{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,2,25]],"date-time":"2026-02-25T18:34:33Z","timestamp":1772044473704,"version":"3.50.1"},"reference-count":39,"publisher":"MDPI AG","issue":"2","license":[{"start":{"date-parts":[[2023,1,11]],"date-time":"2023-01-11T00:00:00Z","timestamp":1673395200000},"content-version":"vor","delay-in-days":0,"URL":"https:\/\/creativecommons.org\/licenses\/by\/4.0\/"}],"funder":[{"DOI":"10.13039\/501100002858","name":"CHINA POSTDOCTORAL SCIENCE FOUNDATION","doi-asserted-by":"publisher","award":["2021M702030"],"award-info":[{"award-number":["2021M702030"]}],"id":[{"id":"10.13039\/501100002858","id-type":"DOI","asserted-by":"publisher"}]},{"DOI":"10.13039\/501100002858","name":"CHINA POSTDOCTORAL SCIENCE FOUNDATION","doi-asserted-by":"publisher","award":["2021B120"],"award-info":[{"award-number":["2021B120"]}],"id":[{"id":"10.13039\/501100002858","id-type":"DOI","asserted-by":"publisher"}]},{"name":"Science and Technology Planning Project of Shandong Transportation Department","award":["2021M702030"],"award-info":[{"award-number":["2021M702030"]}]},{"name":"Science and Technology Planning Project of Shandong Transportation Department","award":["2021B120"],"award-info":[{"award-number":["2021B120"]}]}],"content-domain":{"domain":[],"crossmark-restriction":false},"short-container-title":["Sensors"],"abstract":"<jats:p>In the context of COVID-19, the research on various aspects of the venipuncture robot field has become increasingly hot, but there has been little research on robotic needle insertion angles, primarily performed at a rough angle. This will increase the rate of puncture failure. Furthermore, there is sometimes significant pain due to the patients\u2019 differences. This paper investigates the optimal needle entry angle decision for a dorsal hand intravenous injection robot. The dorsal plane of the hand was obtained by a linear structured light scan, which was used as a basis for calculating the needle entry angle. Simulation experiments were also designed to determine the optimal needle entry angle. Firstly, the linear structured optical system was calibrated and optimized, and the error function was constructed and solved iteratively by the optimization method to eliminate measurement error. Besides, the dorsal hand was scanned to obtain the spatial point clouds of the needle entry area, and the least squares method was used to fit it to obtain the dorsal hand plane. Then, the needle entry angle was calculated based on the needle entry area plane. Finally, the changes in the penetration force under different needle entry angles were analyzed to determine the optimal needle insertion angle. According to the experimental results, the average error of the optimized structured light plane position was about 0.1 mm, which meets the needs of the project, and a large angle should be properly selected for needle insertion during the intravenous injection.<\/jats:p>","DOI":"10.3390\/s23020848","type":"journal-article","created":{"date-parts":[[2023,1,11]],"date-time":"2023-01-11T06:18:08Z","timestamp":1673417888000},"page":"848","update-policy":"https:\/\/doi.org\/10.3390\/mdpi_crossmark_policy","source":"Crossref","is-referenced-by-count":4,"title":["Decision Method of Optimal Needle Insertion Angle for Dorsal Hand Intravenous Robot"],"prefix":"10.3390","volume":"23","author":[{"given":"Zihan","family":"Zhu","sequence":"first","affiliation":[{"name":"School of Information Science and Electrical Engineering, Shandong Jiaotong University, Jinan 250357, China"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"ORCID":"https:\/\/orcid.org\/0000-0001-8278-6454","authenticated-orcid":false,"given":"Kefeng","family":"Li","sequence":"additional","affiliation":[{"name":"School of Information Science and Electrical Engineering, Shandong Jiaotong University, Jinan 250357, China"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Guangyuan","family":"Zhang","sequence":"additional","affiliation":[{"name":"School of Information Science and Electrical Engineering, Shandong Jiaotong University, Jinan 250357, China"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Hualei","family":"Jin","sequence":"additional","affiliation":[{"name":"School of Information Science and Electrical Engineering, Shandong Jiaotong University, Jinan 250357, China"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"ORCID":"https:\/\/orcid.org\/0000-0002-7217-3109","authenticated-orcid":false,"given":"Zhenfang","family":"Zhu","sequence":"additional","affiliation":[{"name":"School of Information Science and Electrical Engineering, Shandong Jiaotong University, Jinan 250357, China"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"ORCID":"https:\/\/orcid.org\/0000-0003-4771-7984","authenticated-orcid":false,"given":"Peng","family":"Wang","sequence":"additional","affiliation":[{"name":"School of Information Science and Electrical Engineering, Shandong Jiaotong University, Jinan 250357, China"},{"name":"Institute of Automation, Shandong Academy of Sciences, Jinan 250013, China"}],"role":[{"role":"author","vocabulary":"crossref"}]}],"member":"1968","published-online":{"date-parts":[[2023,1,11]]},"reference":[{"key":"ref_1","doi-asserted-by":"crossref","first-page":"1492","DOI":"10.7150\/ijms.54257","article-title":"Epidemiological, Clinical, Radiological Characteristics and Outcomes of Medical Staff with COVID-19 in Wuhan, China: Analysis of 101 Cases","volume":"18","author":"Liu","year":"2021","journal-title":"Int. J. Med. Sci."},{"key":"ref_2","first-page":"e3232020","article-title":"COVID-19: Clinical and laboratory manifestations in novel coronavirus infection","volume":"56","author":"Xavier","year":"2020","journal-title":"J. Bras. De Patol. E Med. Lab."},{"key":"ref_3","doi-asserted-by":"crossref","first-page":"571493","DOI":"10.3389\/fmed.2020.571493","article-title":"COVID-19 Cross-Infection and Pressured Ulceration Among Healthcare Workers: Are We Really Protected by Respirators?","volume":"7","author":"Zheng","year":"2020","journal-title":"Front. Med."},{"key":"ref_4","doi-asserted-by":"crossref","first-page":"e285","DOI":"10.1016\/j.jaad.2020.06.1008","article-title":"Cling film for mobile phone to prevent cross-infection during COVID-19 pandemic","volume":"83","author":"Sethy","year":"2020","journal-title":"J. Am. Acad. Dermatol."},{"key":"ref_5","doi-asserted-by":"crossref","first-page":"98","DOI":"10.1142\/S2339547819500067","article-title":"First-in-human evaluation of a hand-held automated venipuncture device for rapid venous blood draws","volume":"7","author":"Leipheimer","year":"2019","journal-title":"Technology"},{"key":"ref_6","unstructured":"Dang, J. (2020, January 30\u201331). Design and implementation of the hand venipuncture auxiliary system based on cloud computing platform. Proceedings of the Frontiers in Bioengineering and Biotechnology, Chongqing, China."},{"key":"ref_7","doi-asserted-by":"crossref","first-page":"A.3F.1\u2013A.3F.5","DOI":"10.1002\/cpim.27","article-title":"Venipuncture Procedures: Sources of Human Peripheral Blood Cells, Serum, and Plasma: Venipuncture Procedures","volume":"118","author":"Bierer","year":"2017","journal-title":"Curr. Protoc. Immunol."},{"key":"ref_8","doi-asserted-by":"crossref","first-page":"1305","DOI":"10.1016\/j.ajic.2021.04.084","article-title":"Impact of personal protective equipment use on health care workers\u2019 physical health during the COVID-19 pandemic: A systematic review and meta-analysis\u2014ScienceDirect","volume":"49","author":"Galanis","year":"2021","journal-title":"Am. J. Infect. Control."},{"key":"ref_9","first-page":"1","article-title":"Research Progress of Venipuncture Robot","volume":"57","author":"He","year":"2021","journal-title":"J. Mech. Eng."},{"key":"ref_10","doi-asserted-by":"crossref","unstructured":"Linortner, M., and Uhl, A. (2021, January 22\u201325). Towards Match-on-Card Finger Vein Recognition. Proceedings of the IH&MMSec \u201821: ACM Workshop on Information Hiding and Multimedia Security, Virtual Event, Belgium.","DOI":"10.1145\/3437880.3460406"},{"key":"ref_11","doi-asserted-by":"crossref","first-page":"2000244","DOI":"10.1002\/masy.202000244","article-title":"Dorsal Hand Vein Recognition Using Very Deep Learning","volume":"397","author":"Kumar","year":"2021","journal-title":"Macromol. Symp."},{"key":"ref_12","doi-asserted-by":"crossref","unstructured":"Ji, J., Zhao, Y., Xie, T., Du, F., and Qi, P. (2022). Automated Vein Segmentation from NIR Images Using a Mixer-UNet Model. International Conference on Intelligent Robotics and Applications, Springer.","DOI":"10.1007\/978-3-031-13841-6_6"},{"key":"ref_13","doi-asserted-by":"crossref","first-page":"4559219","DOI":"10.1155\/2022\/4559219","article-title":"U-DAVIS-Deep Learning Based Arm Venous Image Segmentation Technique for Venipuncture","volume":"2022","author":"Kuthiala","year":"2022","journal-title":"Comput. Intell. Neurosci."},{"key":"ref_14","doi-asserted-by":"crossref","unstructured":"Zhao, Y., Ji, J., Xie, T., Du, F., and Qi, P. (2022). Vessel Site Selection for Autonomous Cannulation Under NIR Image Guidance. International Conference on Intelligent Robotics and Applications, Springer.","DOI":"10.1007\/978-3-031-13841-6_9"},{"key":"ref_15","first-page":"186","article-title":"Automatic venipuncture insertion point recognition based on machine vision","volume":"4","author":"Chen","year":"2018","journal-title":"J. Adv. Technol. Eng. Res."},{"key":"ref_16","doi-asserted-by":"crossref","unstructured":"Lin, G., Wang, H., Sha, M., Zeng, Y., Long, Y., and Liu, Y. (2022, January 15\u201317). Design of a Multi-data Fusion Intelligent Venipuncture Blood Sampling Robot. Proceedings of the 2022 7th International Conference on Control and Robotics Engineering (ICCRE), Beijing, China.","DOI":"10.1109\/ICCRE55123.2022.9770260"},{"key":"ref_17","doi-asserted-by":"crossref","unstructured":"Sha, M., Wang, H., Lin, G., Long, Y., Zeng, Y., and Guo, S. (2022, January 18\u201320). Design of Multi-Sensor Vein Data Fusion Blood Sampling Robot Based on Deep Learning. Proceedings of the 2022 2nd International Conference on Computer, Control and Robotics (ICCCR), Shanghai, China.","DOI":"10.1109\/ICCCR54399.2022.9790122"},{"key":"ref_18","doi-asserted-by":"crossref","unstructured":"Li, Z., Li, M., Wei, J., Su, B., Pan, C., Kuang, S., and Zhou, L. (2017, January 16\u201318). A robotic system for investigation on mis-alignment force of needle and vein needle insertion into blood vessel. Proceedings of the 2017 2nd Asia-Pacific Conference on Intelligent Robot Systems (ACIRS), Wuhan, China.","DOI":"10.1109\/ACIRS.2017.7986108"},{"key":"ref_19","unstructured":"Qi, P., and Tian, Z. A Control Method of Needle Entry Angle for Intravenous Injection Robot Based on Ultrasonic Evaluation. CN202010853721.2. 2020."},{"key":"ref_20","first-page":"38","article-title":"Current Status of the Study on the Relationship between the Angle of Intravenous Infusion Needle and the Success Rate of Puncture and Pain","volume":"3","author":"Li","year":"2019","journal-title":"Smart Healthc."},{"key":"ref_21","first-page":"10","article-title":"Overview of three-dimensional shape measurement using optical methods","volume":"39","author":"Chen","year":"1999","journal-title":"Opt. Eng."},{"key":"ref_22","doi-asserted-by":"crossref","first-page":"035010","DOI":"10.1088\/1361-6501\/aca707","article-title":"Binocular visual dimension measurement method for rectangular workpiece with a precise stereoscopic matching algorithm","volume":"34","author":"Chen","year":"2022","journal-title":"Meas. Sci. Technol."},{"key":"ref_23","doi-asserted-by":"crossref","unstructured":"Ma, Y., Wu, Y., Li, Q., Zhou, Y., and Yu, D. (2022). ROV-based binocular vision system for underwater structure crack detection and width measurement. Multimed. Tools Appl., 1\u201325.","DOI":"10.1007\/s11042-022-14168-1"},{"key":"ref_24","doi-asserted-by":"crossref","unstructured":"Pathre, P., Sahu, A., Rao, A., Prabhu, A., Nigam, M.S., Karandikar, T., Pandya, H., and Krishna, K.M. (2022). MVRackLay: Monocular Multi-View Layout Estimation for Warehouse Racks and Shelves. arXiv.","DOI":"10.1109\/ROBIO55434.2022.10011943"},{"key":"ref_25","doi-asserted-by":"crossref","unstructured":"Rukhovich, D., Vorontsova, A., and Konushin, A. (2022, January 3\u20138). ImVoxelNet: Image to Voxels Projection for Monocular and Multi-View General-Purpose 3D Object Detection. Proceedings of the 2022 IEEE\/CVF Winter Conference on Applications of Computer Vision (WACV), Waikoloa, HI, USA.","DOI":"10.1109\/WACV51458.2022.00133"},{"key":"ref_26","doi-asserted-by":"crossref","first-page":"119919","DOI":"10.1016\/j.conbuildmat.2020.119919","article-title":"Development and application of a non-destructive pavement testing system based on linear structured light three-dimensional measurement","volume":"260","author":"Liang","year":"2020","journal-title":"Constr. Build. Mater."},{"key":"ref_27","doi-asserted-by":"crossref","unstructured":"Chen, Y., Chen, J., Lin, X., and Lin, X. (2022, January 15). Research on vision measurement method based on binocular structured light. Proceedings of the 5th Optics Young Scientist Summit (OYSS 2022), Fuzhou, China.","DOI":"10.1117\/12.2637329"},{"key":"ref_28","first-page":"96230P","article-title":"Research on the multi-angle monocular coordinates measuring system for spatial points","volume":"9623","author":"Zhu","year":"2015","journal-title":"Int. Soc. Opt. Photonics"},{"key":"ref_29","doi-asserted-by":"crossref","first-page":"083601","DOI":"10.1117\/1.2336196","article-title":"Novel method for structured light system calibration","volume":"45","author":"Zhang","year":"2006","journal-title":"Opt. Eng."},{"key":"ref_30","doi-asserted-by":"crossref","first-page":"7952","DOI":"10.3934\/mbe.2022372","article-title":"Determination of the location of the needle entry point based on an improved pruning algorithm","volume":"19","author":"Zhang","year":"2022","journal-title":"Math. Biosci. Eng."},{"key":"ref_31","doi-asserted-by":"crossref","first-page":"145","DOI":"10.1145\/37402.37420","article-title":"Direct least-squares fitting of algebraic surfaces","volume":"21","author":"Pratt","year":"1987","journal-title":"ACM Siggraph Comput. Graph."},{"key":"ref_32","doi-asserted-by":"crossref","first-page":"1330","DOI":"10.1109\/34.888718","article-title":"A Flexible New Technique for Camera Calibration","volume":"22","author":"Zhang","year":"2000","journal-title":"IEEE Trans. Pattern Anal. Mach. Intell."},{"key":"ref_33","unstructured":"Agakov, F., Bonilla, E., Cavazos, J., Franke, B., Fursin, G., O\u2019Boyle, M., Thomson, J., Toussaint, M., and Williams, C. (2006, January 26\u201329). Using machine learning to focus iterative optimization. Proceedings of the Code Generation and Optimization, New York, NY, USA."},{"key":"ref_34","doi-asserted-by":"crossref","first-page":"31","DOI":"10.1007\/s10846-022-01738-6","article-title":"Research on Robotic Humanoid Venipuncture Method Based on Biomechanical Model","volume":"106","author":"He","year":"2022","journal-title":"J. Intell. Robot. Syst."},{"key":"ref_35","doi-asserted-by":"crossref","first-page":"13","DOI":"10.1186\/s10033-022-00719-y","article-title":"Threedimensional Modeling and Simulation of Muscle Tissue Puncture Process","volume":"35","author":"Lv","year":"2022","journal-title":"Chin. J. Mech. Eng."},{"key":"ref_36","doi-asserted-by":"crossref","first-page":"57","DOI":"10.1146\/annurev.bioeng.5.040202.121623","article-title":"Selected methods for imaging elastic properties of Biological tissues","volume":"5","author":"Greenleaf","year":"2003","journal-title":"Annu. Rev. Biomed. Eng."},{"key":"ref_37","first-page":"E137","article-title":"Experimental Study on Puncture Mechanical Properties of Biomimetic Materials","volume":"37","author":"Kan","year":"2022","journal-title":"J. Med. Biomech."},{"key":"ref_38","doi-asserted-by":"crossref","first-page":"49","DOI":"10.1016\/j.bsbt.2016.05.001","article-title":"Experiment study on puncture force between MIS suture needle and soft tissue","volume":"2","author":"Bao","year":"2016","journal-title":"Biosurface Biotribol."},{"key":"ref_39","doi-asserted-by":"crossref","first-page":"43","DOI":"10.7748\/phc2000.07.10.6.43.c664","article-title":"Safe injection techniques","volume":"10","author":"Workman","year":"2000","journal-title":"Prim. Health Care"}],"container-title":["Sensors"],"original-title":[],"language":"en","link":[{"URL":"https:\/\/www.mdpi.com\/1424-8220\/23\/2\/848\/pdf","content-type":"unspecified","content-version":"vor","intended-application":"similarity-checking"}],"deposited":{"date-parts":[[2025,10,10]],"date-time":"2025-10-10T18:03:07Z","timestamp":1760119387000},"score":1,"resource":{"primary":{"URL":"https:\/\/www.mdpi.com\/1424-8220\/23\/2\/848"}},"subtitle":[],"short-title":[],"issued":{"date-parts":[[2023,1,11]]},"references-count":39,"journal-issue":{"issue":"2","published-online":{"date-parts":[[2023,1]]}},"alternative-id":["s23020848"],"URL":"https:\/\/doi.org\/10.3390\/s23020848","relation":{},"ISSN":["1424-8220"],"issn-type":[{"value":"1424-8220","type":"electronic"}],"subject":[],"published":{"date-parts":[[2023,1,11]]}}}