US 11,751,782 B2
Systems and methods for autonomous intravenous needle insertion
Richard J. Harris, Coconut Grove, FL (US); Joseph B. Mygatt, Ridgefield, CT (US); and Stuart I. Harris, Coconut Grove, FL (US)
Assigned to Veebot Systems, Inc., Miami, FL (US)
Filed by Veebot Systems, Inc., Miami, FL (US)
Filed on Dec. 9, 2021, as Appl. No. 17/643,438.
Application 15/154,656 is a division of application No. 13/335,700, filed on Dec. 22, 2011, granted, now 9,364,171, issued on Jun. 14, 2016.
Application 17/643,438 is a continuation of application No. 16/363,881, filed on Mar. 25, 2019, granted, now 11,224,369.
Application 16/363,881 is a continuation of application No. 15/881,341, filed on Jan. 26, 2018, granted, now 10,238,327, issued on Mar. 26, 2019.
Application 15/881,341 is a continuation of application No. 15/154,656, filed on May 13, 2016, granted, now 9,913,605, issued on Mar. 13, 2018.
Claims priority of provisional application 61/426,022, filed on Dec. 22, 2010.
Prior Publication US 2022/0167892 A1, Jun. 2, 2022
Int. Cl. A61B 5/00 (2006.01); A61B 5/153 (2006.01); A61B 5/145 (2006.01); A61B 34/30 (2016.01); A61B 5/15 (2006.01); A61B 34/10 (2016.01); A61B 34/00 (2016.01); A61B 8/08 (2006.01); A61M 5/20 (2006.01); A61M 5/52 (2006.01); A61B 17/00 (2006.01); A61B 90/00 (2016.01); A61B 90/11 (2016.01)
CPC A61B 5/1535 (2013.01) [A61B 5/14 (2013.01); A61B 5/153 (2013.01); A61B 5/15003 (2013.01); A61B 5/150068 (2013.01); A61B 5/15074 (2013.01); A61B 5/150389 (2013.01); A61B 5/150503 (2013.01); A61B 5/150732 (2013.01); A61B 5/150748 (2013.01); A61B 5/150946 (2013.01); A61B 5/150954 (2013.01); A61B 8/0891 (2013.01); A61B 34/10 (2016.02); A61B 34/25 (2016.02); A61B 34/30 (2016.02); A61M 5/20 (2013.01); A61M 5/52 (2013.01); A61B 90/11 (2016.02); A61B 90/361 (2016.02); A61B 2017/00057 (2013.01); A61B 2017/00106 (2013.01); A61B 2034/107 (2016.02)] 24 Claims
OG exemplary drawing
 
1. A method for intravenous needle insertion comprising:
receiving, from one or more sensors, information about potential insertion sites for a needle from one or more sensors, the potential insertion sites comprising one or more blood vessels of a subject arm, wherein the one or more sensors are disposed on a sensor assembly coupled to a robotic positioning system;
identifying a target insertion site in a target blood vessel in three-dimensional coordinates and orientation of the target blood vessel based on the information received from the one or more sensors; and
based on the three-dimensional coordinates and orientation of the target blood vessel at the target insertion site, autonomously guiding the robotic positioning system to insert a needle into the target insertion site, wherein the needle is held by a needle holding tool coupled to the robotic positioning system.