# US 12,758,131 B2 · Systems and methods for autonomous intravenous needle insertion

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- Number: US 12,758,131 B2
- Document ID: US12758131B2
- Status: Granted
- Kind: B2
- Application number: 19/330,349
- Filed: 2025-09-16
- Published: 2026-01-15
- Granted: 2026-10-13
- Earliest claimed: 2010-12-22
- Assignees: Veebot Systems, Inc.
- Applicants: Veebot Systems, Inc.
- Inventors: Richard J. Harris; Joseph B. Mygatt; Stuart I. Harris
- Web page: https://patentgrep.com/patent/US12758131B2

## CPC

- A61B 5/1535: {comprising means for indicating vein or arterial entry (A61B5/1545 takes precedence)}
- A61B 5/14: {Devices for taking samples of blood (hypodermic syringes A61M5/00); Measuring characteristics of blood in vivo, e.g. gas concentration within the blood, pH-value of blood (measuring of blood pressure A61B5/02; non-radiation detecting or locating of foreign bodies in blood A61B5/06)}
- A61B 5/15003: {for venous or arterial blood}
- A61B 5/150068: {by tissue compression, e.g. with specially designed surface of device contacting the skin area to be pierced}
- A61B 5/150389: {Hollow piercing elements, e.g. canulas, needles, for piercing the skin}
- A61B 5/150503: {Single-ended needles (hollow piercing element tip design A61B5/150396)}
- A61B 5/150732: {Needle holders, for instance for holding the needle by the hub, used for example with double-ended needle and pre-evacuated tube}
- A61B 5/15074: {Needle sets comprising wings, e.g. butterfly type, for ease of handling}
- A61B 5/150748: {Having means for aiding positioning of the piercing device at a location where the body is to be pierced (means for aiding positioning of devices for bringing media into the body A61M5/427, locating blood vessels A61B5/489)}
- A61B 5/150946: {Means for varying, regulating, indicating or limiting the speed or time of blood collection}
- A61B 5/150954: {Means for the detection of operative contact with patient, e.g. by temperature sensitive sensor}
- A61B 5/153: {Devices} specially adapted for taking samples of venous or arterial blood, e.g. with syringes
- A61B 8/0891: {for diagnosis of blood vessels}
- A61B 34/10: Computer-aided planning, simulation or modelling of surgical operations
- A61B 34/25: {User interfaces for surgical systems}
- A61B 34/30: Surgical robots
- A61M 5/20: Automatic syringes, e.g. with automatically actuated piston rod, with automatic needle injection, filling automatically (A61M5/142 takes precedence)
- A61M 5/52: Arm-rests
- A61B 2017/00057: {Light}
- A61B 2017/00106: {ultrasonic}
- A61B 2034/107: {Visualisation of planned trajectories or target regions}
- A61B 90/11: with guides for needles or instruments, e.g. arcuate slides or ball joints
- A61B 90/361: {Image-producing devices, e.g. surgical cameras}
- A61B: DIAGNOSIS; SURGERY; IDENTIFICATION (usefulness limited to only animals A61D)
- A61M: DEVICES FOR INTRODUCING MEDIA INTO, OR ONTO, THE BODY (introducing media into or onto the bodies of animals A61D7/00; means for inserting tampons A61F13/26; devices for administering food or medicines orally A61J; containers for collecting, storing or administering blood or medical fluids A61J1/05); DEVICES FOR TRANSDUCING BODY MEDIA OR FOR TAKING MEDIA FROM THE BODY (surgery A61B; chemical aspects of surgical articles A61L); DEVICES FOR PRODUCING OR ENDING SLEEP OR STUPOR {(Electrotherapy, e.g. producing anaesthesia by the use of alternating or intermittent currents A61N1/36021)}

## Abstract

Systems and methods for autonomous intravenous needle insertion are disclosed herein. In an embodiment, a system for autonomous intravenous insertion include a robot arm, one or more sensors pivotally attached to the robot arm for gathering information about potential insertion sites in a subject arm, a medical device pivotally attached to the robot arm, and a controller in communication with the sensors and the robot arm, wherein the controller receives the information from the sensors about potential insertion sites, and the controller selects a target insertion site and directs the robot arm to insert the medical device into the target insertion site.

## Claims

### Claim 1

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 catheter tool engaged to the insertion module for holding a catheter having a retractable needle, the catheter tool comprising a catheter gripper for holding the catheter and a retraction actuation assembly for retracting the retractable needle; and
a controller in communication with the one or more sensors, the catheter tool, and the robotic positioning system,
wherein the controller is programmed to insert the catheter into the blood vessel at the target insertion site based on the information received from the one or more sensors and, once the catheter is inserted, to cause the retraction actuation assembly to retract the retractable needle from the catheter; and
wherein the information from the one or more sensors comprises three-dimensional coordinates and orientation of the blood vessel.

### Claim 2 (depends on 1)

The system of claim 1, wherein the retraction actuation assembly comprises at least one gripper finger and a gripper body, and wherein the at least one gripper finger and the gripper body are engaged such that retraction of the gripper body causes simultaneous pulling of the at least one gripper finger and the retractable needle away from the catheter.

### Claim 3 (depends on 1)

The system of claim 1, wherein the catheter tool comprises a guide rail, and the retraction actuation assembly is movable along the guide rail by one or more of a motor and a lead screw.

### Claim 4 (depends on 1)

The system of claim 1, wherein the catheter tool further comprises a limit switch for preventing out-of-range motion of the retraction actuation assembly.

### Claim 5 (depends on 1)

The system of claim 1, wherein the catheter tool further comprises one or more stabilizer feet for stabilizing the blood vessel during insertion of the catheter.

### Claim 6 (depends on 5)

The system of claim 5, wherein each of the one or more stabilizer feet comprises an axle connected to a spur gear, wherein the spur gear is engaged with a gear rack that is moveable by a lead screw such that rotation of the lead screw causes the spur gear to rotate.

### Claim 7 (depends on 1)

The system of claim 1, wherein the information from the one or more sensors further comprises topography of the blood vessel.

### Claim 8 (depends on 7)

The system of claim 7, wherein the controller is further programmed to autonomously process the information, and to autonomously cause the retraction actuation assembly to retract the retractable needle from the catheter.

### Claim 9 (depends on 8)

The system of claim 8, wherein the controller is further programmed to autonomously calculate an insertion path of the catheter into the blood vessel based on the information about the target insertion site, and to autonomously direct the robotic positioning system to insert the catheter tool along the insertion path into the blood vessel at the target insertion site.

### Claim 10 (depends on 1)

The system of claim 1, wherein the one or more sensors include an ultrasound probe to verify the existence of the blood vessel at the target insertion site.

### Claim 11 (depends on 1)

The system of claim 1, wherein the sensor assembly is in a fixed relation to the target insertion site or the catheter tool, to enable the controller to autonomously direct the catheter tool into the blood vessel at the target insertion site based on the information received from the one or more sensors.

### Claim 12 (depends on 1)

The system of claim 1, further including one or more inflatable cuffs configured to stabilize the blood vessel or increase a visibility of the blood vessel.

### Claim 13

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.

### Claim 14 (depends on 13)

The system of claim 13, further comprising a wrist cuff to demobilize an arm of the subject having the target insertion site.

### Claim 15 (depends on 13)

The system of claim 13, wherein the actuatable tourniquet is an inflatable cuff.

### Claim 16 (depends on 13)

The system of claim 13, wherein the information from the one or more sensors further comprises topography of the blood vessel.

### Claim 17 (depends on 13)

The system of claim 13, wherein the controller is further programmed to autonomously process the information, to autonomously calculate an insertion path of the needle into the blood vessel based on the information about the target insertion site, and to autonomously direct the robotic positioning system to insert the needle along the insertion path into the blood vessel at the target insertion site.

### Claim 18 (depends on 13)

The system of claim 13, wherein the one or more sensors include an ultrasound probe to verify the existence of the blood vessel at the target insertion site.

### Claim 19 (depends on 13)

The system of claim 13, wherein the sensor assembly is in a fixed relation to the target insertion site or the insertion module.

### Claim 20

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.

### Claim 21 (depends on 20)

The system of claim 20, wherein the controller is further programmed to:
determine characteristic information of the one or more potential blood vessels from the binary image data, wherein the characteristic information comprise one or more of a length, a diameter, a size, a shape, a topography, and a position relative to other blood vessels; and
determine a target insertion site based on at least the characteristic information and autonomously direct the needle into the blood vessel at the target insertion site.

### Claim 22 (depends on 21)

The system of claim 21, further comprising a screen, and wherein one or more potential insertion sites are presented on the screen to allow a user to select a preferred insertion site of the one or more potential insertion sites.

### Claim 23 (depends on 22)

The system of claim 22, where the controller is further programmed to automatically determine a best insertion site from the one or more potential insertion sites.

### Claim 24 (depends on 23)

The system of claim 23, wherein the controller is further programed to autonomously direct the robotic positioning system to insert the needle into the one or more potential blood vessels at the best insertion site.