AUTONOMOUS INTRAVENOUS (IV) INSERTION ARM

The goal of this independent study was to autonomously place a small catheter into a bloodstream for the purpose of drawing blood because the procedure is currently the leading cause of medical injury with an overall failure rate of 35%. In order to do so, I needed to create an End-Effector Design with 3 Degrees of Freedom and very low standard deviation. Therefore, I then went through my design and PID tuned the system to increase the accuracy of the system.