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 |
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.
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