Systems and methods for autonomous intravenous needle insertion
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.
1. A system for an intravenous insertion, the system comprises:
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 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 detachably engaged to the insertion module, the holding tool being configured to hold an end-effector for insertion into the blood vessel; 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 direct the end-effector into the blood vessel at the target insertion site based on the information received from the one or more sensors and
wherein the information about the insertion site comprises three-dimensional coordinates and orientation of the blood vessel.
2. 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.
3. The system of claim 1 wherein the information about the insertion site further comprises topography of the blood vessel.
4. The system of claim 3 wherein the controller is further programmed to autonomously process the information the insertion site from the one or more sensors, to autonomously calculate an insertion path of the end-effector into the blood vessel based on the information about the insertion site, and to autonomously direct the robotic positioning system to insert the end-effector along the insertion path into the blood vessel at the insertion site.
5. The system of claim 1 wherein the holding tool comprises a fastener for modular attachment to a corresponding fastener on the insertion module to enabling an autonomous exchange of end-effectors.
6. The system of claim 1 wherein the one or more sensors include an ultrasound probe to verify the existence of a vessel at the target insertion site.
7. The system of claim 1 further comprising stabilizing feet designed to stabilize the subject arm as the end-effector is being inserted into the target blood vessel.
8. The system of claim 1 , wherein the controller is further programmed to control lighting at the target insertion site to aid in gathering information about the target insertion site.
9. The system of claim 1 wherein the holding tool further comprises
a plurality of grippers for holding the end-effector;
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 end-effector into a target blood vessel at a target insertion site.
10. A system for an intravenous insertion, the system comprises:
a robotic positioning system;
a sensor assembly including one or more sensors to gather information about a target insertion site in a blood vessel of a subject; and
a holding tool being configured to hold an end-effector for insertion into the blood vessel; and
a controller in communication with the one or more sensors, the holding tool, and the robotic positioning system,
wherein the controller is being programmed to maintain the sensor assembly in a fixed relation to the target insertion site or to the end-effector to enable the controller to autonomously direct the end-effector into the blood vessel at the insertion site based on the information received from the one or more sensors and
wherein the information about the insertion site comprises three-dimensional coordinates and orientation of the blood vessel.
11. The system of claim 10 further including one or more inflatable cuffs configured to stabilize the blood vessel or increase a visibility of the blood vessel.
12. The system of claim 10 wherein the controller is further programmed to autonomously process the information the insertion site from the one or more sensors, to autonomously calculate an insertion path of the end-effector into the blood vessel based on the information about the insertion site, and to autonomously direct the robotic positioning system to insert the end-effector along the insertion path into the blood vessel at the insertion site.
13. The system of claim 12 wherein the information about the insertion site further comprises information about topography at the target insertion site.
14. The system of claim 10 wherein the one or more sensors include an ultrasound probe to verify the existence of a vessel at the target insertion site.
15. The system of claim 10 further comprising stabilizing feet designed to stabilize the subject arm as the end-effector is being inserted into the target blood vessel.
16. The system of claim 10 wherein the holding tool further comprises
a plurality of grippers for holding the end-effector;
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 end-effector into a target blood vessel at a target insertion site.
17. A system for an intravenous insertion, the system comprises:
a robotic positioning system;
one or more sensors attached to the robotic positioning system to gather information about an insertion site in a blood vessel of a subject, the information comprising three-dimensional coordinates and orientation of the blood vessel, and topography at the insertion site;
an end-effector for insertion into the blood vessel attached to the robotic positioning system; 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 the insertion site in the blood vessel of the subject, to autonomously calculate an insertion path of the end-effector into the blood vessel based on the three-dimensional coordinates and orientation of the blood vessel, and topography at the insertion site, and to autonomously direct the robotic positioning system to insert the end-effector along the insertion path into the blood vessel at the insertion site.
18. A system for an intravenous insertion, the system comprises:
a robotic positioning system;
a sensor assembly including one or more sensors to gather information about a target insertion site in a blood vessel of a subject; and
a holding tool being configured to hold an end-effector for insertion into the blood vessel; and
a controller in communication with the one or more sensors, the holding tool, and the robotic positioning system,
wherein the sensor assembly is configured to be maintained in a fixed relation to the target insertion site or to the end-effector to enable the controller to autonomously direct the end-effector into the blood vessel at the insertion site based on the information received from the one or more sensors and
wherein the information about the insertion site comprises three-dimensional coordinates and orientation of the blood vessel.
19. The system of claim 18 wherein the sensor assembly is configured to be maintained in a fixed relation to the end-effector.