Automatic Cannulation of Femoral Vessels in a Porcine Shock Model
Journal:
arXiv
Published Date:
Jun 17, 2025
Abstract
Rapid and reliable vascular access is critical in trauma and critical care.
Central vascular catheterization enables high-volume resuscitation, hemodynamic
monitoring, and advanced interventions like ECMO and REBOA. While peripheral
access is common, central access is often necessary but requires specialized
ultrasound-guided skills, posing challenges in prehospital settings. The
complexity arises from deep target vessels and the precision needed for needle
placement. Traditional techniques, like the Seldinger method, demand expertise
to avoid complications. Despite its importance, ultrasound-guided central
access is underutilized due to limited field expertise. While autonomous needle
insertion has been explored for peripheral vessels, only semi-autonomous
methods exist for femoral access. This work advances toward full automation,
integrating robotic ultrasound for minimally invasive emergency procedures. Our
key contribution is the successful femoral vein and artery cannulation in a
porcine hemorrhagic shock model.
