Needle based procedures are performed billions of times per year by clinical professionals in hospitals, clinics and laboratories. The needle experience for both patient and caregiver can be fraught with inaccuracies, errors, significant costs, and even life threatening infections and administrative errors. There is a strong need for better accuracy, a better patient experience and healthcare risk reduction. The optimal device for needle based procedures is an image guided, motion controlled, needle-safe robot - not a human. Making the whole procedure of venipuncture automated reduces error and decreases venipuncture times. This saves hospitals and clinics money, reduces the risk of injury to practitioners, and improves comfort and care for patients.