Insertion device with linkage assembly

1. An insertion device for insertion of a first medical device and a second medical device into a user, the insertion device comprising:

a housing;

a first insertion needle configured to pierce and withdraw from skin of the user, the first insertion needle configured to releasably carry the first medical device;

a second insertion needle configured to pierce and withdraw from the skin, the second insertion needle configured to releasably carry the second medical device;

a first linkage assembly within the housing and comprising a first elongated input link;

a second linkage assembly within the housing and comprising a second elongated input link; and

a driver within the housing configured to cause at least one of the first and second input links to rotate relative to the housing,

wherein the first linkage assembly is configured to cause the first insertion needle to extend in a first direction away from the housing to pierce the skin and subsequently retract toward the housing to withdraw from the skin when the driver causes the first input link to rotate relative to the housing, and

wherein the second linkage assembly is configured to cause the second insertion needle to extend in a second direction away from the housing to pierce the skin and subsequently retract toward the housing to withdraw from the skin when the driver causes the second input link to rotate relative to the housing,

wherein the driver and at least one of the first and second input links are configured to rotate around the same axis of rotation.

2. The insertion device of claim 1 , wherein one of the first medical device or the second medical device is an analyte sensor and the other of the first medical device or the second medical device is a fluid delivery cannula.

3. The insertion device of claim 1 , wherein the first insertion needle is configured to release the first medical device within the user when the first insertion needle retracts toward the housing and the second insertion needle is configured to release the second medical device within the user when the second insertion needle retracts toward the housing.

4. The insertion device of claim 1 ,

wherein at least one of the first and second input links is an engaged input link mechanically engaged with the driver and at least one of the first and second linkage assemblies includes an output link mechanically engaged with the first insertion needle or the second insertion needle,

wherein the engaged input link and the output link define a kinematic chain,

and

wherein the rotation of the engaged input link causes the output link to:

extend the first insertion needle in the first direction away from the housing and subsequently retract toward the housing, or

extend the second insertion needle in the second direction away from the housing and subsequently retract toward the housing.

5. The insertion device of claim 4 , wherein the output link is a sliding member, and wherein the sliding member is configured to linearly translate when the driver causes the engaged input link to rotate relative to the housing.

6. The insertion device of claim 4 , further comprising a medial link between the engaged input link and the output link, wherein a first end of the medial link is coupled to the engaged input link by a first rotatable joint and a second end of the medial link is coupled to the output link by a second rotatable joint.

7. The insertion device of claim 1 , wherein:

the first insertion needle is configured to at least partially insert within a lumen defined by the first medical device when the first insertion needle extends in the first direction away from the housing, and

the second insertion needle is configured to at least partially surround the second medical device when the first insertion needle extends in the first direction away from the housing.

8. The insertion device of claim 1 , wherein the first linkage assembly is configured to cause the first insertion needle to pierce the skin substantially concurrently with the second linkage assembly causing the second insertion needle to pierce the skin.

9. The insertion device of claim 1 , further comprising:

a release mechanism unit configured to establish at least a first configuration and a second configuration,

wherein in the first configuration, the release mechanism unit is configured to constrain the driver from causing at least one of the first input link and the second input link to rotate relative to the housing, and

wherein in the second configuration, the release mechanism unit is configured to allow the driver to cause at least one of the first input link and the second input link to rotate relative to the housing; and

a user input device configured to cause the release mechanism unit to transition from the first configuration to the second configuration.

10. The insertion device of claim 1 , further comprising:

a fluid pump;

a fluid reservoir, wherein the fluid pump is configured to deliver a fluid from a fluid reservoir to the first medical device; and

processing circuitry, wherein the processing circuitry is configured to receive a signal indicative of a physiological characteristic of the user from the second medical device.

11. The insertion device of claim 1 , wherein the first insertion needle is configured to extend in the first direction to pierce the skin at a first location and the second insertion needle is configured to extend in the second direction to pierce the skin at a second location displaced from the first location.

12. The insertion device of claim 1 , wherein the housing defines a central axis, and wherein the driver is configured to impart a first torque around the central axis on the first linkage assembly and a second torque around the central axis on the second linkage assembly to cause the first input link and the second input link to rotate relative to the housing.

13. The insertion device of claim 1 , wherein the driver includes a spring configured to cause the driver to impart a first torque on the first linkage assembly and a second torque on the second linkage assembly.

14. The insertion device of claim 1 , wherein the housing is a mechanism housing mechanically engaged with the driver, and further comprising a device housing, wherein:

the device housing is configured to contact the skin of the user,

the mechanism housing is configured to mechanically engage the device housing to position the mechanism housing proximate the skin of the user, and

the mechanism housing is configured to detach from the device housing.

15. An insertion device for insertion of a first medical device and a second medical device into a user, the insertion device comprising:

a housing;

a first insertion needle configured to pierce and withdraw from skin of the user at a first location, the first insertion needle configured to releasably carry the first medical device;

a second insertion needle configured to pierce and withdraw from skin of the user at a second location displaced from the first location, the second insertion needle configured to releasably carry the second medical device;

a first linkage assembly within the housing and comprising a first elongated input link;

a second linkage assembly within the housing and comprising a second elongated input link; and

a driver configured to cause at least one of the first and second input links to rotate relative to the housing, wherein:

the first linkage assembly is configured to cause the first insertion needle to extend in a first direction away from the housing to pierce the skin and subsequently retract toward the housing to withdraw from the skin when the first input link rotates relative to the housing,

the first insertion needle is configured to release the first medical device when the first insertion needle retracts toward the housing,

the second linkage assembly is configured to cause the second insertion needle to extend in a second direction away from the housing to pierce the skin and subsequently retract toward the housing to withdraw from the skin when the second input link rotates relative to the housing, and

the second insertion needle is configured to release the second medical device when the second insertion needle retracts toward the housing,

wherein the driver and at least one of the first and second input links are configured to rotate around the same axis of rotation.

16. The insertion device of claim 15 , further comprising:

a fluid pump;

a fluid reservoir, wherein the fluid pump is configured to deliver a fluid from a fluid reservoir to the first medical device; and

processing circuitry, wherein the processing circuitry is configured to receive a signal indicative of a physiological characteristic of the user from the second medical device.

17. The insertion device of claim 15 , wherein the driver includes a spring configured to cause the driver to impart a first torque on the first linkage assembly and a second torque on the second linkage assembly.

18. The insertion device of claim 15 ,

wherein at least one of the first and second input links is an engaged input link mechanically engaged with the driver and at least one of the first and second linkage assemblies includes an output link mechanically engaged with one of the first insertion needle and the second insertion needle,

wherein the engaged input link and the output link define a kinematic chain,

and

wherein the rotation of the engaged input link causes the output link to:

extend the first insertion needle in the first direction away from the housing and subsequently retract toward the housing, or

extend the second insertion needle in the second direction away from the housing and subsequently retract toward the housing.

19. A method comprising:

extending a first insertion needle of an insertion device in a first direction away from a housing to pierce skin using rotation of a first elongated input link in a first linkage assembly with respect to the housing via a driver, wherein the first insertion needle is configured to releasably carry a first medical device;

extending a second insertion needle of the insertion device in a second direction away from the housing to pierce the skin using rotation of a second elongated input link in a second linkage assembly with respect to the housing via the driver, wherein the second insertion needle is configured to releasably carry a second medical device;

retracting the first insertion needle toward the housing to withdraw from the skin using the rotation of the first input link; and

retracting the second insertion needle toward the housing to withdraw from the skin using the rotation of the second input link,

wherein the driver and at least one of the first and second input links are configured to rotate around the same axis of rotation.

20. The method of claim 19 , further comprising:

positioning the first medical device in the user by releasing the first medical device from the first insertion needle when the first insertion needle retracts toward the housing; and

positioning the second medical device in the user by releasing the second medical device from the second insertion needle when the second insertion needle retracts toward the housing.