is associated with potential complications secondary to accidental puncture, including venous bleeding and pneumothorax. We developed a system that avoids these complications and simplifies the procedure using a robot to provide puncture assistance. We herein report a puncture experiment conducted in vivo in a porcine to evaluate the manipulator. The right and left jugular veins of a pig were punctured five times each through both opened and unopened skin at a puncture angle and speed. A venous placement rate of 80% was obtained with opened skin. A much lower rate of 40% was obtained with unopened skin. One of five attempts in opened skin was unsuccessful, likely because of the stick-slip phenomenon. This system was effective for jugular venous puncture of opened skin. Future studies should focus on puncture conditions that facilitate needle placement, inhibit the stick-slip phenomenon, and minimize needle bending due to the presence of skin.

Original languageEnglish
Pages (from-to)1-7
Number of pages7
JournalAfrika Matematika
Issue number1
Publication statusPublished - 2014 Nov 16


  • Central venous catheterization
  • Needle insertion
  • Surgical robot

ASJC Scopus subject areas

  • Mathematics(all)


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