Robotic Devices for Assisted and Autonomous Intravenous Access

Maria Koskinopoulou*, Zhuoqi Cheng, Alperen Acemoglu, Darwin G. Caldwell, Leonardo S. Mattos

*Corresponding author for this work

Research output: Contribution to journalArticlepeer-review

3 Citations (Scopus)
1 Downloads (Pure)


Intravenous Access (IVA) is the most common invasive medical procedure. Globally, it is estimated that over one billion IVA devices (needles/catheters) are used annually. However, the overall failure rate in this procedure is unacceptably high, reaching values between 35 and 50%. This has driven a great deal of research and technological development over recent decades, including the integration of different levels of autonomy in IVA medical devices to greatly improve this process. This paper will review these recent technical developments, including methods and systems for vein imaging and localization, needle insertion, venipuncture detection, catheter placement, and complete robotic IVA platforms. Furthermore, this paper explores emerging technical aspects, current limitations, and new research directions that may enable wider clinical translation and better acceptance of robotic IVA technologies.

Original languageEnglish
Pages (from-to)170-179
Number of pages10
JournalIEEE Transactions on Medical Robotics and Bionics
Issue number2
Early online date25 Apr 2023
Publication statusPublished - May 2023


  • autonomous medical procedure
  • Intravenous access (IVA)
  • peripheral catheterization
  • PIVC
  • robot-assisted
  • vein-imaging

ASJC Scopus subject areas

  • Biomedical Engineering
  • Human-Computer Interaction
  • Computer Science Applications
  • Control and Optimization
  • Artificial Intelligence


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