Back to results
US 9,913,605 B2Granted
Systems and methods for autonomous intravenous needle insertion
AssigneeVeebot Systems, Inc.
InventorsRichard J. Harris, Joseph B. Mygatt, Stuart I. Harris
Life of this patent
Estimating the term…
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.
Claims28
A method for autonomous intravenous needle insertion comprising:
- receiving, from one or more sensors of an intravenous insertion system, information about potential insertion sites in blood vessels of a subject arm, wherein the intravenous needle insertion system comprises:
- a robotic positioning system;
- and
- a sensor assembly detachably engaged to the robotic positioning system, the sensor assembly including the one or more sensors to gather the information about potential insertion sites in blood vessels of the subject arm;
- and
- a needle holding tool detachably engaged to the robotic positioning system, the needle holding tool comprising a needle to be inserted into an insertion site of the subject arm;
- identifying a target insertion site in a target blood vessel in at least three-dimensional coordinates and orientation of the target blood vessel based on the information received from the one or more sensors to guide an insertion of the needle into the subject arm at the target insertion site;
- identifying a topography of the subject arm at the target insertion site;
- and
- based on the three-dimensional coordinates and orientation of the target blood vessel and the topography of the subject arm at the target insertion site, autonomously directing the needle to the target insertion site and inserting the needle into the subject arm at the target insertion site.
7 more elements
A method for autonomous intravenous needle insertion comprising:
- receiving, from one or more sensors of an intravenous insertion system, information about potential insertion sites in blood vessels of a subject arm, wherein the intravenous needle insertion system comprises:
- a robotic positioning system;
- and
- a sensor assembly detachably engaged to the robotic positioning system, the sensor assembly including the one or more sensors to gather the information about potential insertion sites in blood vessels of the subject arm;
- and
- a needle holding tool detachably engaged to the robotic positioning system, the needle holding tool comprising a needle to be inserted into an insertion site of the subject arm;
- based on the information received from the one or more sensors, determining a location of an elbow in the subject arm, ranking potential insertion sites depending on the location relative to the elbow;
- and identifying a target insertion site based on the ranking of the potential insertion sites;
- and
- autonomously directing the needle to the target insertion site and inserting the needle into the subject arm at the target insertion site.
7 more elements
A method for autonomous intravenous needle insertion comprising:
- receiving from one or more sensors of an intravenous insertion system, information about potential insertion sites in blood vessels of a subject arm, wherein the intravenous needle insertion system comprises:
- a robotic positioning system;
- and
- 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 the one or more sensors attached to the sensor assembly to gather the information about potential insertion sites in blood vessels of the subject arm;
- and
- a needle holding tool detachably engaged to the insertion module, the needle holding tool comprising a needle to be inserted into the subject arm;
- ranking potential insertion sites based on size, shape, location and orientation of a blood vessel at the potential insertion sites and prioritizing potential insertion sites based on the ranking to select a target insertion site;
- identifying the target insertion site in a target blood vessel in at least three-dimensional coordinates and orientation of the target blood vessel based on the information received from the one or more sensors to guide an insertion of the needle into the subject arm at the target insertion site;
- and
- based on the three-dimensional coordinates and orientation of the target blood vessel, autonomously directing the needle to the target insertion site and inserting the needle into the subject arm at the target insertion site.
8 more elements
A method for autonomous intravenous needle insertion comprising:
- gathering information about potential insertion sites in blood vessels of a subject arm with an intravenous needle insertion system, the intravenous needle insertion system comprising:
- a robotic positioning system;
- and
- 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 one or more sensors attached to the sensor assembly to gather the information about potential insertion sites in blood vessels of the subject arm;
- and
- a needle holding tool detachably engaged to the insertion module, the needle holding tool comprising a needle to be inserted into the subject arm and
- a stabilizing tool;
- identifying a target insertion site in a target blood vessel in at least three-dimensional coordinates and orientation of the target blood vessel based on the information received from the one or more sensors to guide an insertion of the needle into the subject arm at the target insertion site;
- automatically stabilizing with the stabilizing tool the target blood vessel at the target insertion site prior to the inserting of the needle into the target insertion site;
- and
- based on the three-dimensional coordinates and orientation of the target blood vessel, autonomously directing the needle to the target insertion site and inserting the needle into the subject arm at the target insertion site.
9 more elements
Dependencies are inferred from the claim text.