Haptic-Enhanced Bioimpedance Needle for Precision Navigation in Central Venous Catheterisation with Millimetre Accuracy

Central venous catheterisation (CVC) involves the precise and challenging task of needle insertion, which can be difficult and prone to complications. This paper presents a bioimpedance (BIOZ) system for precision needle navigation in CVC. The system integrates BIOZ with a haptic feedback mechanism to assist clinicians during the catheterisation procedure. Four types of embedded needle probes were designed for high-sensitivity BIOZ sensing. The probe integrates with a compact electronic handle system for real-time BIOZ measurement and data communication, enabling real-time tissue classification and haptic feedback for optimal needle positioning. In 24 experimental trials with user participation using a phantom model, the system demonstrated a 100% success rate in venous entry, with a root mean square error (RMSE) of 0.66 mm and an 87% probability of achieving a position within ±1 mm of the vein centre. The compact and portable design ensures compatibility with clinical settings, laying a foundation for future improvements in robotic-assisted CVC and procedures alike.