US Patent 11903663 Robotic systems, devices, and methods for vascular access

An apparatus includes a cart having a vertical adjustment element configured to adjust a distance between the platform and a ground supporting the cart, the cart defining a surface for supporting an arm of the patient. The apparatus includes a manipulation device including a plurality of motors each configured to operably couple to a different one of a needle, a catheter, and a guidewire to selectively advance one or more of the needle, the catheter, and the guidewire, and a robotic arm having a first end mounted to the cart and a second end coupled to the manipulation device, the robotic arm having a plurality of segments joined together via a plurality of joints such that the robotic arm can be moved to position the needle, the catheter, and the guidewire for insertion into a target vessel in the arm.