Timothy J. Maguire

Real-time needle steering in response to rolling vein deformation by a 9-DOF image-guided autonomous venipuncture robot

Venipuncture is the most common invasive medical procedure performed in the United States and the number one cause of hospital injury. Failure rates are particularly high in pediatric and elderly patients, whose veins tend to deform, move, or roll as the needle is introduced. To improve venipuncture…