Autonomous waste collection assembly and medical waste collection system and method

Abstract

An autonomous medical waste collection assembly includes a base adapted to be positioned proximate a patient. At least one wheel is powered to move the base along a floor surface. A waste collection unit is coupled to the base to receive medical waste from the patient. The waste collection unit includes a canister to hold the medical waste. A controller is operable to initiate a waste disposal protocol. The waste disposal protocol includes transmitting a movement signal to the powered wheels to automatically move the autonomous medical waste collection assembly away from the patient to a disposal station. A user input device is in communication with the controller. The user input device is adapted to provide a user input signal in response to being actuated by a user. The controller is configured to initiate the waste disposal protocol in response to receiving the user input signal.

Description

[0001] This application is a divisional application of the application patent application with the application number 201880082547.7, the title of which is "Autonomous Waste Collection Assembly and Medical Waste Collection System and Method", and the filing date of which is October 23, 2018.

[0002] Cross Reference to Related Applications

[0003] This application claims priority to and all the benefits of U.S. Provisional Patent Application No. 62 / 575,833, filed on October 23, 2017, the entire contents of which are incorporated herein by reference. BACKGROUND

[0004] Medical waste collection devices can be used in hospitals or other healthcare facilities. For example, during medical and surgical procedures, mobile carts are used to collect medical waste such as bodily fluids, body tissue, irrigation fluids, and smoke. The medical waste is typically stored in a canister mounted on the medical waste collection device, which must be emptied and cleaned before, during, or after the procedure. Currently, hospital staff such as nurses and operating room assistants must stop their duties, carry or push the medical waste collection device or its canister to a disposal station to empty and clean the canister. This requires the hospital staff to move the medical waste collection device to the disposal station, wait for the emptying and cleaning process to be performed, move the medical waste collection device back to the operating room, re-enter the operating room, and set up the medical waste collection device again before the procedure can begin or resume. In addition, the medical waste collection device can require a battery power source, which must be charged before, during, or after the procedure, requiring more time and effort from the hospital staff. Therefore, there is a need for a waste collection device and system that overcomes one or more of the aforementioned drawbacks. SUMMARY

[0005] An autonomous medical waste collection assembly autonomously collects and disposes of medical waste generated during a medical procedure, such as a surgical procedure, performed in a healthcare facility, such as a hospital. The medical waste can include bodily fluids, body tissue, irrigation fluids, and / or other substances that can be generated during various medical procedures. During the medical procedure, the assembly collects the medical waste and stores it thereon until the user is ready for the assembly to autonomously offload the medical waste and dispose of the medical waste. Once the medical waste fills the assembly or the user is ready to dispose of the medical waste, the assembly autonomously navigates to a docking station. At the docking station, the medical waste is emptied from the assembly to a discharge or disposal area, and the assembly is cleaned for future use.

[0006] According to one example embodiment of the present disclosure, an autonomous medical waste collection assembly includes a base adapted to be positioned proximate to a patient. Wheels are coupled to the base. At least one of the wheels is powered to move the base along a floor surface. A waste collection unit is coupled to the base to receive medical waste from the patient. The waste collection unit includes a canister and a suction pump. The canister is for holding the medical waste. The suction pump is in fluid communication with the canister and is configured to draw a vacuum on the canister. A controller is operable to initiate a waste disposal protocol. The waste disposal protocol includes transmitting a move signal to the powered wheels to automatically move the autonomous medical waste collection assembly away from the patient to a disposal station. A user input device is in communication with the controller. The user input device is adapted to provide a user input signal in response to being actuated by a user. The controller is configured to initiate the waste disposal protocol in response to receiving the user input signal.

[0007] In another example embodiment, a medical waste collection system is provided. The system includes a disposal station and an autonomous medical waste collection assembly. The disposal station includes a housing and a coupler. The coupler is coupled to the housing. The autonomous medical waste collection assembly includes a base, wheels, a waste collection unit, a mating coupler, and a controller. The base is adapted to be positioned proximate to a patient. The wheels are coupled to the base. At least one of the wheels is powered to move the base along a floor surface. The waste collection unit is coupled to the base to receive medical waste from the patient. The waste collection unit includes a canister and a suction pump. The canister is for holding the medical waste. The suction pump is in fluid communication with the canister and is configured to draw a vacuum on the canister. The mating coupler is coupled to the base. The mating coupler is adapted to removably couple with the coupler of the disposal station. The controller is operable to initiate a waste disposal protocol. The waste disposal protocol includes transmitting a move signal to the powered wheels to automatically move the autonomous medical waste collection assembly away from the patient to the disposal station to cause the coupler to couple with the mating coupler to provide a connection between the autonomous medical waste collection assembly and the disposal station. BRIEF DESCRIPTION OF DRAWINGS

[0008] The advantages of the present invention will become readily apparent to those persons who are skilled in the art, and to those persons by consideration of the following detailed description and drawing.

[0009] Figure 1 is a perspective view of an embodiment of an autonomous medical waste collection assembly with a schematic of selected electrical components.

[0010] Figure 2 is a perspective view of an embodiment of a medical waste collection system including an autonomous medical waste collection assembly and a disposal station.

[0011] Figure 3 is a block diagram of an embodiment of a medical waste collection system including an autonomous medical waste collection assembly and a disposal station.

[0012] Figure 4is a block diagram of an embodiment of a medical waste collection system including an autonomous medical waste collection assembly and a charging station.

[0013] Figure 5 is a block diagram of an embodiment of a medical waste collection system including an autonomous medical waste collection assembly and a disposal station, wherein the disposal station includes a power source.

[0014] Figure 6 is a block diagram of an embodiment of a medical waste collection system including an autonomous medical waste collection assembly, a disposal station, and a network of locators.

[0015] Figure 7 is a schematic of an exemplary surgical area of a medical facility including an autonomous medical waste collection assembly, a plurality of disposal stations, a charging station, and a network of locators.

[0016] Figure 8 is a block diagram of an embodiment of a medical waste collection system including first and second autonomous medical waste collection assemblies and a network of locators.

[0017] Figure 9 is a schematic of another exemplary surgical area of a medical facility including first and second autonomous medical waste collection assemblies, a plurality of disposal stations, a charging station, and a network of locators.

[0018] Figure 10 is a flowchart of an embodiment of a method of operating a medical waste collection system. DETAILED DESCRIPTION

[0019] Referring to the drawings, throughout the several views, like reference numerals indicate like or corresponding parts, aspects of an autonomous medical waste collection assembly 20 are provided. The assembly 20 can include a base 22, a plurality of wheels 24, a waste collection unit 26, and a controller 28. The base 22 is adapted to be positioned proximate to a patient 30 during a medical procedure. The base 22 supports the waste collection unit 26. Figure 1 An embodiment of the assembly 20 is shown in which the base 22 includes a lower frame 32, an upper frame 34, a vertical chassis 36, and a handle 38. The base 22 can have any suitable shape.

[0020] The plurality of wheels 24 are coupled to the base 22 to provide mobility to the assembly 20. For example, the assembly 20 can autonomously move about a healthcare facility in order to collect medical waste generated in medical procedures performed at different locations throughout the healthcare facility. The wheels can be coupled to the lower frame 32, the vertical chassis 36, or a combination thereof. Figure 1Embodiments are shown in which two wheels 24 are coupled to the lower frame 32 and the other two wheels 24 are coupled to the vertical chassis 36. In some embodiments, one or more of the plurality of wheels 24 are steerable wheels, e.g., wheels that are capable of rotating on an axis. In other embodiments, the plurality of wheels 24 include a combination of one or more fixed wheels and one or more steerable wheels. At least one of the wheels 24 is a powered wheel 40 to facilitate autonomous movement of the assembly 20. Figure 1 Embodiments are shown in which the assembly 20 has four wheels 24, one of which is a powered wheel. The powered wheel 40 is powered by an electric motor 42 so that the powered wheel 40 can move the assembly 20 along a floor surface of a healthcare facility. The electric motor 42 can be a brushed electric motor, a brushless electric motor, a stepper motor, a servo motor, an alternating current motor, or any other suitable type of motor for powering the powered wheel 40 to move the assembly 20. The electric motor 42 is in communication with the controller 28. The controller 28 can drive, maneuver, and / or navigate the assembly 20 within the healthcare facility by selectively driving and / or steering the powered wheel 40. For example, in some embodiments, the controller 28 is configured to drive, maneuver, and navigate the assembly 20 by selectively rotating and driving the powered wheel 40. In some embodiments, several of the wheels 24 are powered wheels 40 and each powered wheel 40 has an electric motor 42 attached thereto. Each electric motor is connected to the controller 28. The controller 28 can drive, maneuver, and navigate the assembly 20 by selectively rotating and driving the powered wheels 40. In embodiments in which the powered wheels 40 are fixed wheels, the controller 28 is configured to maneuver the assembly 20 by selectively powering the powered wheels 40, e.g., by driving one of the powered wheels 40 to rotate in an opposite rotational direction from the other powered wheels, thereby causing the assembly 20 to turn.

[0021] The controller 28 is configured to execute computer-executable instructions to perform functions of the assembly 20, such as initiating a waste disposal protocol or a charging protocol. The controller 28 can be a microprocessor, a microcontroller, a field-programmable gate array (FPGA), a system-on-a-chip (SoC), or any other suitable type of controller for executing the functions of the assembly 20.

[0022] The assembly 20 includes a memory component 56 in communication with the controller 28. The memory component 56 is configured to store computer-executable instructions for execution by the controller 28. The memory component 56 stores computer-executable instructions that define a waste disposal protocol and / or a charging protocol. The memory component 56 can include random access memory (RAM), flash memory, non-volatile random access memory (NOVRAM), and / or any other suitable form of memory.

[0023] Waste collection unit 26 is coupled to base 22 and configured to receive medical waste from the patient during a medical procedure. During the medical procedure, component 20 collects the medical waste by suction and stores it in waste collection unit 26. In some embodiments, component 20 also collects fumes, such as fumes generated during electrocautery. In other embodiments, component 20 is configured to filter particles from the fumes and release filtered air. Waste collection unit 26 includes at least one tank 44 configured to hold medical waste, a suction pump 46, and a vacuum regulator 47. Figure 1 In the illustrated embodiment, component 20 includes two cans 44. Cans 44 may be connected to a lower frame 32, an upper frame 34, or a combination thereof. Figure 1 An embodiment is shown in which a first container is coupled to an upper frame 34 and a second container is coupled to a lower frame 32. The container 44 can be generally cylindrical, truncated conical, or any suitable shape for holding medical waste. The container 44 can be formed of glass or a suitable plastic material or a combination thereof. A suction pump 46 is in fluid communication with the container 44. In some embodiments, such as Figure 1 As shown, a suction pump 46 is coupled to a vertical base 36. The suction pump 46 is configured to create a vacuum over a container 44 during a medical procedure to draw medical waste, such as liquid medical waste, into the container 44. In some embodiments, the suction pump 46 is a rotary vane vacuum pump mounted on a base 22. A vacuum regulator 47 communicates with the suction pump 46 and is configured to regulate the level of vacuum drawn through the suction line. An exemplary vacuum regulator 47 structure suitable for component 20 is disclosed in commonly owned U.S. Patent No. 7,621,898, published November 29, 2009, the entire contents of which are incorporated herein by reference.

[0024] During a surgical procedure, a user, such as a surgeon, nurse, or operating room assistant, holds an end of a suction line 48, such as a flexible tube line, that is proximate to or on the portion of the patient 30 where medical waste is present. The suction pump 46 provides suction that draws medical waste from the end of the suction line 48 through the suction line 48 and into the waste collection unit 26. In some procedures, the end of the suction line 48 is connected to an end effector, such as an endoscope, a cauterization tool, an ablation device, or any other type of surgical end effector or surgical tool. The suction pump 46 provides suction force to move medical waste through both the end effector and the suction line 48 and into the waste collection unit 26. The level of suction is adjusted by the vacuum regulator 47 and / or the level of power provided to the suction pump 46. For example, in a bone ablation procedure, medical waste is generated in the form of bodily fluids (such as blood), tissue (such as skin tissue, muscle tissue, and connective tissue), and bone particles released during ablation. Additionally, the area of the patient's body where the procedure is being performed is typically flushed with saline to flush bodily fluids, tissue, and particles from the area being ablated. The medical waste also includes the saline. The surgeon can use an ablation tool to ablate bone, and the end of the tool can be coupled to the suction line 48. As the ablation tool ablates bone, medical waste can be suctioned through the suction line 48 coupled to the ablation suction line 48 and suctioned into the canister 44 of the waste collection unit 26 for disposal during or after the ablation procedure.

[0025] The assembly 20 can include a manifold receiver 58 coupled to the canister 44 and an indicator 60 coupled to the base 22 and in communication with the controller 28. The manifold receiver 58 is configured to receive a disposable manifold (not shown), such as described in commonly owned U.S. Patent No. 7,615,037, issued November 10, 2009, the entire contents of which are incorporated herein by reference. During a medical procedure, the disposable manifold directs medical waste from the patient 30 through the suction line 48 and into the canister 44. The disposable manifold is disposed between medical procedures, between uses with different patients, and / or before disposal of medical waste at the disposal station 50. In some embodiments, the indicator 60 is configured to alert a user to remove and dispose of the disposable manifold before beginning a disposal protocol to be described. The indicator 60 is also configured to alert a user to other alerts to be described. For example, the indicator 60 can be an LED, a video screen, a label, or any visual marker, tactile marker, audible alert, or other suitable type of indicator.

[0026] The assembly 20 includes a waste sensor 62 in communication with the controller 28. The waste sensor 62 is configured to sense the amount of medical waste contained within the canister 44. For example, the waste sensor 62 can be a sensor rod configured to pass through the canister 44 with a plurality of reflective and floating elements positioned proximate to facilitate sensing the amount of medical waste. In embodiments where the assembly 20 includes a plurality of canisters 44, the amount of medical waste contained within each canister 44 can be measured by a separate waste sensor 62. The waste sensor 62 can include a waste sensor controller (not shown) configured to facilitate sensing the amount of medical waste. In some embodiments, the waste sensor 62 is configured to provide a waste level signal to the controller 28 when the amount of medical waste sensed by the waste sensor 62 exceeds a waste threshold level. In other embodiments, the waste sensor 62 is configured to regularly or continuously provide a waste level signal to the controller 28. The indicator 60 can display a marker corresponding to the waste level signal so that a user can know the amount of medical waste sensed by the waste sensor 62 by observing the indicator 60. The waste threshold level can be a level of medical waste contained in the canister 44 that indicates that the canister 44 is full or nearly full and that the medical waste contained in the canister 44 must be disposed of before more medical waste can be collected. In some embodiments, the waste threshold level is stored in the memory component 58 in communication with the controller 28. The waste threshold level can be configured relative to the total volume of the canister 44 adapted to contain medical waste, for example, 100% of the volume of the canister 44 or 80% of the volume of the canister 44. Conversely, the waste threshold level can be configured as a volume of medical waste, for example, 1.5 liters of medical waste or 0.8 liters of medical waste. Additionally, the waste threshold level can be a preset threshold level configured during manufacture and / or programming of the assembly 20. Otherwise, or additionally, the waste threshold level can be a threshold level that is configurable by hospital personnel or a user prior to, during, or after a medical procedure. In some embodiments, the waste threshold level can be configured according to the nature of the medical waste. Certain medical procedures can generate medical waste that is more dangerous or toxic relative to other medical procedures, for example, where a large amount of harmful blood and tissue is collected or a large amount of non-dangerous saline is collected during the medical procedure. When the assembly 20 is used to collect medical waste during a medical procedure where the medical waste is relatively harmless or non-toxic, the waste threshold level can be set to a larger volume or higher relative to the volume of the canister 44 in order to maximize the efficiency of waste collection. When the assembly 20 is used to collect medical waste during a medical procedure where the medical waste is relatively dangerous or toxic, the waste threshold level can be set to a smaller volume or lower relative to the volume of the canister 44. Setting the waste threshold level to a smaller volume or lower relative to the volume of the canister 44 can minimize the risk of toxic medical waste spilling from the canister 44 to protect the patient 30 and hospital staff.Similarly, the waste threshold level can be set higher or lower based on a viscosity of the medical waste, a temperature of the medical waste, or any other suitable property of the medical waste or surgical procedure. The controller 28 can be configured to send a signal to the suction motor 46 to stop suctioning and collecting medical waste when the waste threshold is reached or exceeded. In some embodiments, the waste sensor 62 is configured to send an original waste level signal to the controller 28, and the controller 28 is configured to determine when the amount of medical waste has reached a threshold level. The original waste level signal is an electrical signal indicative of the amount of medical waste contained in the canister 44. The indicator 60 can display a marker corresponding to the original waste level signal, so that a user can know the amount of medical waste sensed by the waste sensor 62 by observing the indicator 60. The amount of medical waste can be measured based on volume, weight, or any other suitable metric. In some embodiments, the controller 28 is further configured to set the waste threshold level automatically or in response to input by a user.

[0027] The assembly 20 includes an energy storage device 64 and an energy storage device sensor 66. The energy storage device 64 and the energy storage device sensor 66 are each in communication with the controller 28. The energy storage device 64 is configured to provide power to the controller 28, the powered wheels 40, the suction pump 46, the vacuum regulator 47, and / or any other components of the assembly 20 that require power to function. In some embodiments, the assembly 20 includes multiple energy storage devices 64, each of which provides power to one or more of the following: the controller 28, the powered wheels 40, the suction pump 46, the vacuum regulator 47, and any other components of the assembly 20 that require power to function. The controller 28 can route and regulate power to other components of the assembly 20 that require power to function. For example, the energy storage device 64 can supply power to the controller 28, and the controller 28 can route a portion of that power to the suction motor. The controller 28 can further regulate the function of the suction motor by regulating the energy supplied to the suction motor, thereby increasing or decreasing the suction power of the suction motor. The energy storage device 64 can be a battery, a capacitor, or any other suitable device for storing electrical power.

[0028] The energy storage device sensor 66 is configured to sense a characteristic of the energy storage device 64. The characteristic of the energy storage device 64 can be a charge level, i.e., a measure of the amount of electrical energy stored in the energy storage device 64. The characteristic of the energy storage device 64 can be a power or energy level, i.e., a measure of the electrical power provided by the energy storage device 64. The energy storage device sensor 66 is configured to provide an energy storage device characteristic signal to the controller 28. The controller 28 is configured to initiate a charging protocol to be described when the energy storage device characteristic is below an energy storage device characteristic threshold. For example, the energy storage device characteristic threshold can be configured relative to a maximum power capacity of the energy storage device 64, e.g., 5% of capacity or 20% of capacity. Additionally, the energy storage threshold can be configured according to an expected amount of power usage. For example, a scheduled medical procedure that is expected to use a relatively large amount of power can require a lowered energy storage threshold to allow relatively more power usage before the assembly 20 initiates charging or prompts a user to initiate the charging protocol through the controller 28. The energy storage threshold can be a preset threshold level configured during manufacture and / or programming of the assembly 20. Otherwise, or additionally, the energy storage threshold can be a threshold level that is configurable by hospital personnel or a user prior to, during, or after a medical procedure. The energy storage device sensor 66 can include an energy storage controller (not shown) configured to facilitate sensing the characteristic of the energy storage device. In some embodiments, the energy storage device sensor 66 is configured to provide an energy storage threshold signal to the controller 28 when the characteristic of the energy storage device 64 sensed by the energy storage device sensor 66 satisfies the energy storage device characteristic threshold. The energy storage device characteristic threshold can be a stored level of electrical power in the energy storage device 64 that indicates that the energy storage device 64 is nearing an uncharged state and thus must be transferred electrical power to the energy storage device 64 before more medical waste can be collected. In some embodiments, the energy storage device characteristic threshold is stored in the memory component 56. In some embodiments, the energy storage device sensor 66 is configured to send a raw energy storage device characteristic signal to the controller 28, and the controller 28 is configured to determine when the amount of electrical power, state of charge, voltage, and / or other suitable electrical parameter stored in the energy storage device 64 has reached a threshold level. The raw energy storage device characteristic signal is an electrical signal indicative of the amount of electrical power stored in the energy storage device 64, or some other indicator of the characteristic of the energy storage device. In some embodiments, the controller 28 is further configured to set the energy storage threshold automatically or in response to a user's input.

[0029] As previously mentioned, the assembly 20 receives medical waste during a medical procedure, where the medical waste is stored in the canister 44. The canister 44 has a fixed volume, and during or after one or more medical procedures, the volume is filled with medical waste. Thus, the canister 44 needs to be emptied of medical waste during or after one or more medical procedures in preparation for collecting other medical waste during future medical procedures. As such, the assembly 20 is configured to execute a waste disposal protocol to autonomously dispose of the medical waste contained in the canister 44. The waste disposal protocol is a series of steps performed by components of the assembly 20 for automatically navigating the assembly 20 to the disposal station 50, establishing fluid communication between the disposal station 50 and the canister 44, and emptying and cleaning the canister 44 at the disposal station through the fluid communication. Thus, the hospital staff does not have to stop their work to transport or push the assembly 20 to the disposal station 50 to empty and clean the canister 44. The waste disposal protocol can include other steps to be described below.

[0030] Further, the assembly 20 is portable, and the electrical components of the assembly 20 are at least partially powered by the energy storage device 64, thus the assembly 20 needs to be recharged of the electrical power stored in the energy storage device 64 during or after one or more medical procedures in preparation for collecting other medical waste during future medical procedures. For example, the following components of the assembly 20 can require electrical power to function: the controller 28, the powered wheels 40, the electric motor 42, the suction pump 46, the vacuum regulator 47, the memory component 56, the indicator 60, the waste sensor 62, and the user input device 68. Additionally, some components of the assembly 20 to be described below can require electrical power to function. A limited amount of electrical power is stored in the energy storage device, and during use of the assembly, for example, while collecting waste during a medical procedure or while navigating to a disposal station, the electrical power is drained. As such, the energy storage device 64 needs to be recharged.

[0031] Execution of the waste disposal protocol by assembly 20 can include assembly 20 receiving power. Additionally, in some embodiments to be described, assembly 20 is configured to execute a charging protocol that automatically receives power while executing the waste disposal protocol that disposes of medical waste. In some embodiments, assembly 20 is configured to execute the charging protocol that automatically receives power separately from executing the waste disposal protocol. In some embodiments, controller 28 is configured to initiate the waste disposal protocol in accordance with a signal received from waste sensor 62. For example, controller 28 can be configured to initiate the waste disposal protocol if the raw waste level signal indicates that the amount of medical waste contained in tank 44 is above a waste threshold. Similarly, controller 28 can be configured to initiate the waste disposal protocol after receiving the raw waste level signal and the energy storage device characteristic signal and comparing the waste level signal and the energy storage device characteristic signal to a waste level threshold and an energy storage threshold, respectively. Controller 28 can be further configured to initiate the charging protocol, for example, upon receiving the energy storage device characteristic signal or comparing the energy storage device characteristic signal to the energy storage threshold.

[0032] The controller 28 can be configured to initiate one of the waste disposal and charging protocols in response to receiving a user input signal on a user input device 68. The user input device 68 can be coupled to the base 22 and in communication with the controller 28. For example, the user input device 68 can be a button, a switch, a toggle, a joystick, a touchpad, a screen with touch controls, or combinations thereof. In certain embodiments, the user input device 68 can be a remote or mobile device, such as a smartphone, tablet, or the like, that can be carried by a user and separated from the assembly. In some embodiments, the assembly 20 includes multiple user input devices 68. In some embodiments, the user input device 68 is remote from the assembly 20 and configured to communicate wirelessly with the controller 28. The user input device 68 is configured to provide a user input signal to the controller 28 in response to being actuated by a user. For example, during a surgical procedure, the amount of medical waste stored in the canister 44 can reach a waste level threshold. The indicator 60 can alert the user that the waste level threshold has been reached, such as by flashing or displaying a light, beeping, displaying a message, vibrating, or any other suitable indication. The user can actuate the user input device 68 at an appropriate time, such as at the end of the medical procedure or when another assembly 20 can be substituted for the assembly 20 to collect medical waste, to initiate the disposal process or the charging process, respectively, to empty and clean the canister 44 or to charge the energy storage device 64. In embodiments in which the assembly 20 includes multiple user input devices 68, one of the user input devices 68 can provide a first user input signal to the controller 28 and the other user input devices 68 can provide a second user input signal to the controller 28. The controller 28 can be configured to initiate the waste disposal protocol in response to receiving the first user input signal and to initiate the charging protocol in response to receiving the second user input signal.

[0033] Referring to Figure 2 and Figure 3In some embodiments, assembly 20 is part of a medical waste collection system 70. Medical waste collection system 70 includes a disposal station 50 configured to clean and remove medical waste from canister 44, thereby sterilizing and emptying canister 44. Disposal station includes a cleaning circuit 76 configured to clean canister 44, for example, by pumping water, detergent, and / or soap into canister 44. In particular, disposal station 50 is configured to clean and empty canister 44 by establishing an enclosed environment between canister 44 and disposal station 50, thereby reducing the risk of hazardous or toxic substances coming into contact with hospital personnel or patient 30. Disposal station 50 is configured to empty canister 44 by receiving medical waste from canister 44 via waste conduit 52. Waste conduit 52 establishes a fluid connection with assembly 20. Disposal station 50 is configured to clean canister 44 of assembly 20 by transferring water, soap, detergent, disinfectant, combinations thereof, or any other suitable cleaning or sterilizing substance into canister 44 via waste conduit 52. Disposal station 50 can be located outside of the operating room, for example, in a hallway or closet of a healthcare facility. Alternatively, disposal station 50 can be located inside the operating room.

[0034] With continued reference to Figure 2 and 3 Disposal station 50 can include a housing 72 and a coupler 74. As shown, coupler 74 is coupled to housing 72. Assembly 20 includes a counterpart coupler 78. Counterpart coupler 78 is coupled to base 22. During a waste disposal protocol, coupler 74 couples with counterpart coupler 78 to align assembly 20 with waste conduit 52, such that medical waste can be transferred from canister 44 through waste conduit 52. In some embodiments, disposal station 50 includes a plurality of couplers 74, and assembly 20 includes a plurality of counterpart couplers 78. Figure 2The system 70 is shown to include embodiments of a plurality of couplers 74 and a counterpart coupler 78, where the couplers 74 are located above the waste conduit 52 and the counterpart coupler 78 is located below the canister 44 of the assembly 20. When the couplers 74 and the counterpart coupler 78 are coupled, gravity facilitates the transfer of medical waste from the canister 44 through the waste conduit 52 to the disposal station 50. In some embodiments, the couplers 74 include a coupling electromagnet and the counterpart coupler 78 includes a counterpart coupling electromagnet in communication with the controller 28. The coupling electromagnet and the counterpart coupling electromagnet are configured to be selectively powered to create an attractive electromagnetic force between the couplers 74 and the counterpart coupler 78, thereby causing the couplers 74 and the counterpart coupler 78 to be securely coupled and to align the assembly 20 and the waste conduit 52. A suitable electromagnetic coupling is disclosed in the aforementioned commonly owned U.S. Patent No. 7,621,898, issued November 29, 2009, the entirety of which is incorporated herein by reference. In other embodiments, the couplers 74 and the counterpart coupler 78 can inversely or additionally include a mechanical interlock mechanism, a permanent magnet, or a combination thereof.

[0035] The assembly 20 is configured to autonomously interface with the disposal station 50. In the illustrated embodiment, to facilitate autonomous docking, the disposal station 50 includes a marker 80 and the assembly 20 includes a marker sensor 82 in communication with the controller 28 to facilitate alignment of the couplers 74 and the counterpart coupler 78. As the assembly 20 navigates toward the disposal station 50, the assembly 20 must orient and align the counterpart coupler 78 with the couplers 74 in order to perform the disposal protocol. As such, the marker 80 can be disposed proximate the couplers 74 and the marker sensor 82 can be disposed proximate the counterpart coupler 78. The marker sensor 82 is configured to sense the marker 80 and send a signal to the controller 28 indicative of the relative position of the marker sensor 82 with respect to the marker 80. The controller 28 is configured to send a signal to the powered wheels 40 to adjust the orientation, the direction, the speed, or any other necessary characteristic of the assembly 20 to bring the marker sensor 82 into close proximity with the marker 80, thereby facilitating coupling of the couplers 74 and the counterpart coupler 78 to perform the disposal protocol. The marker 80 can be an infrared marker, an NFC antenna, an emitter, a colored marker, or any other suitable marker. The marker sensor 82 can be an infrared sensor, an antenna, a light sensor, or any other suitable marker sensor. It is also contemplated that the marker 80 can be disposed on the assembly 20 and the marker sensor 82 can be disposed on the disposal station 50, with the controller 28 of the assembly 20 in wireless communication with the controller of the disposal station 50.

[0036] In some embodiments, disposal station 50 includes a tank (not shown). The tank of disposal station 50 is in fluid communication with waste conduit 52 and is adapted to receive medical waste from assembly 20. When assembly 20 is coupled with disposal station 50, the tank of disposal station 50 is in fluid communication with waste collection unit 26 via waste conduit 52. In embodiments where disposal station 50 includes a tank, disposal station 50 can be substantially mobile, i.e., disposal station 50 can be moved between locations in a hospital without requiring infrastructure changes to the hospital, such as plumbing or electrical changes. In other embodiments, disposal station 50 includes a drain 84. Drain 84 is adapted to receive medical waste from assembly 20 and transfer the medical waste from outside to disposal station 50, e.g., a hospital's drain line.

[0037] Referring to Figure 4 , system 70 includes a charging station 54. Charging station 54 can be separate from disposal station 50 and facilitates charging of energy storage device 64. Charging station 54 is in electrical communication with a power source. For example, the power source can be an electrical outlet, an uninterruptible power supply, a power conditioning system, a DC power system, or any other suitable type of power source. Charging station 54 is configured to transfer electrical energy from the power source to energy storage device 64 when assembly 20 is coupled with charging station 54. Charging station 54 can be located outside of the operating room, e.g., in a hallway of a healthcare facility. Charging station 54 can be located inside the operating room (see Figure 7 ), or in any other suitable location. In some embodiments, charging station 54 is located in one or more operating rooms of a medical facility or hospital. Assembly 20 can be configured to inductively receive electrical power from charging station 54 to charge energy storage device 64 while assembly 20 is being used to collect medical waste during a surgical procedure.

[0038] The charging station 54 includes a housing and a coupler 75. The coupler 75 is coupled to the housing of the charging station 54. In some embodiments, during a charging protocol, the coupler 75 of the charging station 54 couples with the charging coupler 79 of the assembly 20 to align the assembly 20 with the charging station 54 so that the assembly 20 can receive power from the charging station 54. The coupler of the charging station 54 is substantially similar to the coupler 78 of the disposal station 50. The charging coupler 79 can include circuitry configured to enable electrical communication between the energy storage device 64 and the charging station 54. The charging station 54 is configured to transmit power to the energy storage device 64 via the coupler 75 of the charging station and the charging coupler 79. The charging coupler 79 is configured to removably couple with the coupler 75 of the charging station 54 to receive electrical energy from the charging station 54 to charge the energy storage device 64. For example, the couplers 75, 79 can be mechanically engaged (e.g., a plug) to provide an electrical connection between the charging station 54 and the assembly 20. For another example, the charging station 54 includes an inductive pad forming the coupler, where the inductive pad is configured to wirelessly transmit electrical energy from a power source to the energy storage device 64.

[0039] In some embodiments, the disposal protocol is in addition to the charging protocol. In other words, upon initiation of the disposal protocol, the assembly 20 performs both disposal of medical waste and charging of the energy storage device 64. Referring to Figure 5 , the disposal station 50 facilitates charging of the energy storage device 64 while disposing of medical waste and cleaning the canister 44. In the illustrated embodiment, the disposal station 50 is in electrical communication with a power source. The disposal station 50 is configured to transfer electrical energy from the power source to the energy storage device 64 when the assembly 20 is coupled with the disposal station 50. During the waste disposal protocol, the coupler of the charging station 54 couples with the charging coupler 79 to provide a connection between the assembly 20 and the charging station 54. The power source can be, for example, a receptacle, an uninterruptible power supply, a power conditioning system, a DC power supply system, or any other suitable type of power source. The electrically integrated disposal station 50 is configured to transfer electrical energy from the power source to the energy storage device 64 when the assembly 20 is coupled with the charging station 54. In some embodiments, the disposal station 50 is configured to inductively transmit power to the assembly 20 to charge the energy storage device 64.

[0040] Upon initiation of the waste disposal protocol for the previously described reasons (e.g., waste threshold signal, user input), the controller 28 sends several signals to components of the assembly 20, and the assembly 20 is configured to execute the waste disposal protocol in accordance with these signals, thereby automatically emptying and cleaning the canister 44 of the waste collection unit 26 at the disposal station 50, and in some embodiments, automatically charging the energy storage device 64 at the disposal station 50 and / or the charging station 54. Without limitation, the controller 28 is configured to send a waste disposal movement signal to the electric motor 42 connected to the powered wheels 40. Upon receipt of the waste disposal movement signal, the powered wheels 40 automatically move the assembly 20 away from the patient 30. After moving away from the patient 30, the powered wheels 40 automatically navigate the assembly 20 to the disposal station 50.

[0041] The controller 28 can be configured to send a manifold signal to the indicator 60 upon initiation of the waste disposal protocol. Upon receipt of the manifold signal, the indicator 60 is configured to prompt the user to remove the disposable manifold from the manifold receiver 58, and to dispose of the disposable manifold upon receipt of the manifold signal. The assembly 20 can include a manifold sensor in communication with the controller 28 and positioned proximate to the manifold receiver 58. The manifold sensor is configured to detect whether the disposable manifold is in contact with the manifold receiver 58. If the manifold sensor detects that the disposable manifold is in contact with the manifold receiver 58, the controller 28 only sends the manifold signal to the indicator 60. The controller 28 is configured to send the waste disposal movement signal after removal and disposal of the disposable manifold.

[0042] The controller 28 can be further configured to prevent initiation of the waste disposal protocol during the medical procedure. More specifically, the controller 28 is configured to prevent initiation of the waste disposal protocol to prevent movement of the assembly 20 away from the patient 30 while the end effector, suction line 48, or other instrument connected to the assembly 20 is in use to prevent movement of the assembly 20 and the end effector, suction tube, or other instrument connected thereto away from the patient 30 from disrupting the surgical procedure. The prevention of the waste disposal protocol also prevents disruption of the sterile field when the assembly 20 is moved away from the patient 30, thereby maintaining sterility and safety during the medical procedure. For example, if the waste disposal protocol were to otherwise initiate in response to receiving a waste level signal from the waste sensor 62 or in response to determining that the amount of medical waste has reached a threshold level, the controller 28 can delay providing the waste disposal signal until after the surgical procedure. In other words, the controller 28 is configured to prevent or delay initiation of the waste disposal protocol during the medical procedure unless the waste disposal protocol is initiated due to user input. For example, the controller 28 can be configured to delay providing the waste disposal signal while the suction pump 46 is actively suctioning waste. In some embodiments, the user can override the prevention of initiation of the waste disposal protocol by actuating a user input device.

[0043] Similar to the waste disposal protocol, the controller 28 can be configured to prevent initiation of the charging protocol during a medical procedure, for example, if the controller 28 receives an energy storage device characteristic signal from the waste sensor 62 during the medical procedure. Among other advantages, the controller 28 prevents the assembly 20 from being removed from the patient 30 while the end effector, the suction line 48, or other instruments connected to the assembly 20 are in use, and / or avoids breaking a sterile field. In some embodiments, a user can override the prevention of initiation of the charging protocol by actuating a user input device. However, it can be desirable or necessary to power the assembly 20, for example, during a medical procedure, due to the prevention of initiation of the charging protocol. For example, if the energy storage characteristic is particularly low relative to the expected remaining time of the medical procedure (and corresponding energy consumption of the assembly 20), among other functions of the assembly 20, the assembly 20 will have to be powered to avoid inadvertently losing suction from the suction pump 46. Accordingly, in some embodiments, the assembly 20 includes an energy supply device (not shown) configured to receive electrical power from an energy source and supply the electrical power to the assembly 20. For example, the energy supply device can be an electrical cord extending from any suitable structure of the assembly 20, such as the lower frame 32, the upper frame 34, or the vertical chassis 36. The base 22 can have any suitable shape. A plug at an end of the electrical cord is configured to couple with a receptacle associated with a station, such as the charging station 54, and / or a wall of a medical facility. Additionally or alternatively, the energy storage device 64 can be replaced with another energy storage device 64. In one example, the energy storage device 64 is an external battery (e.g., a lithium-ion battery) that can be decoupled from the rest of the assembly 20. Complementary contacts between the battery and a battery receiver are decoupled, and a replacement battery is disposed within the battery receiver, with the respective contacts engaged to supply power to the assembly 20. With the energy supply device and / or the replacement energy storage device 64, the controller 28 can be configured to provide a notification to, for example, the hub controller 96. In a manner to be described, the hub controller 96 polls each controller 28 of the additional assemblies to receive information about the energy in each energy storage device 64. The hub controller 96 can then select one of the additional assemblies to navigate to a duty station to relieve the assembly 20 with a purportedly lower energy storage characteristic. In addition, the controller 28 can also provide a notification to a user.

[0044] The memory component 56 is configured to store a disposal schedule for scheduling initiation of the waste disposal protocol. The time for scheduling initiation of the waste disposal protocol includes, for example, the end of a scheduled surgery time for a hospital surgery area, or a time prior to a scheduled surgery time for a hospital surgery area. The controller 28 of the disposal station 50 is configured to initiate the waste disposal protocol as scheduled according to the disposal schedule. For example, a hospital can have a surgery area with several operating rooms, staffed for surgeries scheduled between 9 AM and 5 PM. The disposal schedule can include scheduling initiation of the waste disposal protocol at 8 AM and 5:30 PM to facilitate automatic emptying and cleaning of the canister 44 and / or recharging of the energy storage device 64 of the assembly 20 at times that do not conflict with scheduled medical procedures. Any other suitable times can be scheduled in the disposal schedule for initiation of the waste disposal protocol, such as between scheduled medical procedures. The controller 28 can be configured to initiate the waste disposal protocol without actuation of a user input if the waste disposal protocol is initiated within a time scheduled according to the disposal schedule. In some embodiments, the disposal schedule corresponds to a hospital network system, such as a surgery scheduling system, a personnel scheduling system, a resource management system, an electronic medical record (EMR), a combination thereof, or any other suitable hospital network system. The disposal schedule can be stored in other memory locations besides the memory component 56. The EMR is a computer-based system for storing and transmitting hospital data, such as patient data, resource data, equipment data, and other types of data related to hospital operations. Scheduled surgical procedures can be stored in the EMR and transferred from the EMR to the memory component 56 of the assembly 20 over the hospital network. The disposal schedule can be configured to correspond to the scheduled surgical procedures, such as by scheduling the waste disposal process to be initiated prior to the start of a scheduled surgical procedure, after the end of a scheduled surgical procedure, between surgical procedures, or a combination thereof. In this way, the memory component can be dynamically linked to the EMR, such that as new procedures are scheduled, the controller 28 appropriately initiates the charging and / or disposal protocols.

[0045] The memory component 56 is configured to store a charging schedule. The charging schedule includes the times at which the charging protocol is to be initiated. The controller 28 is configured to initiate the charging protocol in accordance with the charging schedule. Similar to the treatment schedule, the time(s) at which the charging protocol is initiated can correspond to the end times of medical procedures. For example, in some embodiments, the charging schedule can correspond to a medical procedure schedule for an operating area of a healthcare facility, which includes a start time and an expected end time for each medical procedure. The charging schedule can correspond such that the controller 28 initiates the charging protocol at an appropriate time between medical procedures, thereby enabling the energy storage device 64 to be substantially charged as needed for the medical procedures. In other embodiments, the charging schedule can correspond to the end of each day's surgical operations for an operating area. The charging schedule can correspond such that the controller 28 initiates the charging protocol at or near the end of each day's surgical operations for an operating area, thereby enabling the energy storage device 64 to be fully charged before the start of the next day's surgeries. In some embodiments, the treatment schedule corresponds to a hospital network system, such as an EMR.

[0046] At certain times, such as between or during scheduled medical procedures, it is desirable to quickly empty and clean the canister 44 of the set 20. However, the quick emptying and cleaning of the canister 44 of the present set leaves an amount of medical waste and / or bacteria or toxic substances in the canister 44 of the set. As such, at other times, the canister 44 of the set 20 needs to be emptied and more thoroughly cleaned, such as overnight or at the end of the day in a surgical area. As such, in some embodiments, the waste disposal protocol includes multiple disposal modes. Each disposal mode includes a different period of time that the set 20 and the disposal station 50 are coupled while medical waste is removed from the waste collection unit 26. The controller 28 can be configured to automatically select one of the disposal modes. The controller 28 can select one of the disposal modes based on the amount of medical waste within the waste collection unit 26, the amount of medical waste to be removed from the waste collection unit 26, the type of medical procedure for which the present set is used, the type of medical waste within the container, the length of time that medical waste has been stored in the canister 44, or a combination thereof. As a non-limiting example, the waste disposal protocol can include a quick dock mode, a normal dock mode, and an extended dock mode. When the controller 28 initiates the waste disposal protocol in the quick dock mode, the set 20 can be configured to couple to the disposal station 50 for about five minutes. The quick dock mode is suitable for emptying and cleaning the canister 44 of the set between or during medical procedures. When the controller 28 initiates the waste disposal protocol in the normal dock mode, the set 20 can be configured to couple to the disposal station for about thirty minutes, thereby more effectively emptying and cleaning the canister 44 of the set than the quick dock mode. The normal dock mode is suitable for emptying and cleaning the canister 44 of the set before or after scheduled medical procedures of the day, such as in the morning or at night. When the controller 28 initiates the waste disposal protocol in the extended dock mode, the set 20 can be configured to couple to the disposal station 50 for about two hours, thereby more effectively emptying and cleaning the canister 44 of the set than the quick or normal dock modes. The extended dock mode is suitable for periodically emptying and cleaning the canister 44 of the set, such as once a week, once every two weeks, once a month, once a quarter, or once every half year. The above identified times for each mode are exemplary only, and the present disclosure contemplates any length of time for each mode.

[0047] In some embodiments, the disposal mode also includes a different type or amount of disinfectant or cleaning agent used by the disposal station 50 to clean the canister 44 of the assembly during the waste disposal protocol. The controller can automatically select the amount and / or type of disinfectant or cleaning agent based on the type of medical waste collected, or the type of procedure for which the assembly was used (e.g., some medical procedures collect a large amount of blood while other medical procedures collect a large amount of saline). The controller 28 can use sensors to determine the type and / or amount of medical waste, e.g., determine that a large amount of blood has been collected or that the assembly 20 was used in a medical procedure that typically collects a large amount of blood. In response, the controller 28 can initiate the waste disposal protocol in the disposal mode using a disinfectant and / or cleaning agent suitable for cleaning the canister 44 of the assembly from a large amount of blood.

[0048] The controller 28 can be configured to select one of the disposal modes based on user input or a disposal plan, thereby allowing the user to select one of the disposal modes while initiating the disposal process. In embodiments in which the assembly 20 includes multiple user inputs, each user input can be configured to enable the controller 28 to initiate the waste disposal protocol in a different one of the multiple disposal modes. For example, one of the user inputs can be configured to enable the controller 28 to initiate the waste disposal protocol in the fast disposal mode when the one user input is actuated. Other user inputs can be configured to enable the controller 28 to initiate the waste disposal protocol in the normal disposal mode when the other user inputs are actuated. Yet another one of the user inputs can be configured to enable the controller 28 to initiate the waste disposal protocol in the extended disposal mode when the other user input is actuated. In some embodiments, the user can actuate the user input device 68 to configure one or more of the disposal modes. For example, the user can actuate one of the user inputs of the user input device 68 to configure the fast disposal mode to run for three minutes, and actuate another one of the user inputs of the user input device 68 to initiate the disposal protocol in the fast disposal mode. The configuration of the disposal modes can be stored in the memory component 56.

[0049] It will be readily appreciated that the assembly 20 must be able to perform autonomous movement to perform the above-described protocols, particularly movement in complex and often crowded environments. Referring now to Figure 6 and Figure 7 In some embodiments, the locator network 94 is configured to track the location of the assembly 20 as well as the location of the disposal station 50 and / or the charging station 54. Figure 6A block diagram of the locator network 94, autonomous waste collection assembly 20, and disposal station 50 is shown. The tracked location of the assembly 20, as well as the location of the disposal station 50 and / or charging station 54, aid the controller 28 in navigating the assembly 20 to the disposal station 50 and / or charging station 54. The locator network 94 can send signals to the assembly 20 such that the controller 28 is aware of the location of the assembly 20, particularly within the healthcare facility. The locator network 94 can also send signals to the assembly 20 to enable the controller 28 to be aware of the location of the disposal station 50 and / or charging station 54. The controller 28 is configured to navigate the assembly 20 to the disposal station 50 and / or charging station 54 based on the signals received from the locator network 94. The locator network 94 can include a hub controller 96, a memory component 95, and a transceiver 97. The hub controller 96 is configured to execute computer-executable instructions to perform the functions of the locator network 94. The hub controller 96 can be a microprocessor, a microcontroller, a field-programmable gate array (FPGA), a system-on-a-chip (SoC), or any other suitable type of controller for performing the functions of the locator network 94. The memory component 95 of the locator network 94 is in communication with the hub controller 96 and is configured to store data and instructions related to the functions of the locator network 94. The locator network 94 is configured to send signals to and receive signals from the assembly 20 through the transceiver 97. In some embodiments, the assembly 20 includes a transceiver 99 that is configured to send signals to and receive signals from the transceiver 97 of the locator network 94.

[0050] The medical waste collection system 70 includes a plurality of locator sensors 98 in communication with the locator network 94. The locator sensors 98 can be in wired or wireless communication with the locator network 94. The locator sensors 98 can be optical, infrared, ultrasonic, or any other suitable detection-based technology configured to wirelessly detect a device at a distance. The locator sensors 98 can be mounted on walls and / or ceilings within the corridors of the healthcare facility, or can be disposed at any other suitable location within the healthcare facility. Figure 7An exemplary layout of a locator sensor 98 installed in a surgical area of ​​a hospital is shown. The locator sensor 98 can be configured to detect tracking devices coupled to component 20. Furthermore, the locator sensor 98 can be configured to detect tracking devices at treatment station 50 and / or charging station 54. For example, the tracking devices may include a GPS unit and an RFID chip. A controller 28 is configured to receive a current location input signal and a treatment location input signal from a locator network 94 within the medical facility. The current location input signal is based on the current location of component 20. The treatment location input signal is based on the treatment location of treatment station 50. In some embodiments, the controller 28 is configured to receive a charging location input signal from the locator network 94 within the medical facility. The charging location input signal is based on the charging location of charging station 54.

[0051] The controller 28 is configured to navigate component 20 to treatment station 50 and / or charging station 54 based on a current position input signal and a treatment position input signal. The controller 28 navigates component 20 according to the current position input signal, the treatment position input signal, and / or the charging position input signal. The controller 28 is configured to navigate component 20 by selectively driving the motor 42 of the drive wheel 40 to move and turn component 20 toward the treatment position and / or the charging position.

[0052] In some embodiments, system 70 includes a plurality of processing stations 50, such as Figure 7 As shown, and one or more charging stations 54. Controller 28 may be further configured to receive a current location input signal and a disposal location input signal for each disposal station 50 and a charging location input signal for each charging station 54. Upon initiation of a waste disposal protocol, controller 28 is configured to navigate component 20 to one of the disposal stations 50 based on the corresponding disposal location input signal. Controller 28 may determine which disposal station 50 to navigate to based on factors such as distance, time, and whether another component 20 has already performed a waste disposal protocol at one or more of the disposal stations 50. For example, system 70 may include first and second paths 104, 106 to disposal stations 50. Controller 28 may be configured to use decision logic to determine whether to navigate to the first path 104 or the second path 106. Controller 28 may decide to navigate to the first path 104 instead of the second path 106 because the distance between component 20 and disposal station 50 via the first path 104 is less than the distance between component 20 and disposal station 50 via the second path 106.

[0053] Continue to refer to Figure 7In some embodiments, the memory component 56 is configured to store a location map. The location map includes a layout of at least a portion of the healthcare facility that is understandable to the controller 28. The controller 28 selectively powers the motor 42 by calculating a trajectory relative to the location map based on the current location input signal and the disposal location input signal and / or the charging location input signal. The controller 28 is configured to selectively power the motor 42 to follow the trajectory. The controller 28 is configured to calculate the trajectory based on the current location input signal and the disposal location input signal when the waste disposal protocol is initiated such that the controller 28 navigates the assembly 20 to the disposal station 50. Alternatively, the controller 28 is configured to calculate the trajectory based on the current location input signal and the charging location input signal when the charging protocol is initiated such that the controller 28 navigates the assembly 20 to the charging station 54.

[0054] In some embodiments, the memory component 56 is configured to store a plurality of defined paths 102 within the healthcare facility. The defined paths 102 are predetermined paths between locations in the healthcare facility, for example, paths along one or more hallways of a surgical area of a hospital. The defined paths 102 can be predetermined paths between an operating room and the disposal station 50 and / or the charging station 54. The controller 28 is configured to navigate the assembly 20 to the disposal station 50 and / or the charging station 54 along one of the defined paths 102. The controller 28 is configured to navigate the assembly 20 to the disposal station 50 and / or the charging station 54 based on a distance between the current location and the disposal location. For example, the defined paths 102 can include a first path 104 between an operating room and a first disposal station 50 and a second path 106 between the operating room and a second disposal station 50. Upon initiation of the waste disposal protocol, the controller 28 can determine whether the assembly 20 is positioned in the first operating room or the second operating room based on the current location input signal. The controller 28 can determine whether to navigate the assembly 20 to the first disposal station 50 along the first path 104 or to the second disposal station 50 along the second path 104. In some embodiments, the defined paths 102 include a plurality of paths between each of the operating rooms and each of the disposal stations 50 and / or the charging stations 54.

[0055] One or more spatial awareness sensors 112 can be provided and in communication with the controller 28. To simplify the description, embodiments of the assembly 20 including one spatial awareness sensor 112 are described herein. The spatial awareness sensor 112 is configured to sense an object obstructing the assembly 20 as the assembly 20 navigates to the disposal station 50 and / or the charging station 54 (e.g., along one of the defined paths 102). The spatial awareness sensor 112 can be a capacitive sensor, a capacitive displacement sensor, a Doppler effect sensor, an eddy current sensor, an inductive sensor, a magnetic sensor, an optical sensor, a radar device, a sonar device, a lidar device, combinations thereof, or any other suitable type of sensor. The controller 28 is configured to direct the assembly 20 to deviate from the path in response to the sensed obstacle 118. After deviating from the path, the controller 28 is configured to navigate the assembly 20 around the obstacle 118 once the assembly 20 is navigated around the obstacle 118 to continue to the destination, i.e., the disposal station 50 or the charging station 54. The controller 28 can determine that the obstacle 118 cannot be navigated around, in which case the controller 28 is configured to determine an alternative path to the disposal station 50 or the charging station 54, or to navigate to a different disposal station 50 or charging station 54. For example, the sensed obstacle 118 can be a doctor, a nurse, other hospital staff, a patient 30, a wheelchair, a hospital bed, a cabinet, or any other obstacle 118 that can be present in a medical facility. During a waste disposal protocol or a charging protocol, upon sensing the obstacle 118, the controller 28 is configured to direct the assembly 20 to deviate to prevent the assembly 20 from colliding with the sensed obstacle 118 as the assembly 20 is navigated to the disposal station 50 and / or the charging station 54. In some embodiments, the spatial awareness sensor 112 is also configured to assist in aligning the assembly 20 with the disposal station 50. For example, the spatial awareness sensor 112 can detect the position of the disposal station 50 relative to the assembly 20 when the assembly 20 is in the vicinity of the disposal station 50. The controller 28 can then send a signal to the electric motor 42 of the powered wheel 40 based on the signal from the spatial awareness sensor 112 to bring the mating coupler 78 into proximity with the coupler 74.

[0056] It is readily appreciated that the autonomous movement of the assembly 20 and other automated features of the system 70 of the present disclosure advantageously allow hospital staff to no longer need to stop many tasks they must perform previously to perform a task now. However, in certain situations, it can be desirable to operate the assembly 20 without the autonomous movement and / or automated features. In other words, a user can desire to "exit" the autonomous mode to operate the assembly 20 in a manner that can be considered a manual mode. Exemplary instances or situations in which the manual mode can be desired include: performing maintenance on the assembly 20, one-time use or unexpected use, repositioning the assembly 20 within the medical facility or more specifically within the operating room, and avoiding congestion within the hallways of the medical facility during particularly busy times. For example, it can be necessary to reposition the assembly 20 within the operating room and the powered wheels 40 can provide an impediment to such movement. It can be easier to simply manually maneuver the assembly 20 to the desired location as compared to programming or inputting the desired movement. Actuation of the assembly 20 between the autonomous and manual modes can include the user input device 68 receiving input from the user. For example, in the autonomous mode, the assembly 20 can include a clutch mechanism 49 (see Figure 1 ) engaged with the electric motor 42 of the powered wheels 40, which prevents the user from manually moving (e.g., pushing) the assembly 20 along the floor surface. The clutch mechanism 49 is in communication with the controller 28 and the user input device 68. When the assembly 20 is moved from the autonomous mode to the manual mode, the clutch mechanism 49 can disengage from the electric motor 42 to allow the powered wheels 40 to move freely with the rest of the wheels 24 of the assembly 20. In another example, a lift mechanism 51 (see Figure 1 ) is coupled to the powered wheels 40 and is in communication with the controller 28 and the user input device 68. When the assembly 20 is moved from the autonomous mode to the manual mode, for example, from input to the user input device 68, the lift mechanism 51 moves the powered wheels 40 off of the floor surface so that the powered wheels 40 no longer contact the floor surface. If the rest of the wheels 24 are not powered, the assembly 20 can be freely moved manually along the floor surface. The assembly 20 can be repeatedly moved between the autonomous and manual modes as desired.

[0057] Referring to Figure 8 and Figure 9In some embodiments, the assembly 20 is a first autonomous medical waste collection assembly 114, and the medical waste collection system 70 includes a second autonomous medical waste collection assembly 116. The second assembly 116 includes a base, a plurality of wheels coupled to the base and including powered wheels, a waste collection unit coupled to the base and including a canister and a suction pump in fluid communication with the canister, a vacuum regulator in communication with the suction pump, a mating coupler coupled to the base, and a controller. The base, the plurality of wheels, the waste collection unit, the mating coupler 78, and the controller of the second assembly 116 can be configured similarly to the base 22, the plurality of wheels 24, the waste collection unit 26, the mating coupler 78, the charging coupler 79, and the controller 28 of the first assembly 114. The second assembly 116 can be substantially similar in structure and function to the first assembly 114.

[0058] The disposal stations 50 and the charging stations 54 can each only facilitate a limited number of assemblies to perform disposal processes at the same time. For example, in some embodiments, only one of the assemblies 114, 116 can be coupled to each disposal station 50 at a time. As such, for example, a first assembly 114 coupled to a disposal station 50 must first be uncoupled from the disposal station 50 before a second assembly 116 can be coupled to the disposal station 50 to perform a disposal protocol. If the controller 28 of the first assembly 114 initiates a disposal protocol while the second assembly 116 is performing a disposal protocol, a conflict can occur if the second assembly 116 is occupying the disposal station 50 while the controller 28 of the first assembly 114 is attempting to navigate the first assembly 114 to the disposal station 50 to perform the disposal protocol. Similarly, if the controllers 28 of the first assembly 114 and the second assembly 116 initiate disposal protocols at the same time, a conflict can occur if each of the first assembly 114 and the second assembly 116 are navigating the first assembly 114 and the second assembly 116, respectively, at the disposal station 50 to perform the disposal protocols. Similar issues can arise with the charging stations 54. To resolve such conflicts, in some embodiments, the first assembly 114 and the second assembly 116 are each adapted to be removably coupled to the charging stations in an interchangeable manner, such that if the waste disposal protocols of the first assembly 114 and the second assembly 116 are both initiated and are in an active state at the same time, the first assembly 114 and the second assembly 116 need to be queued. The queuing causes one or more of the assemblies 114, 116 to wait until the other of the assemblies 114, 116 has completed the disposal protocol before coupling to the disposal station 50. The queuing can be stored in one or more of the memory components 56 of the assemblies 114, 116, the memory components of the locator network 94, or a combination thereof. Also, in certain embodiments, only a single one of the first waste assembly 114 and the second waste assembly 116 can be coupled to the charging station at a time. In such embodiments, the controller of the second assembly 116 is configured to queue if the first assembly 114 is located at the charging station 54. The second assembly 116 can queue by pausing the charging protocol of the second assembly 116 and waiting until the first assembly 114 has completed the charging protocol of the first assembly 114, after which the charging protocol of the second assembly 116 is reinitiated or resumed. Prior to pausing the waste disposal protocol of the second assembly 116, the second assembly 116 can be navigating in the vicinity of or proximate to the charging station 54.

[0059] The localizer network 94 is configured to track the position of each of the first and second assemblies 114, 116 and any number of disposal stations 50 and / or charging stations 54. The localizer network 94 is configured to send a signal to the controller of each of the first and second assemblies to make each of the first and second assemblies 114, 116 aware of the position of the other of the first and second assemblies 114, 116. In some embodiments, the controller of the second assembly 116 is configured to receive a first position input signal and a second position input signal from the localizer network 94. The first position input signal is based on a first position of the first assembly 114. The second position input signal is based on a second position of the second assembly 116. In some embodiments, the first and second assemblies are adapted to be removably coupled to the disposal station 50 in an interchangeable manner such that the first and second assemblies 114, 116 queue if the waste disposal protocol of the first assembly 114 and the second assembly 116 has been initiated and are simultaneously in an active state. In certain embodiments, only a single one of the first and second waste assemblies 114, 116 can be coupled to the disposal station 50 at a time. In such embodiments, the controller of the second assembly 116 is configured to queue if the first assembly 114 is positioned at the disposal station 50. The second assembly 116 can queue by pausing the waste disposal protocol of the second assembly 116 and waiting until the first assembly 114 has completed the waste disposal protocol of the first assembly 114, and then restarting or resuming the waste disposal protocol of the second assembly 116. Prior to pausing the waste disposal protocol of the second assembly 116, the second assembly 116 can navigate in the vicinity or proximity of the disposal station 50.

[0060] When both the first assembly and the second assembly initiate a disposal protocol, the hub controller 96 can be configured to select one of the first assembly 114 and the second assembly 116 to perform the disposal process. The other of the first and second assemblies 114, 116 can be queued behind the one of the first and second assemblies 114, 116 that is selected. The hub controller 96 selects the one of the first assembly 114 and the second assembly 116 to perform the disposal process, followed by the other of the first assembly 114 and the second assembly 116. The hub controller 96 can select the one of the first assembly 114 and the second assembly 116 based on a relative amount of medical waste in the waste collection units 26 of the first waste collection assembly 114 and the second waste collection assembly 116. For example, the hub controller 96 can poll each controller 28 of the first assembly and the second assembly to receive information related to an amount of medical waste contained in each of the tanks of the first assembly 114 and the second assembly 116. The hub controller 96 can then select one of the first assembly 114 and the second assembly 116 to perform the waste disposal protocol based on the amount of medical waste in the waste collection units. The hub controller 96 can instruct the other of the first assembly 114 and the second assembly 116 to navigate to the operating room to receive waste during the medical procedure. Similarly, the hub controller 96 can poll each controller 28 of the first assembly 114 and the second assembly 116 to receive information related to energy in each energy storage device 64 of the first assembly and the second assembly. The hub controller 96 can then select one of the first assembly 114 and the second assembly 116 to perform a charging protocol. The hub controller 96 can instruct the other of the first assembly 114 and the second assembly 116 to navigate to the operating room to receive waste during the medical procedure. The hub controller 96 can also control the queue for the charging protocol or the disposal protocol based on a disposal schedule, a charging schedule, a type of scheduled surgical procedure, a type of medical waste, and the like.

[0061] At times, it is desirable for a user to initiate a disposal protocol of the first assembly 114 during the medical procedure and prior to completion of the medical procedure. As such, the second assembly 116 can be configured to navigate to a location of the first assembly 114 to continue collecting medical waste in place of the first assembly 114 while the first assembly 114 performs the disposal protocol.

[0062] In some embodiments, the controller 28 of the first assembly 114 is configured to provide a replacement signal to the localizer network 94 in response to actuation of the user input device 68. During a medical procedure, the user input device 68 can be actuated by hospital personnel as the tank 44 of the first assembly 114 fills. In response to receiving the replacement signal, the localizer network 94 provides the first and second position input signals to the controller 28 of the second assembly 116. The controller 28 of the first assembly 114 can initiate a waste disposal procedure and the second assembly 116 can autonomously navigate to the first location to replace the first assembly 114 in receiving medical waste during the medical procedure. The controller of the second assembly 116 is configured to instruct the second assembly 116 to move to the first location by the powered wheels of the second assembly 116. The controller of the second assembly 116 instructs the second assembly 116 to move to the first location to replace the first assembly 114 at the first location.

[0063] Referring to Figure 10 , a method 200 of operating a medical waste collection system 70 is shown. At step 202, the waste collection unit 26 receives medical waste from a patient during a medical procedure. To this end, the assembly 20 can be positioned proximate to a patient in a medical facility, such as an operating room (see Figure 7 ). A user provides input to the user input device 68 in communication with the controller 28. The controller 28 operates the suction pump 46, or can be a vacuum regulator 47, to regulate a level of suction drawn through the suction line 48. The medical waste is stored in the at least one tank 44.

[0064] In an example, the raw waste level in the tank 44 detected by the waste sensor 62 exceeds a waste threshold level (step 204). Additionally or alternatively, the energy storage device characteristic of the energy storage device 64 detected by the energy storage device sensor 66 falls below an energy storage device characteristic threshold (step 206). Additionally or alternatively, a schedule stored in the memory component 56 can indicate that a disposal protocol and / or a charging protocol is to be executed according to the schedule (step 208). Additionally or alternatively, a user can provide input to the user input device 68. The controller 28 in communication with the user input device 68 receives the input (step 210). For any one or more of the above, the assembly 20 autonomously moves to and couples with a station; i.e., a disposal station 50 (see Figure 3 ), a charging station 54 (see Figure 4 ), or a combined disposal-charging station 54 (see Figure 5) (step 212). For example, at step 212, controller 28 actuates motive wheels 42 to move assembly 20 to disposal station 50. Any one or more of sensors 82, 112 can be used to facilitate coupling of assembly 50 to station 50, 54 (step 214). Further, as previously described, locator network 94 of the medical facility in communication with controller 28 can facilitate navigation of assembly 20 to station 50, 54 (step 216).

[0065] At step 218, assembly 20 performs a disposal protocol while coupled to disposal station 50. In particular, disposal station 50 autonomously removes medical waste from waste collection unit 26. Disposal station 50 can perform a cleaning operation to clean tank 44 (step 230). If the station is a comprehensive disposal and charging station 54 (see Figure 5 ), charging station 54 autonomously performs a charging protocol (step 222). In particular, power is transferred from an energy source to energy storage device 64 of assembly 20 (step 223), which can occur concurrently with disposal station 50 autonomously removing medical waste from waste collection unit 26. Otherwise, controller 28 can actuate motive wheels 42 to move assembly 20 to charging station 54. Alternatively, if energy storage device 64 does not require additional power, controller 28 can actuate motive wheels 42 to move assembly 20 to return to a work station or storage location (step 234). It is contemplated that steps 218 and 222 are reversed, wherein assembly 20 first couples with charging station 54. Likewise, if tank 44 does not require emptying after energy storage device 64 receives power, controller 28 can actuate motive wheels 42 to move assembly 20 to return to a work station or storage location (step 234).

[0066] In certain embodiments, user input device 68 can receive input from a user regarding a disposal mode, such as a first disposal mode and a second disposal mode. Based on the input from the user, controller 28 in communication with user input device 68 can perform a disposal protocol on the removed medical waste according to the first disposal mode for a first time period (steps 220 and 226), or according to the second disposal mode for a second time period (steps 220 and 228). The second time period is different than the first time period. The cleaning operation (step 230) can be performed in one or both of the first and second disposal modes.

[0067] Assembly 20 can autonomously decouple from station 50, 54 (step 232). In the foregoing example, electromagnet can be de-energized, thereby allowing assembly 20 to move relative to station 50, 54. Controller 28 can actuate motive wheels 42 to move assembly 20 to return to a work station or storage location (step 234).

[0068] Alternative Protection Clause

[0069] Clause I. A method of operating a medical waste collection system, the system comprising an autonomous waste collection assembly comprising a base, at least one powered wheel coupled to the base, a waste level sensor in communication with the controller, an energy storage device sensor in communication with the controller, a waste collection unit coupled to the base, and a disposal station, the method comprising the steps of: receiving medical waste from a patient with the waste collection unit during a medical procedure; sensing a waste level within the waste collection unit with the waste level sensor; determining with the controller whether the waste level exceeds a waste level threshold; actuating the at least one powered wheel to move the autonomous medical waste collection assembly; navigating the autonomous medical waste collection assembly to the disposal station with the controller; autonomously coupling the autonomous medical waste collection assembly and the disposal station; and executing a disposal protocol to remove the medical waste from the waste collection unit with the disposal station.

[0070] Clause II. The method of clause I, wherein the system comprises a charging station, the method further comprising the steps of: autonomously coupling the autonomous medical waste collection assembly and the charging station; and transferring electrical energy from a power source in communication with the charging station to the energy storage device of the autonomous medical waste collection assembly.

[0071] Clause III. The method of any of clauses I and II, further comprising the steps of: operating the medical waste collection assembly in a first disposal mode for a first amount of time and operating the medical waste collection assembly in a second disposal mode for a second amount of time. The first and second amounts of time are different times.

[0072] Clause IV. The method of clause III, further comprising selecting one of the first disposal mode and the second disposal mode based on at least one of: (i) an amount of medical waste within the waste collection unit; (ii) an amount of medical waste to be transferred from the waste collection unit to a canister in the disposal station; (iii) a user input; (iv) a disposal schedule comprising one or more times at which a waste disposal protocol is to be executed; and (v) a time at which the waste collection unit has stored medical waste.

[0073] Clause V. The method of any of clauses I-IV, wherein the autonomous waste collection assembly comprises a user input device, the method further comprising the steps of: receiving an input with the user input device to move the autonomous waste collection assembly from an autonomous mode in which the at least one powered wheel is controllable by the controller for automatic movement to a manual mode in which the at least one powered wheel is disabled to allow for manual movement of the autonomous waste collection assembly.

[0074] Clause VI. The method of clause V, wherein the autonomous waste collection assembly includes a clutch mechanism coupled to the at least one powered wheel, wherein deactivating the at least one powered wheel includes disengaging the clutch mechanism to allow the at least one powered wheel to freely rotate.

[0075] Clause VII. A method of operating a medical waste collection system, the medical waste collection system including an autonomous waste collection assembly including a base, at least one powered wheel coupled to the base, a controller, an energy storage device in communication with the controller, a waste collection unit coupled to the base, and a charging station in electrical communication with a power source, the method including the steps of: receiving medical waste from a patient with the waste collection unit during a medical procedure; sensing an energy level storage characteristic of the energy storage device with an energy storage device sensor; determining with the controller whether the energy level storage characteristic is below an energy level storage characteristic threshold; actuating the at least one powered wheel to move the autonomous medical waste collection assembly; navigating the autonomous medical waste collection assembly to the charging station with the controller; autonomously coupling the autonomous medical waste collection assembly and the charging station; and executing a charging protocol to transfer electrical energy from the power source of the charging station to the energy storage device of the autonomous medical waste collection assembly.

[0076] Clause VIII. A medical waste collection system, the system including: a disposal station including: a housing; and a coupler coupled to the housing; and an autonomous medical waste collection assembly including: a base adapted to be positioned proximate a patient; wheels coupled to the base, at least one of the wheels being powered to move the base along a floor surface; a waste collection unit coupled to the base to receive medical waste from a patient, the waste collection unit including: a canister to hold medical waste; and a suction pump in fluid communication with the canister and configured to draw a vacuum on the canister; a mating coupler coupled to the base, the mating coupler being adapted to removably couple with the coupler of the disposal station; and a controller operable to initiate a waste disposal protocol, the waste disposal protocol including transmitting a movement signal to the powered wheels to automatically move the autonomous medical waste collection assembly away from the patient, to the disposal station, such that the coupler couples with the mating coupler to provide a connection between the autonomous medical waste collection assembly and the disposal station.

[0077] The application has been described herein in an illustrative manner. It is to be understood that the terminology which has been used is intended to be in the nature of words of description rather than of limitation. Obviously, many modifications and variations of the present application are possible in light of the above teachings. The application can be practiced otherwise than as specifically described.

Claims

1. An autonomous medical waste collection assembly for collecting medical waste within a medical facility, the autonomous medical waste collection assembly comprising: a base; wheels supporting the base, at least one of the wheels being a powered wheel configured to be powered by a motor; a waste collection unit supported by the base and including a manifold receiver configured to removably receive a manifold to which a suction line is couplable, a waste canister in fluid communication with the manifold receiver, and a suction pump in fluid communication with the waste canister and configured to draw medical waste from a patient through the suction line and the manifold for collection in the waste canister; and a controller in electronic communication with the powered wheel and configured to transmit a movement signal to the motor to power the powered wheel to move the autonomous medical waste collection assembly along a floor surface, wherein the manifold receiver includes a manifold sensor in electronic communication with the controller and configured to detect contact between the manifold and the manifold receiver, and wherein the controller is further configured to transmit the movement signal to the motor connected to the powered wheel after the manifold sensor detects that the manifold is removed.

2. The autonomous medical waste collection assembly of claim 1, wherein, the controller is further configured to initiate a waste disposal protocol, wherein the controller transmits a movement signal to the motor to power the powered wheel to move the autonomous medical waste collection assembly along a floor surface to couple with a disposal station for emptying the waste canister.

3. The autonomous medical waste collection assembly of claim 2, further comprising a waste sensor in communication with the controller and configured to sense an amount of medical waste contained within the waste canister, wherein, the controller is further configured to initiate the waste disposal protocol based on an amount of medical waste within the waste canister.

4. The autonomous medical waste collection assembly of claim 2, wherein, the controller is further configured to delay initiation of the waste disposal protocol while the suction pump is actively drawing medical waste.

5. The autonomous medical waste collection assembly of claim 2, further comprising a memory in electronic communication with the controller and storing a disposal schedule including one or more times for initiating the waste disposal protocol, wherein the controller is configured to transmit the movement signal to the motor connected to the powered wheel and the powered wheel moves the assembly to the disposal station according to the disposal schedule.

6. The autonomous medical waste collection assembly of claim 5, wherein, the controller is further configured to not initiate the waste disposal protocol during a surgical procedure.

7. The autonomous medical waste collection assembly of claim 5, wherein, the disposal schedule is configured to be received via a hospital network of a healthcare facility and stored on the memory.

8. The autonomous medical waste collection assembly of claim 5, wherein, the waste disposal protocol includes a quick dock mode in which the waste canister is cleaned by the disposal station for a first time period and an extended dock mode in which the waste canister is cleaned by the disposal station for a second time period greater than the first time period.

9. The autonomous medical waste collection assembly of claim 1, further comprising a battery in communication with the controller, wherein the controller is further configured to initiate a charging protocol in which the controller transmits a movement signal to the motor connected to the powered wheel, and wherein the powered wheel moves the assembly along a floor surface to couple with a charging station for charging the battery, and not initiate the charging protocol during a surgical procedure.

10. The autonomous medical waste collection assembly of claim 9, wherein, the controller is configured to facilitate operation of the disposal station to concurrently perform the waste disposal protocol and the charging protocol. the controller is configured to facilitate operation of the disposal station to concurrently perform the waste disposal protocol and the charging protocol.

11. The autonomous medical waste collection assembly of claim 9, further comprising a memory in communication with the controller and storing a charging schedule including one or more times for initiating the charging protocol, wherein the controller is configured to transmit a movement signal to a motor connected to a powered wheel and the powered wheel moves the assembly along a floor surface according to the charging schedule.

12. The autonomous medical waste collection assembly of any of claims 1-11, wherein, the controller is configured to control the powered wheel to maneuver the autonomous medical waste collection assembly based on data received from a locator sensor of a locator network of a healthcare facility.

13. The autonomous medical waste collection assembly of any of claims 1-11, wherein, the autonomous medical waste collection assembly is operable in an autonomous mode in which the powered wheel automatically moves the autonomous medical waste collection assembly along a floor surface and a manual mode in which the autonomous medical waste collection assembly is free to move along a floor surface.

Images