Systems and methods for autonomous intravenous needle insertion

A system for an intravenous insertion comprising:

• a robotic positioning system comprising an insertion module, the insertion module comprising:
• a sensor assembly engaged to the insertion module, the sensor assembly including one or more sensors attached to the sensor assembly to gather information about a target insertion site in a blood vessel of a subject;
• and
• a holding tool engaged to the insertion module, the holding tool being configured to hold a needle for insertion of the needle into the blood vessel;
• an actuatable tourniquet;
• and
• a controller in communication with the one or more sensors, the holding tool, and the robotic positioning system,
• wherein the controller is programmed to autonomously apply the actuatable tourniquet and adjust the actuatable tourniquet to apply pressure on the blood vessel, and wherein the controller is programmed to autonomously direct the needle into the blood vessel at the target insertion site based on the information received from the one or more sensors, and
• wherein the information from the one or more sensors comprises three-dimensional coordinates and orientation of the blood vessel.

A system for an intravenous insertion comprising:

• a robotic positioning system comprising an insertion module, the insertion module comprising:
• a sensor assembly engaged to the insertion module, the sensor assembly including one or more sensors attached to the sensor assembly to gather image data of an arm of a subject;
• and
• a holding tool engaged to the insertion module, the holding tool being configured to hold a needle for insertion into a blood vessel;
• and
• a controller in communication with the one or more sensors, the holding tool, and the robotic positioning system, the controller being programmed to:
• convert image data, received from the one or more sensors, into a binary image data, wherein in the binary image data contains one or more regions with blood vessels, wherein one or more potential blood vessels are represented by a first color and one or more regions without blood vessels are represented by a second color different than the first color,
• wherein the image data from the one or more sensors comprises three-dimensional coordinates and orientation of the blood vessel.