WO2025190829A1 - Système et procédé automatisés de séparation d'instruments - Google Patents

Système et procédé automatisés de séparation d'instruments

Info

Publication number
WO2025190829A1
WO2025190829A1 PCT/EP2025/056380 EP2025056380W WO2025190829A1 WO 2025190829 A1 WO2025190829 A1 WO 2025190829A1 EP 2025056380 W EP2025056380 W EP 2025056380W WO 2025190829 A1 WO2025190829 A1 WO 2025190829A1
Authority
WO
WIPO (PCT)
Prior art keywords
instrument
tray
window
segment
storage
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Pending
Application number
PCT/EP2025/056380
Other languages
German (de)
English (en)
Inventor
Arne JANSEN-TROY
Allan Maas
Daniel Kießling
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Aesculap AG
Original Assignee
Aesculap AG
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Aesculap AG filed Critical Aesculap AG
Publication of WO2025190829A1 publication Critical patent/WO2025190829A1/fr
Anticipated expiration legal-status Critical
Pending legal-status Critical Current

Links

Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Program-controlled manipulators
    • B25J9/16—Program controls
    • B25J9/1694—Program controls characterised by use of sensors other than normal servo-feedback from position, speed or acceleration sensors, perception control, multi-sensor controlled systems, sensor fusion
    • B25J9/1697—Vision controlled systems
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B2219/00—Program-control systems
    • G05B2219/30—Nc systems
    • G05B2219/40—Robotics, robotics mapping to robotics vision
    • G05B2219/40053—Pick 3-D object from pile of objects
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B2219/00—Program-control systems
    • G05B2219/30—Nc systems
    • G05B2219/40—Robotics, robotics mapping to robotics vision
    • G05B2219/40564—Recognize shape, contour of object, extract position and orientation
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B2219/00—Program-control systems
    • G05B2219/30—Nc systems
    • G05B2219/45—Nc applications
    • G05B2219/45063—Pick and place manipulator

Definitions

  • the present invention relates to a device, in particular an automated instrument separation device, for removing and handling surgical instruments from an instrument container, in particular a sieve basket, as well as a method for the automated removal, separation and handling of surgical instruments from instrument containers, in particular sieve baskets.
  • an object underlying the present invention aims to contribute to the complete automation of the sterile supply cycle, from the delivery of contaminated instruments in a sterile supply container to the dispensing of the cleaned and disinfected instruments on the clean side by the washer-disinfectors (WDs).
  • an object underlying the present invention is to automate the manual processes in the medical device reprocessing unit (RUMEP) in the prior art.
  • an object underlying the present invention is to provide a device that enables the automated removal of surgical instruments from sieve baskets, the separation, and handling of these instruments.
  • a further object underlying the invention is to increase the efficiency of the medical device reprocessing unit (RUMEP), thereby alleviating staff shortages and also protecting staff from potential injuries and serious illnesses caused by handling contaminated instruments.
  • the invention is expected to offer significant improvements in efficiency, safety and cost savings compared to the prior art.
  • Such a device can, in particular, be an automated instrument separation device which is suitable for removing and handling surgical instruments from an instrument container, in particular a sieve basket.
  • the described device offers several advantages over devices known in the prior art.
  • the automated instrument separation device enables, in particular, safer, faster, and more precise removal of surgical instruments from an instrument container, in particular a mesh basket.
  • the conveyor belt transports the instrument container to the removal mechanism, which picks the instrument from the container and places it on the storage segment.
  • the optical system records the position of the instrument in the container and on the storage and stores the data in a database.
  • the control unit compares the recorded data with the database containing the instrument data.
  • the device is thus capable of quickly and precisely identifying and locating the instruments. This automation saves time and increases efficiency in the handling of surgical instruments.
  • a device comprises a conveyor belt arranged such that at least one first instrument container loaded with at least one surgical instrument can be fed to the conveyor belt. Furthermore, the device according to the present invention comprises a table arranged above the conveyor belt with a shelf comprising at least one first shelf segment and at least one first window, and an optical system arranged above the shelf, which is suitable for recording data of the at least one instrument, in particular the position n and/or type and/or configuration or the like, in the first instrument container and/or on the first shelf segment of the shelf.
  • the shelf is rotatable, preferably about an axis substantially perpendicular to the conveyor belt.
  • the rotatability of the shelf is particularly advantageous because a shelf rotatable, preferably about an axis substantially perpendicular to the conveyor belt, enables high flexibility in the positioning and forwarding of the instruments. Due to the rotatability, the shelf can serve various processing stations without the instruments having to be laboriously relocated. This simplifies the process flow, reduces handling time, and minimizes the risk of damage to or contamination of the instruments during transfer.
  • the rotatability of the tray is particularly advantageous because the table can function as a cyclic table, preferably in a method according to the invention. In particular, by rotating the table, the instruments can be transported to the next processing station. For example, gripping, identifying, opening the instrument if necessary, placing it in the sieve basket, etc. These and other steps can advantageously take place serially in space and/or in parallel in time.
  • the rotatable tray can reduce the space required by the device and enable more efficient use of the available space.
  • a control unit provided in the device according to the invention is configured to at least temporarily store the acquired data and to compare it with a database containing instrument data. This allows the identification of the type and/or position and/or number of instruments and thus also tracking of the instruments.
  • a removal mechanism Arranged above the tray is a removal mechanism which is configured to move through the at least one first window of the tray when the tray is in a removal position. The removal mechanism can thereby grip and remove the at least one instrument in the instrument container and deposit the first storage segment of the tray, preferably adjacent to the window, preferably in an undefined manner.
  • a gripping mechanism of the device according to the invention in particular a manipulator, which is preferably connected to the wrist of a robot arm, is configured to grip and handle the at least one instrument on the first storage segment of the storage.
  • the gripping mechanism is intended to deposit the at least one instrument in the first or in a further instrument container.
  • the objects described above are also achieved according to the invention by a method according to the invention for the automated removal, separation and handling of surgical instruments from instrument containers, in particular sieve baskets, by means of a device, in particular an automated instrument separating device, preferably a device according to the present invention.
  • the method according to the invention comprises at least the following steps:
  • a step of placing at least one first instrument container loaded with at least one surgical instrument on a conveyor belt further comprises a step of feeding a first instrument container loaded with at least one surgical instrument to the device into a removal position of the first instrument container.
  • the conveyor belt moves the container into a removal position.
  • removal position preferably refers to a position of the container in which a surgical instrument can be removed from the instrument container.
  • the instrument In the removal position, the instrument is within reach of the removal mechanism, i.e., the first instrument container is positioned below the tray in such a way that the removal mechanism can pass through the first window of the tray and grasp the at least one instrument in the first instrument container.
  • the method according to the invention can, in particular, comprise a step of feeding a first instrument container, in particular a sieve basket, loaded with at least one surgical instrument to the device according to the invention.
  • the device or the preferably stationary instrument separation system, is positioned and/or configured such that instrument containers can be fed to the conveyor belt manually, via an automated guided vehicle (AGV) system (DTS, in particular AGV or similar), or with the aid of another conveyor belt or another interface.
  • AGV automated guided vehicle
  • the method according to the invention comprises a step in which sieve baskets are automatically removed from a sterile goods container and are preferably automatically fed to the conveyor belt.
  • the method according to the invention further comprises a step b) of providing a tray arranged on a table, which tray comprises at least one first tray segment and at least one first window, in a removal position of the tray, in which the first window is arranged above the first instrument container;
  • the method according to the invention further comprises a step of passing through the first window of the storage area by means of a removal mechanism arranged above the storage area in the removal position of the storage area and gripping the at least one instrument in the first instrument container.
  • the window allows the removal mechanism to reach through the storage area in order to access the container located below the storage area on the conveyor belt and the instrument contained therein.
  • the method according to the invention further comprises a step of extending the removal mechanism with the gripped instrument. This step, in particular, returns the removal mechanism to a position above the tray. If the tray rotates, this advantageously prevents a collision between the window and the tray with the removal mechanism.
  • the method according to the invention further comprises a step of placing the instrument on the first storage segment of the storage unit, preferably adjacent to the window.
  • the instrument is placed on the storage unit in a segment provided for it, with the shortest path, i.e., the storage segment adjacent to the window, preferably being advantageously selected for placement.
  • the method according to the invention further comprises a step of detecting data, in particular the position, of the at least one instrument (10) on the first storage segment of the storage, in particular the position, by means of an optical system arranged above the storage.
  • detecting data in particular the position, of the at least one instrument (10) on the first storage segment of the storage, in particular the position, by means of an optical system arranged above the storage.
  • the optical system is able to detect the position of the instrument on the first storage segment of the storage and to store the data in a database.
  • the acquired data can then be compared by the control unit to determine the position and/or type and/or configuration, or the like, of the instrument. This enables quick and precise removal of surgical instruments from the instrument container and increases efficiency in surgical instrument handling.
  • the method according to the invention further comprises a step of gripping and handling the at least one instrument on the first storage segment of the storage unit using a gripping mechanism.
  • a gripping mechanism is capable of precisely locating, gripping, and handling the instrument on the first storage segment of the storage unit after the data has been acquired.
  • the gripping mechanism can then easily place the instrument in a suitable instrument container.
  • the first instrument container or a further instrument container is advantageously arranged under the shelf in a dispensing position.
  • dispenser position preferably refers to the position in which a surgical instrument is deposited by the gripping mechanism into an instrument container.
  • the method according to the invention further comprises a step of moving the gripping mechanism through the first window of the tray in the tray's dispensing position and depositing the instrument in the first and/or the further instrument container.
  • This is particularly advantageous because moving the gripping mechanism through the first window of the tray enables precise and controlled handling of the instruments.
  • This step contributes to transferring the instruments safely and precisely into the first or a further instrument container, which increases the efficiency of the entire process.
  • the defined dispensing position of the tray minimizes the risk of damage to the instruments or the tray itself.
  • the method according to the invention further comprises a step of extending the gripping mechanism from the first window of the tray. This is particularly advantageous because extending the gripping mechanism from the first window of the tray enables orderly and sequential processing of the instruments.
  • This step ensures that the instruments are correctly positioned after removal and handling and are ready for the next step in the overall process. Precise control of the gripping mechanism minimizes the risk of mispositioning and potential damage to the instruments. Furthermore, the automation of this process contributes to consistent process quality and can reduce the need for manual intervention, which in turn increases work safety and reduces the likelihood of human error.
  • the entire method and/or individual or multiple steps can be repeated, in particular until all instruments have been removed from the first instrument container and/or all instruments have been removed from the first instrument container and placed back in the first or another container.
  • This systematic repetition ensures that each instrument is handled correctly and prepared for the subsequent cleaning and sterilization processes.
  • the automation of this process contributes to reducing labor and time, improves process reliability, and ensures compliance with high hygiene standards.
  • the present invention comprises an automated unit and method for removing surgical instruments from mesh baskets, as well as for separating and handling these instruments.
  • the unit can be used on the unclean side of a medical device reprocessing unit (RUMP) to automate all processes within the sterile supply cycle, from the delivery of the contaminated instruments in a sterile supply container to their cleaning and disinfection.
  • RUMP medical device reprocessing unit
  • the specified steps do not necessarily have to be performed in the specified order.
  • the specified steps can be performed in any other suitable order or even simultaneously. Simultaneous execution of steps is preferred—where technically feasible and possible—in order to make the method run as quickly and efficiently as possible.
  • the table can function as a cyclic table. In particular, by rotating the table, the instruments can be transported to the next processing station.
  • the conveyor belt is configured to feed the first instrument container loaded with at least one surgical instrument, wherein the feed can preferably be a manual feed, a feed via an AGV, best with the aid of a conveyor belt or to an interface corresponding to the state of the art, so that more preferably the instrument container is located in a defined manner in the singulation system.
  • the conveyor belt is preferably longer than the nominal diameter of the tray. This is particularly advantageous because a conveyor belt that is longer than the nominal diameter of the tray offers greater flexibility in positioning and handling the instruments. This enables more efficient organization of the work area and can facilitate the transfer of instruments between different stations in the process. Furthermore, a longer conveyor belt can increase the capacity to process multiple instrument containers simultaneously, increasing the system's throughput rate and potentially reducing waiting times for processing. processing is reduced.
  • the conveyor belt can be supplemented with additional conveyor belts, switches, and ejectors, which enable a change in direction and/or further separation of instrument containers, especially sieve baskets.
  • the table and/or the storage unit is round, preferably circular. According to the invention, it can also take on other shapes and, in particular, be oval. This is particularly advantageous because a round or circular, or oval, design of the table and/or the storage unit enables an even distribution of the instruments around the axis of rotation. This can improve the accessibility and handling of the instruments, as they can be reached from all sides. Furthermore, a round shape can facilitate the freedom of movement of the gripping mechanism and thus increase the efficiency of the removal and storage process. Integration into existing systems can also be simplified by this design, as it is often compatible with the spatial arrangement of other machine elements.
  • the storage segment of the storage is formed by elevations or partitions on the storage. This is particularly advantageous because the formation of the storage segment by means of elevations or partitions achieves a clear segmentation of the storage area.
  • the tray comprises at least one first window and at least one further window, and/or at least one further tray segment.
  • the tray preferably has two, more preferably three, and most preferably four windows.
  • the number of windows corresponds to the number of storage segments, comprising the first storage segment and at least one further storage segment.
  • windows and storage segments are arranged alternately in the storage. This is particularly advantageous because a matching number of windows and storage segments and their alternating arrangement in the storage enables optimal use of the available space. This leads to improved organization and a smooth flow of the removal and storage process.
  • the alternating arrangement also facilitates the separation and sorting of the instruments, which increases the efficiency of the system and shortens processing time. This configuration allows the system to respond flexibly to different sizes and shapes of instruments and ensure precise handling.
  • the rotatable shelf is movable, in particular rotatable, by a corresponding motor with gear and motor control.
  • the removal mechanism is configured to translate across a grid in three dimensions within the sieve basket. Further preferably, the removal mechanism is automatically controllably movable in at least three translational degrees of freedom. This is particularly advantageous because the removal mechanism, which is configured to translate across a grid in three dimensions within the sieve basket, enables complete and systematic detection of all instruments in the sieve basket. This ensures that no instrument is overlooked and that each one can be precisely grasped and further processed.
  • the three-dimensional sional scanning contributes to the accuracy of the entire process and improves the reliability of automated sampling, which in turn increases the efficiency and safety of the process.
  • the removal mechanism (9) is designed as a magnetic, preferably electromagnetic, removal mechanism. This is particularly advantageous since randomized removal by an electromagnetic removal mechanism offers the possibility of handling a large number of instruments without specific selection criteria. This can be particularly useful when rapid processing of a large number of instruments is required or when the exact position of the instruments in the sieve basket is unknown. Random removal can also help ensure uniform wear of the instruments, since the same instruments are not always removed first. Furthermore, this method can reduce the complexity of the system, since no complex algorithms for identifying and selecting specific instruments are required.
  • the removal mechanism is preferably mounted on the table.
  • the electromagnet is freely mounted vertically on the mechanism, but is positioned at a defined lower stop via its own weight and/or a spring in order to enable it to be placed on the instruments without causing a collision or jamming due to transverse forces of the mechanism in the sieve basket and/or the instruments.
  • a removal mechanism can have a further, non-magnetic gripping mechanism and/or receiving mechanism.
  • a further, non-magnetic gripping mechanism and/or receiving mechanism is preferably arranged spatially at 90° or 180° to the magnetic gripping mechanism.
  • Such a further, non-magnetic gripping mechanism and/or receiving mechanism is preferably a vacuum-based suction mechanism.
  • a vacuum suction The mechanism can advantageously suction and hold instruments, especially in the form of bowls, on a straight and/or flat surface that are not or only very weakly magnetizable due to their material properties.
  • the removal mechanism can preferably be designed as a magnetic, preferably electromagnetic, removal mechanism.
  • the optical system is a robot guidance camera.
  • a robot guidance camera as an optical system enables highly precise detection and identification of the surgical instruments.
  • the camera can determine the type, exact position and orientation of the instruments in space, as well as other parameters of the instruments, which is advantageous for correct handling by the robot arm. This improves the accuracy of the entire automation process, reduces the risk of errors, and increases efficiency and safety when preparing the instruments for sterilization. Furthermore, the camera can contribute to monitoring and quality assurance of the process by ensuring that all instruments are correctly detected and processed.
  • the optical system is preferably designed to detect and record individual instruments based on instrument parameters by taking images, as well as to define their position in space.
  • the gripping system is attached to a kinematics which preferably has J-DOF but preferably 6-DOF.
  • a gripping system attached to a kinematic system preferably with J-DOF or 6-DOF (Degrees of Freedom)
  • J-DOF or 6-DOF Degrees of Freedom
  • the gripping system can perform particularly complex movements, which are advantageous for gripping instruments from different angles, rotating them, and and positioning. This enables precise manipulation of the instruments, which is especially important for properly preparing them for cleaning and sterilization.
  • the expanded motion capabilities help increase process efficiency and reduce processing time, while also increasing safety and accuracy.
  • the kinematics preferably comprise a serial 6-DOF articulated-arm robot, with the gripping system more preferably being connected to the wrist of the robot.
  • a kinematics in particular a robot arm, can be attached by its base to a frame of the device according to the invention and/or coaxially to the rotational axis of the preferably rotatable storage unit.
  • a step of at least temporarily storing data acquired in a data acquisition step further preferably comprises a step of comparing the acquired data with a database containing instrument data.
  • the method further comprises a step of conveying the preferably empty first instrument container, previously loaded with at least one surgical instrument, to the device in a delivery position of the first instrument container.
  • conveying the empty first instrument container, previously loaded with surgical instruments, to the device in a dispensing position enables efficient and orderly return of the instruments removed by the removal mechanism back into the container by means of the gripping mechanism.
  • the method further comprises a step of moving the removal mechanism into a parked position.
  • moving the removal mechanism into a parked position increases safety within the work environment.
  • the mechanism In the parked position, the mechanism is located outside the active area and thus poses no risk to operating personnel or to collision with other moving parts of the device, in particular a possibly rotatable shelf.
  • the method further comprises a step of rotating the shelf by a first predefined angle.
  • the defined rotation allows the instruments to be brought to the exact location where they are to be picked up by the gripping mechanism or another processing station. This contributes to optimizing the entire workflow by reducing handling time and increasing process accuracy. Furthermore, the predefined rotation can improve compatibility with other automated systems, facilitating integration into existing production lines.
  • Such a step of rotating the tray around a first predefined angle is preferably carried out before placing the instrument on the first tray segment of the tray, preferably adjacent to the window.
  • the tray is rotated in particular into a dispensing position of the tray in which the first window is arranged above the first and/or a further instrument container provided for dispensing the instruments.
  • Such a step of rotating the tray about a first predefined distance is preferably carried out after a step of moving out the removal mechanism with the gripped instrument and/or after a step of moving the removal mechanism into a parking position.
  • a processing unit for medical devices comprising a device, in particular an automated instrument separation device for removing and handling surgical instruments from an instrument container according to the present invention.
  • the device comprises a cell, preferably consisting of profiles, in particular aluminum profiles and PC plates, and further preferably has at least two openings for the and/or further conveyor belts
  • FIG 1A is a schematic perspective view of a device according to the present invention in a first embodiment
  • FIG 1 B is a schematic representation of a device according to the present invention in a first embodiment from the side above;
  • FIG 1 C is a schematic representation of a device according to the present invention in a first embodiment as a side view.
  • FIGS 1A, 1B and 1C show a schematic representation of a device 1, in particular an automated instrument separation device 1, for removing and handling surgical instruments from an instrument container 4, in particular a sieve basket 4, according to a first embodiment of the present invention.
  • a conveyor belt 3 is arranged such that at least one first instrument container 4 loaded with at least one surgical instrument 10 can be fed to the conveyor belt 3.
  • a first container is in the removal position below the shelf 5, and another instrument container 4 with further surgical instruments 10 is already waiting on the conveyor belt 3.
  • a table 8 arranged above the conveyor belt 3 comprises a shelf 5 which has at least one first shelf segment 6 and at least one first window 7.
  • An optical system 11, which is also arranged above the storage 5, is designed to record data of the at least one instrument 10, in particular the position, in the first instrument container 4 and/or on the first storage segment 6 of the storage 5.
  • a control unit (not shown here) temporarily stores the recorded data and compares it with an instrument data comprising send database.
  • a removal mechanism 9 is arranged above the storage 5, which is configured, in a removal position of the storage 5 shown here, to move through the at least one first window 7 of the storage 5 and to grip the at least one instrument 10 from the first instrument container 4 and to place it on the first storage segment 6 of the storage 5 adjacent to the window 7.
  • the gripping mechanism 12 can grip and handle the at least one instrument 10 on the first storage segment 6 of the storage 5 and place it in the first or in a further instrument container 4 in the dispensing position.
  • instrument containers are automatically removed from a sterile goods container before (upstream) feeding the containers into the device according to the invention. They are then fed to the device 1 according to the invention, here a stationary instrument separation system 1, manually, preferably via an automated guided vehicle system, ideally with the aid of a conveyor belt, or to a prior art interface 2 to a conveyor belt 3, which is part of the device 1.
  • the sieve basket 4 loaded with surgical instruments 10 is located in a defined manner in the separation system 1 and is brought into a defined removal position below the circular, rotatable shelf 5 by means of the conveyor belt 3.
  • the shelf 5 has - in this case four - storage segments formed by elevations or partitions and - in this case also four - windows 7.
  • the four windows and the four storage surfaces of the segments 6 are thus present in the same number and alternately in the rotatable shelf 5. All elements are mounted on a table 8.
  • the rotatable shelf 5 is rotated by a corresponding motor with gear and motor control (not shown).
  • the conveyor belt 3 is preferably longer than the nominal diameter of the rotatable tray 5 and can be supplemented, in particular at the cutting point 2, with corresponding additional conveyor belts, switches and ejectors, which enable a change of direction and/or further separation of sieve baskets 4 (not shown).
  • the removal mechanism 9 moves translationally along a grid in three dimensions within the sieve basket 4 and grips magnetizable instruments 10 as they are immersed in the sieve basket 4 with the aid of at least one electromagnet - in doing so it passes through a window 7 of the rotatable shelf 5.
  • the electromagnet is advantageously freely mounted vertically on the mechanism and is attached to a defined lower stop via its own weight and/or a spring in order to enable it to be placed on the instruments without causing a collision or tilting due to transverse forces of the mechanism in the sieve basket 4 and/or the instruments 10.
  • the removal mechanism 9 After the removal mechanism 9 has been moved out of the sieve basket 4 and through the window 7, it, together with the gripped instruments 10, is located above the rotatable shelf 5. This rotates by a defined angle, here 45°, by one segment 6.
  • the removal mechanism 9 can place the instruments 10 in an undefined manner on one surface of the segment 6 following the window 7 by moving down and switching off the electromagnet.
  • the removal mechanism 9 moves to a safe parking position.
  • the rotatable shelf 5 then moves another segment 6, again by 45°.
  • the optical system 11 is preferably attached to a holding device (not shown in FIG. 1C), which is advantageous for capturing images of individual instruments, particularly with regard to field of view, height, and positioning.
  • the position of the instruments 10 relative to the rotating tray is saved, and the instrument data is compared with a database to enable tracking of the instruments 10.
  • at the time the last instrument is removed from the basket 4 it can be determined whether the instrument type and quantity correspond to the specifications of the stored data for the respective basket 4.
  • the rotating tray 5 moves by another segment 6, again by 45°.
  • the preferred predefined angle is preferably determined from the arrangement of the segments and windows, and particularly preferably from the formula:
  • Predefined angle [°] 360° / sum of all segments and windows
  • handling preferably means manipulating the instruments themselves, such as opening scissors, forceps, needle holders, etc., or separating individual instrument assemblies to enable the prescribed state for pre-cleaning.
  • the position and orientation of the deposited surgical instruments 10 in space were previously transmitted by the robot guidance camera 11 and mathematically converted into the new rotated situation using standard coordinate transformation on the rotating tray.
  • the gripping system 12 itself is attached to a kinematic system that has J-DOF, but preferably 6-DOF.
  • a state-of-the-art serial 6-DOF articulated-arm robot 1J is suitable for this purpose. This can be attached with its base above to a frame or coaxially to the rotation axis of the rotating tray.
  • the gripping system 12 after manipulation, the corresponding instrument 10 can be placed in another sieve basket or in the now empty sieve basket for pre-cleaning in a defined manner and taking optimal storage into account.

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  • Engineering & Computer Science (AREA)
  • Robotics (AREA)
  • Mechanical Engineering (AREA)
  • Specific Conveyance Elements (AREA)

Abstract

L'invention concerne un dispositif, en particulier un dispositif de séparation d'instrument automatisé, pour retirer et manipuler des instruments chirurgicaux d'un récipient d'instrument, en particulier un panier à crible, comprenant : - une courroie de transport agencée de telle sorte qu'au moins un premier récipient d'instruments chargé avec au moins un instrument chirurgical peut être amené sur la courroie de transport ; - une table disposée au-dessus de la courroie de transport et ayant un plateau, qui comprend au moins un premier segment de plateau et au moins une première fenêtre ; - un système optique disposé au-dessus du plateau et permettant d'acquérir des données relatives à l'instrument ou aux instruments, en particulier la position, dans le premier récipient d'instruments et/ou sur le premier segment de plateau du plateau ; - une unité de commande conçue pour stocker au moins temporairement les données acquises et pour comparer les données acquises à une base de données comprenant des données d'instrument ; - un mécanisme de prélèvement disposé au-dessus du plateau et conçu de telle sorte que, avec le plateau dans une position de prélèvement, le mécanisme de prélèvement passe à travers la ou les premières fenêtres du plateau et saisit l'instrument ou les instruments dans le premier récipient d'instruments et dépose ledit instrument sur le premier segment de plateau du plateau, lequel premier segment de plateau est de préférence adjacent à la fenêtre ; - un mécanisme de saisie approprié et conçu pour saisir et manipuler l'instrument ou les instruments sur le premier segment de plateau du plateau et pour déposer l'instrument ou les instruments dans le premier ou dans un autre récipient d'instruments.
PCT/EP2025/056380 2024-03-11 2025-03-10 Système et procédé automatisés de séparation d'instruments Pending WO2025190829A1 (fr)

Applications Claiming Priority (2)

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DE102024106930.9A DE102024106930A1 (de) 2024-03-11 2024-03-11 Automatisiertes Instrumentenvereinzelungssystem und Verfahren
DE102024106930.9 2024-03-11

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WO2025190829A1 true WO2025190829A1 (fr) 2025-09-18

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WO (1) WO2025190829A1 (fr)

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