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 .- 35 . (canceled) 
     
     
         36 . A method of inserting a needle of a needle insertion system into a living subject, comprising:
 locating an insertion-target region on the living subject with a machine-vision system;   outputting location information from the machine-vision system to control electrical circuitry; and   automatically moving the needle to the insertion-target region in response to needle-targeting instructions output from the control electrical circuitry.   
     
     
         37 . The method of  claim 36 , wherein automatically moving the needle to the insertion-target region in response to needle-targeting instructions output from the control electrical circuitry occurs without human intervention and after the needle is in operational range relative to the living subject. 
     
     
         38 . The method of  claim 36 , wherein automatically moving the needle to the insertion-target region in response to needle-targeting instructions output from the control electrical circuitry includes automatically moving the needle with an actuator that receives the needle-targeting instructions. 
     
     
         39 . The method of  claim 36 , further comprising dispensing fluid from the needle and inside the living subject after moving the needle to the insertion-target region. 
     
     
         40 . The method of  claim 36 , further comprising drawing fluid obtained from the insertion-target region through the needle after moving the needle to the insertion-target region. 
     
     
         41 . The method of  claim 36 , further comprising:
 identifying one or more external locations on the living subject that have been previously penetrated by the needle or another needle with the machine-vision system; and   wherein automatically moving the needle to the insertion-target region in response to needle-targeting instructions output from the control electrical circuitry includes automatically moving the needle at least to another insertion-target region that has not been penetrated by the needle or the another needle.   
     
     
         42 . The method of  claim 36 , further comprising:
 selecting an operational force setting from a plurality of operational force settings; and   wherein automatically moving the needle to the insertion-target region in response to needle-targeting instructions output from the control electrical circuitry includes automatically moving the needle with a force corresponding to the selected operational force setting.   
     
     
         43 . The method of  claim 36 , further comprising positioning the needle within operational range to the living subject prior to the automatically moving the needle. 
     
     
         44 . The method of  claim 36 , further comprising:
 sensing with at least one sensor at least one of fluid flow drawn through the needle, tissue resistance of the living subject to the needle, position of the needle within the living subject, or presence of blood; and   wherein automatically moving the needle to the insertion-target region in response to needle-targeting instructions output from the control electrical circuitry includes directing movement of the needle in response to one or more sensing signals received from the at least one sensor.   
     
     
         45 . The method of  claim 36 , further comprising preparing a region of the living subject for insertion of the needle therethrough prior to the automatically moving the needle. 
     
     
         46 . The method of  claim 36 , wherein preparing a region of the living subject for insertion of the needle therethrough prior to the automatically moving the needle includes cleaning the region of the living subject. 
     
     
         47 . The method of  claim 36 , wherein preparing a region of the living subject for insertion of the needle therethrough prior to the automatically moving the needle includes dispensing a cleaning solution, a pain killer, a coagulant, an anesthetizing agent, or a nerve blocker onto the region of the living subject from a dispensing device. 
     
     
         48 . The method of  claim 36  wherein preparing a region of the living subject for insertion of the needle therethrough prior to the automatically moving the needle includes stretching skin of the living subject in or near the insertion-target region with a skin stretching device. 
     
     
         49 . The method of  claim 36 , further comprising distracting the living subject prior to the automatically moving the needle. 
     
     
         50 . The method of  claim 49 , wherein distracting the living subject includes generating a noise that is audible to the living subject. 
     
     
         51 . The method of  claim 49 , wherein distracting the living subject includes visually distracting the living subject. 
     
     
         52 . The method of  claim 36 , further comprising dispensing coagulant onto a region of the living subject that has been penetrated by the needle. 
     
     
         53 . The method of  claim 52 , wherein dispensing coagulant onto a region of the living subject that has been penetrated by the needle includes dispensing the coagulant substantially simultaneously with drawing the needle from the living subject. 
     
     
         54 . The method of  claim 36 , wherein the insertion-target region includes an internal insertion-target region disposed within the living subject. 
     
     
         55 . The method of  claim 54 , wherein the internal insertion-target region includes at least one of an artery, a muscle, or a bone. 
     
     
         56 . The method of  claim 36 , wherein automatically moving the needle to the insertion-target region includes comparing the insertion-target region located by the machine-vision system to known anatomical data about the living subject. 
     
     
         57 . The method of  claim 36 , further comprising temporarily mounting a needle insertion system to the living subject, wherein the needle insertion system includes the needle and the machine-vision system. 
     
     
         58 . The method of  claim 36 , further comprising withdrawing the needle with a selected withdrawal rate. 
     
     
         59 . The method of  claim 36 , further comprising automatically applying pressure to the insertion-target region after withdrawing the needle from the living subject.