Systems and methods for autonomous intravenous needle insertion

An intravenous needle insertion system comprising:

• a robotic positioning system;
• an insertion module removably attachable to the robotic positioning system, the insertion module comprising:
• a sensor assembly detachably engaged to the insertion module, the sensor assembly including a plurality of sensors attached to the sensor assembly to gather information about potential insertion sites in blood vessels of a subject, the information including three-dimensional coordinates and orientation of the blood vessels;
• and
• a needle holding tool detachably engaged to the insertion module, the needle holding tool comprising:
• a plurality of grippers for holding a needle to be inserted into the subject;
• a first actuating mechanism to actuate the plurality of grippers;
• stabilizing feet;
• a second actuating mechanism to place the stabilizing feet in the proximity to an insertion site;
• and
• a third actuating mechanism to advance the needle into a target blood vessel at a target insertion site;
• and
• a controller in communication with the plurality sensors, the needle holding tool, and the robotic positioning system,
• wherein the controller is configured to autonomously process the information from the plurality of sensors to locate potential insertion sites in the blood vessels of the subject, to autonomously select the target insertion site in the target blood vessel of the subject into which to insert the needle, to autonomously calculate an insertion path and an insertion angle of the needle into the target blood vessel based on the three-dimensional coordinates and orientation of the target vessel and an orientation and a position of the needle, and to autonomously direct the needle holding tool and the robotic positioning system to insert the needle along the insertion path and at the insertion angle into the target blood vessel at the target insertion site, while autonomously tracking the position and orientation of the target insertion site in real-time to update the insertion path and controlling a depth of insertion of the needle into the target blood vessel.

An intravenous needle insertion system comprising:

• a robotic positioning system;
• one or more sensors pivotally attached to the robotic positioning system to gather information about potential insertion sites in blood vessels of a subject, the information including three-dimensional coordinates and orientation of the blood vessels, and topography of the arm of the subject, wherein the one or more sensors is selected from the group consisting of a camera, an ultrasound sensor, a rangefinder and combinations thereof;
• a medical device pivotally attached to the robotic positioning system, wherein the medical device comprises a needle;
• and
• a controller in communication with the one or more sensors and the robotic positioning system,
• wherein the controller is configured to autonomously process the information from the one or more sensors about potential insertion sites in the blood vessels of the subject, to select a target insertion site in a target blood vessel of the subject into which to insert the needle, to autonomously calculate an insertion path and an insertion angle of the needle into the target blood vessel based on the three-dimensional coordinates topography of the arm of the subject and orientation of the target vessel, and to autonomously direct the robotic positioning system to insert the needle along the insertion path and at the insertion angle into the target blood vessel at the target insertion site, while autonomously tracking the position and orientation of the target insertion site in real-time to update the insertion path to update the insertion path.