Systems and methods for automatically inserting a needle into a living subject

Abstract

Embodiments disclosed herein are directed to systems and methods for automatically inserting a needle into an insertion-target region of a living subject in response to a machine-vision system locating the insertion-target region. In an embodiment, a needle insertion system includes a moveable needle configured to be inserted into a living subject, a machine-vision system configured to locate an insertion-target region of the living subject, control electrical circuitry, and an actuator coupled to the control electrical circuitry. The control electrical circuitry may be coupled to the machine-vision system to receive location information therefrom about the insertion-target region, and configured to output needle targeting instructions. The actuator may be coupled to the control electrical circuitry to receive the needle targeting instructions therefrom and coupled to the moveable needle. The actuator may be configured to move the moveable needle to the insertion-target region automatically in response to receiving the needle targeting instructions from the control electrical circuitry.

1 .- 59 . (canceled) 
     
     
         60 . A needle insertion system, comprising:
 a moveable needle configured to be inserted into a living subject;   a machine-vision system configured to locate an insertion-target region on the living subject;   control electrical circuitry coupled to the machine-vision system to direct the machine-vision system to locate the insertion-target region and receive location information from the machine-vision system about the insertion-target region, the control electrical circuitry configured to output moveable needle targeting instructions;   an actuator coupled to the control electrical circuitry to receive the needle targeting instructions therefrom and coupled to the moveable needle, the actuator configured to move the moveable needle to the insertion-target region automatically responsive to receiving the needle targeting instructions; and   a subject preparation device configured to prepare a selected region of the living subject for insertion of the moveable needle therethrough.   
     
     
         61 . The needle insertion system of  claim 60 , wherein the actuator is configured to, without human intervention after the moveable needle is positioned within operational range relative to the living subject, move the moveable needle to the insertion-target region located by the machine-vision system automatically responsive to instructions from the control electrical circuitry. 
     
     
         62 . The needle insertion system of  claim 60 , wherein:
 the machine-vision system is configured to locate on the living subject one or more punctured external locations in which the movable needle or another needle has been previously inserted and removed, and the insertion-target region is different from the one or more punctured external locations; and   the control electrical circuitry is configured to distinguish the insertion-target region from the one or more punctured external locations, and receive location information from the machine-vision system about the insertion-target region.   
     
     
         63 . The needle insertion system of  claim 60 , wherein the insertion-target region includes an internal insertion-target region disposed within the living subject, and wherein the machine-vision system is configured to locate the internal insertion-target region. 
     
     
         64 . The needle insertion system of  claim 63 , wherein the internal insertion-target region includes at least one of an artery, a muscle, or a bone. 
     
     
         65 . The needle insertion system of  claim 60 , wherein the insertion-target region includes external tissue of the living subject. 
     
     
         66 . The needle insertion system of  claim 60 , wherein the machine-vision system includes at least one of an electronic camera, an ultrasonic imaging device, a visual-imaging device, an infrared-imaging device, an x-ray-imaging device, or a thermal-imaging device. 
     
     
         67 . The needle insertion system of  claim 60 , wherein the actuator includes at least one of a pneumatic actuator, a hydraulic actuator, a piezoelectric actuator, a linear actuator, a shape memory actuator, or an electro-mechanical actuator. 
     
     
         68 . The needle insertion system of  claim 60 , further comprising a mounting structure configured to temporarily secure the moveable needle and the actuator to the living subject. 
     
     
         69 . The needle insertion system of  claim 68 , wherein the mounting structure includes a moveable support structure configured to move the moveable needle into an operational position. 
     
     
         70 . The needle insertion system of  claim 60 , further comprising at least one sensor coupled to the control electrical circuitry and configured to sense at least one of fluid flow drawn through the moveable needle, position of the moveable needle within the living subject, tissue resistance of the living subject to the moveable needle, or presence of blood. 
     
     
         71 . The needle insertion system of  claim 60 , wherein the subject preparation device configured to dispense at least one of a cleaning agent, a pain killer, an anesthesia, a nerve blocker, or an antiseptic onto the selected region of the living subject. 
     
     
         72 . The needle insertion system of  claim 60 , wherein the subject preparation device is configured to stretch or compress skin of the living subject in or near the insertion-target region. 
     
     
         73 . The needle insertion system of  claim 60 , further comprising an alarm configured to output a human perceivable indication to indicate that the machine-vision system is unable to locate the insertion-target region. 
     
     
         74 . The needle insertion system of  claim 60 , further comprising a subject distraction device configured to distract the living subject prior to the moveable needle being inserted therein. 
     
     
         75 . The needle insertion system of  claim 74 , wherein the subject distraction device includes a sound-generation device configured to output noise audible to the living subject prior to or during insertion of the moveable needle into the living subject. 
     
     
         76 . The needle insertion system of  claim 74 , wherein the subject distraction device is configured to visually distract the living subject prior to or during insertion of the moveable needle into the living subject. 
     
     
         77 . The needle insertion system of  claim 60 , further comprising:
 a coagulant dispenser configured to dispense coagulant onto a region of the living subject; and   wherein the control electrical circuitry is configured to direct the coagulant dispenser to dispense the coagulant onto a region of the living subject that has been penetrated by the moveable needle.   
     
     
         78 . The needle insertion system of  claim 60 , further comprising a coagulant dispenser configured to apply a therapeutic force to the region after the moveable needle has been withdrawn from the living subject. 
     
     
         79 . The needle insertion system of  claim 78 , wherein the control electrical circuitry is configured to direct the coagulant dispenser to dispense the coagulant substantially simultaneously with withdrawal of the moveable needle from the living subject. 
     
     
         80 . The needle insertion system of  claim 60 , wherein the control electrical circuitry is configured to correlate anatomical information viewed by and received from the machine-vision system with known anatomical data about the living subject. 
     
     
         81 . The needle insertion system of  claim 80 , wherein the known anatomical information was determined using at least one of ultrasound imaging, x-ray imaging, magnetic resonance imaging, infrared imaging, visual imaging, or a computed tomography scan. 
     
     
         82 . A needle insertion system, comprising:
 a moveable needle configured to be inserted into a living subject;   a machine-vision system configured to locate an insertion-target region on the living subject;   control electrical circuitry coupled to the machine-vision system to direct the machine-vision system to locate the insertion-target region and receive location information from the machine-vision system about the insertion-target region, the control electrical circuitry configured to output moveable needle targeting instructions;   an actuator coupled to the control electrical circuitry to receive the needle targeting instructions therefrom and coupled to the moveable needle, the actuator configured to move the moveable needle to the insertion-target region automatically responsive to receiving the needle targeting instructions; and   a subject distraction device configured to distract the living subject prior to the moveable needle being inserted therein.   
     
     
         83 . The needle insertion system of  claim 82 , wherein the subject distraction device includes a sound-generation device configured to output noise audible to the living subject prior to or during insertion of the moveable needle into the living subject. 
     
     
         84 . The needle insertion system of  claim 82 , wherein the subject distraction device is configured to visually distract the living subject prior to or during insertion of the moveable needle into the living subject. 
     
     
         85 . The needle insertion system of  claim 82 , wherein:
 the machine-vision system is configured to locate on the living subject one or more punctured external locations in which the movable needle or another needle has been previously inserted and removed, and the insertion-target region is different from the one or more punctured external locations; and   the control electrical circuitry is configured to distinguish the insertion-target region from the one or more punctured external locations, and receive location information from the machine-vision system about the insertion-target region.   
     
     
         86 . The needle insertion system of  claim 82 , further comprising a subject preparation device configured to prepare a selected region of the living subject for insertion of the moveable needle therethrough 
     
     
         87 . The needle insertion system of  claim 86 , wherein the subject preparation device configured to dispense at least one of a cleaning agent, a pain killer, an anesthesia, a nerve blocker, or an antiseptic onto the selected region of the living subject. 
     
     
         88 . The needle insertion system of  claim 86 , wherein the subject preparation device is configured to stretch or compress skin of the living subject in or near the insertion-target region. 
     
     
         89 . The needle insertion system of  claim 82 , further comprising an alarm configured to output a human perceivable indication to indicate that the machine-vision system is unable to locate the insertion-target region.