Contact sensor positioning system, cannula insertion system and method to position a contact sensor

A cannula insertion system configured to insert a cannula into a human or animal body, comprising:

• a contact sensor positioning system arranged to determine a suitable location for insertion of the cannula, wherein the contact sensor positioning system comprises:
• a contact sensor having a contact surface to be placed at least partially on the human or animal body to enable measurement with said contact sensor,
• a positioning device configured to support and position the contact sensor, and
• a control device arranged to control the positioning device to position the contact sensor in a desired position,
• wherein the contact sensor positioning system comprises one or more sensors to determine a position and/or contact force related parameter representative for a position and/or contact force of the contact sensor, and
• wherein a processing device to process the position and/or contact force related parameter and to provide a position control signal to the control device on the basis of the position and/or contact force related parameter,
• wherein the contact sensor is an imaging sensor, and
• wherein the processing device is configured to determine the position control signal by image processing of the images obtained by the imaging sensor.