Systems and methods for autonomous intravenous needle insertion are disclosed herein. In an embodiment, a system for autonomous intravenous insertion includes a robot arm (1), one or more sensors (91) pivotally attached to the robot arm (1) for gathering information about potential insertion sites in a subject arm (7), a medical device (22, 41) pivotally attached to the robot arm (1), and a controller (90) in communication with the sensors (91) and the robot arm (1), wherein the controller (90) receives the information from the sensors (91) about potential insertion sites, and the controller (90) selects a target insertion site and directs the robot arm (1) to insert the medical device (22, 41) into the target insertion site.
