Research on bedside hemodialysis AVF puncture robot method based on biomechanical models

Abstract

Hemodialysis is the primary treatment for patients with acute and chronic renal failure, and arteriovenous fistula (AVF) puncture is a critical step in establishing the extracorporeal circuit for hemodialysis. However, issues such as inaccurate localization, angle deviation, or vessel perforation can occur during puncture, severely affecting the patient’s fistula and the efficacy of dialysis treatment. To address this challenge, this paper proposes a robotic technique for bedside hemodialysis AVF puncture based on a biomechanical model, designed to simulate the sensory and feedback mechanisms of human cannulation. First, a biomechanical AVF puncture model was constructed, comprehensively considering the resistance, cutting, and frictional forces during the puncture process. Subsequently, simulated puncture experiments were conducted on an AVF vessel to analyze and validate the feasibility of the model. Finally, the performance of the hemodialysis AVF puncture robot was evaluated. The experimental results demonstrate that the puncture robot exhibits extremely high accuracy and effectiveness in performing hemodialysis AVF vessel puncture and indwelling. This method not only improves puncture precision and reduces damage to the patient’s blood vessels but also allows for continuous improvement of the puncture strategy through feedback from simulated experiments, thereby enhancing the quality of the patient’s dialysis treatment.