The present disclosure provides an automatic needle insertion apparatus, including a frame, a bearing device on the frame and configured to bear thereon a body part into which a needle is to be inserted, an acquisition device on the frame and configured to acquire vascular information of the body part, a needle insertion device on the frame and configured to execute a needle insertion operation and a needle withdrawal operation on the body part, and a first control device connected to the needle insertion device and the acquisition device and configured to control an operating state of the needle insertion device in accordance with the vascular information acquired by the acquisition device.