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University Oral Examination: "Improving Peripheral IV Catheterization Through Robotics: From Simple Assistive Devices To a Fully-Autonomous System," Reuben Brewer

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November 10, 2014 - 2:00pm
CIS-X (101X) Auditorium, Paul G. Allen Building, Stanford University.
The auditorium is on the corner of the building near the street Serra Mall.

Free

"Improving Peripheral IV Catheterization Through Robotics: From Simple Assistive Devices To a Fully-Autonomous System"

Reuben Brewer
Mechanical Engineering Department

Abstract

This thesis looks at improving the medical procedure of peripheral IV insertion through robotics. It includes:

  1. A clinical experiment in which we instrumented IV needles to examine forces, motions, and other variables so that we can better understand the mechanics and steps of real IV insertions performed by humans
  2. Development of computer vision hardware and software for seeing veins in 3D, selecting target bifurcations, and generating a 6D needle pose to follow automatically.
  3. Development of HaemoBot, a two-armed robot with 17 mechanical degrees-of-freedom (DOFs) and 23 optical DOFs for inserting IVs under teleoperation or automatically.
  4. Development of a simple, low-cost assistive device that condensed our previous lessons into a simpler device.
  5. Development of anatomically-correct, hyper-realistic hand vein phantoms.

Please feel free to invite anyone you think would be interested in this topic. Hope to see you there!