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In this paper, we use a compact 6 degree-of- freedom (DOF) robot arm as the actuator of the venipuncture system. Aiming at the robot arm's requirements for speed and smoothness and considering that the robot arm may collide with obstacles in the course of movement,we simplify the model of the robot arm and obstacles according to the geometry of the robot arm and obstacles in the environment. Then we proposed an improved A-star algorithm and a three-dimensional (3D) collision detection algorithm, which can plan a collision-free optimal path for the blood taking needle fixed in the end of the robot arm, so that the blood taking needle can penetrate into the target point of the venous vessel continuously,smoothly and accurately driven by the robot arm. The simulation and actual path planning experiments indicate that the proposed path planning method is effective and feasible.
Li et al. (Sun,) studied this question.
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