A cleaning system and method for a tubular medical device

Abstract

The application relates to a cleaning system of a tubular medical instrument, comprising a cleaning module capable of cleaning the surface of the instrument and a remote server, wherein the remote server is provided with a database storing a three-dimensional image of the instrument, the three-dimensional image of the instrument at least marking a first position of completed cleaning closest to the current cleaning module in a time node and a third position of uncompleted cleaning closest to the current cleaning module in a time node, and in response to the cleaning module completing the cleaning work at the third position, the remote server updates the third position on the three-dimensional image of the instrument stored by the remote server to the first position, and generates a new third position based on the three-dimensional image. The system provided by the application can clean and dry the surface of the instrument while cleaning and drying the identified gap with depth.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of medical devices, and in particular to a cleaning system for tubular medical devices. BACKGROUND

[0002] Medical devices are of various types and cover a wide range of applications, including uterine tubes in gynecology and obstetrics, brain pressure tubes and brain needles in neurology, intramedullary decompression tubes in orthopedics, various puncture needles in clinical treatment kits, and various suction devices used in surgery. Such devices are long in length, small in diameter, and difficult to clean, and residual substances can form a bacterial protective film, which hinders the effective contact between the device and the sterilization gas and affects the sterilization effect; the residual substances can also crystallize and carbonize. Some components can corrode the surface coating of the device, causing rusting, low cleaning qualification rate, and high re-washing rate. Cleaning is mainly performed with various types of pipe brushes, brushes, ultrasonic waves, and high-pressure air guns. If the cleaning is not thorough for a long time, a biofilm can be formed on the inner surface of the pipe, which cannot be removed by conventional cleaning steps, resulting in sterilization failure and cross-infection. In particular, orthopedic devices involve a lot of metal devices, and such devices often have curved structures or different shape splicing conditions, and the cleaning dead angles of such devices are many and difficult to clean by simple soaking means. For example, bone traction needles and magnetic probes.

[0003] Cleaning of the device includes at least five stages of primary washing, fine washing, rinsing, disinfection, and drying, as shown below:

[0004] Primary washing: The disassembled tubular device is thoroughly cleaned under flowing water to wash away visible contaminants. Then, a pipe cleaning brush with a size corresponding to the inner diameter of the tubular cavity and a length slightly longer than the length of the tubular cavity is used to brush the inner wall of the pipe; the brush is required to protrude from the other end of the tubular cavity during brushing, and the contaminants on the brush are washed away before being pulled back. Finally, the inner wall of the tubular cavity is rinsed with a high-pressure water gun.

[0005] Fine washing: ultrasonic or enzyme cleaning liquid is used for secondary cleaning.

[0006] Rinsing: The tubular device soaked in the multi-enzyme solution is thoroughly rinsed with flowing water to remove the multi-enzyme cleaning solution and loose contaminants on the inner wall of the pipe and the surface of the device, and the inner wall of each tubular cavity is rinsed with a high-pressure water gun.

[0007] Disinfection: The rinsed tubular device is soaked in acidified water for disinfection.

[0008] Drying: The outer surface of the tubular device can be wiped with low-fiber gauze, or dried in a drying box or machine. The tubular cavity of the tubular device is dried with an internal high-pressure air gun, or with 95% ethanol. At the same time, it is checked whether the pipe is unobstructed, whether there are rust spots at the joints, whether the joints are flexible, etc., and a dedicated person is responsible for storage.

[0009] In the above cleaning process, whether it is ultrasonic or high-pressure water gun, the above cleaning means is to remove impurities and liquid in the lumen gap. During the cleaning process, due to the different sizes of the gaps on the instrument, during cleaning, on the one hand, there is a possibility that impurities are not washed away by the water flow; on the other hand, water may be retained in the gap and form a biofilm that cannot be simply dried by blowing.

[0010] A Chinese patent with patent number CN105346758B discloses an endoscope automatic cleaning, disinfecting and packaging integrated machine and a use method thereof, which comprises a tank storage cabin, a washing cabin and a packaging cabin arranged in sequence along the horizontal direction, and a control system. The washing cabin is in communication with the tank storage cabin and the packaging cabin respectively. The tank storage cabin is provided with at least a cleaning tank, a multi-enzyme washing tank, a disinfecting tank and a drying tank. The control system is used for controlling the cleaning tank, the multi-enzyme washing tank, the disinfecting tank and the drying tank to move to the washing position of the washing cabin in time. An upper position in the washing cabin is provided with a mechanical arm. The mechanical arm is used for clamping the endoscope and placing it into or taking it out of the cleaning tank, the multi-enzyme washing tank, the disinfecting tank or the drying tank, and can move the endoscope into the packaging cabin. The cleaning method is a common cleaning method in the prior art, that is, the lumen type medical instrument is placed in the cleaning tank provided with different cleaning liquids, and is assisted by ultrasonic, high temperature and other means to realize the process cleaning.

[0011] However, placing the lumen type instrument with multiple narrow gaps on the surface in the cleaning liquid will increase the flowability of the pollutants in different gaps, causing cross contamination problems. Especially, for the area near the proximal end of the instrument which is not contaminated, the pollutants (such as blood, ascites and other human body fluids) generated by the contaminated area will flow into the narrow gap near the proximal end with the water flow, and further increase the cleaning difficulty of each gap.

[0012] Based on this, the present application proposes an instrument cleaning system which can suspend the medical instrument with surface gaps and perform segmented high-pressure flushing and drying according to the distribution of the surface gaps of the medical instrument to achieve the purpose of efficient cleaning.

[0013] In addition, on the one hand, there are differences in the understanding of those skilled in the art; on the other hand, the applicant has studied a large number of literatures and patents when making the present application, but due to the limited space, all the details and contents are not listed in detail, which does not mean that the present application does not have these characteristics of the prior art. On the contrary, the present application has all the characteristics of the prior art, and the applicant reserves the right to add related prior art in the background art. SUMMARY

[0014] The cleaning of medical instruments, especially the cleaning of instruments with many dead corners, is a complicated process. At least five steps, including preliminary cleaning, fine cleaning, rinsing, disinfection, and drying, are required to complete the purpose of disinfection, cleaning, and preservation. In the above-mentioned cleaning process, the existing technology often uses the method of soaking. The biggest problem of soaking cleaning is that the pollutants (pollutants can refer to body fluids, human tissues that can be observed with the naked eye, and microorganisms that cannot be observed with the naked eye) remaining on the surface or crevices of the used instruments will flow with the water and contaminate other areas of the instruments that may not be contaminated.

[0015] At the same time, during the cleaning and drying of the instruments, the cleaning and drying of the high-pressure water flow and the air flow without targeting cannot remove the liquid or pollutants in the crevices with a certain depth from the crevices. For example, when a high-pressure water flow is sprayed on a bone traction needle, although the pollutants on the surface of the bone traction needle will be taken away by the high-pressure water flow, due to the flow rate and incident direction of the high-pressure water flow, the flow rate and flow volume of the high-pressure water flow will decrease when the high-pressure water flow enters the joint of the bone traction needle (for example, a crevice with a depth of 3 cm and a width of 5 mm), and the water flow cannot take away the pollutants in the joint. Even the water flow will form a hydrops in the joint. The hydrops provides a survival environment for the waterborne microorganisms to colonize in the crevice.

[0016] In view of the above problems, the present application relates to a cleaning system for tubular medical instruments, which can clean and dry the surface of the instruments while also cleaning and drying the identified crevices with depth.

[0017] The instrument cleaning system comprises a cleaning module, a data acquisition module, and a remote server.

[0018] The cleaning module comprises at least a support frame capable of circumferentially surrounding the instrument, and a spray head arranged on the support frame. The spray head is provided with a first spray head for spraying and a second spray head for generating gas. The first spray head and the second spray head are arranged in axial stacking, as shown in Figure 2 Preferably, the first spray head and the second spray head are arranged alternately, as shown in Figure 3

[0019] The surface of the instrument is at least distributed with a direct cleaning area and a depth working area. The direct cleaning area refers to the flat surface of the instrument surface without gaps or grooves. The depth working area refers to the gaps or grooves on the surface of the instrument.

[0020] The data acquisition module is integrally arranged with the cleaning module. The data acquisition module can acquire the depth working area distributed on the surface of the instrument.

[0021] The first spray head and the second spray head can adjust the angle based on the instructions issued by the data acquisition module, so as to be able to spray water flow or air flow at multiple angles when cleaning or drying the depth working area. ​

[0022] The beneficial effects of the technical solution are as follows:

[0023] Compared with the prior art which uses a single large-diameter nozzle to clean and dry the surface of the instrument, the present application comprises a plurality of nozzles arranged around the instrument, which can spray water and air flow to the surface of the instrument in multiple directions and angles, so that the water and air flow can enter the gaps formed by the surface concave-convex positions on the surface of the instrument at a high flow rate.

[0024] The data acquisition module comprises an image acquisition unit capable of acquiring data of the surface of the instrument. The remote server comprises a database storing three-dimensional images of the instrument. The three-dimensional images of the instrument are marked with the positions of the depth work areas, and the depths of the depth work areas corresponding to the positions are recorded. Based on the depth work areas of the surface of the instrument acquired by the image acquisition unit, the remote server determines the relative position of the cleaning module and the instrument, and determines the depth work areas of the instrument that can be cleaned by the cleaning module based on the depth work areas marked on the three-dimensional images. The cleaning module can control the first nozzle and / or the second nozzle to adjust the spray angle based on the depth work areas identified by the remote server, as shown in Figure 1 .

[0025] The beneficial effects of the technical solution are as follows:

[0026] For instruments that can be bent, twisted or operated, the surfaces of which are distributed with grooves and gaps of different depths, such grooves and gaps are often the key parts that affect the cleaning, disinfection and drying of the instrument. When the posture of the instrument is changed, the grooves or gaps may change from an open state to a closed state (for example, a bellows, when the bellows is bent to the left side, the left side of the bellows will be closed and the right side of the bellows will be open), affecting the cleaning progress of the instrument, and making it easy for the grooves or gaps to accumulate pollutants and liquids. The technical solution can pre-store three-dimensional images of the instrument, and mark the depth work areas that need to be focused on in the stored three-dimensional images. When the remote server determines that the cleaning module reaches the depth work area based on the image acquired by the image recognition unit, the cleaning module can perform cleaning operations on the depth work area based on the system preset cleaning program, so as to achieve the purpose of high-precision and high-accuracy cleaning of narrow grooves and gaps.

[0027] Further, through the observation of orthopedic instruments, it is found that most of the instruments have consistent color throughout the body. For example, the bone traction needle has a metallic color throughout the body. During artificial flushing, gaps and trenches are discovered by naked eye observation, which also causes the problem that narrow gaps and trenches are difficult to be discovered during artificial flushing. Even if electronic devices such as image acquisition are used to monitor the cleaning process, since the surface color is the same, directly determining the depth work area through image comparison will cause a larger judgment error. At the same time, since each movement of a region needs to be circumferentially compared with the image, it will greatly slow down the cleaning process.

[0028] According to a preferred embodiment, the data acquisition module comprises an image acquisition unit for acquiring the surface image of the instrument. Based on the three-dimensional image provided by the database and marked with the depth work area arranged on the surface of the instrument, and the image transmitted by the image acquisition unit, the remote server confirms the relative position of the spray head and the instrument and determines the deep work area operable by the cleaning module according to the depth work area to which the relative position belongs in the three-dimensional image.

[0029] Based on the width and / or shape of the confirmed deep work area, the spray head adjusts the working angle, and the plurality of first spray heads or second spray heads are directed to the deep work area at a correct inclination angle and inclination direction.

[0030] The beneficial effects of the technical solution are:

[0031] At present, there are various types of medical instruments that need to be repeatedly cleaned for repeated use purposes at home and abroad, and the materials and built-in equipment used may be the same, but the appearance features and the positions of the deep work areas will vary greatly with the model. For example, the motor cable of the orthopedic power device used for grinding and planing treatment of bone tissue and / or soft tissue in endoscopic joint minimally invasive surgery is black in some cases and metallic in some cases. The technical solution is based on the three-dimensional image of the instrument pre-input in the database to identify and determine the deep work area arranged on the surface of the instrument. This type of work is based on the image acquisition device and three-dimensional device image in the above-mentioned identification system to determine the position of the liquid accumulation area in the target endoscope, and to determine the relative position of the high-pressure spray head and the endoscope. The technical solution solves the problem that artificial and electronic images are difficult to distinguish the liquid accumulation position of the endoscope, and also solves the problem of too long time limit for uploading endoscope image data for analysis.

[0032] According to a preferred embodiment, the remote server can generate a cleaning program most suitable for the instrument based on the different types and models of instruments, which includes a first cleaning program for sequentially cleaning the surface and deep working area of the instrument, i.e. by inputting an instruction to complete a cleaning of the instrument, and a second cleaning program for separately cleaning the surface and deep working area of the instrument, i.e. by inputting an instruction to clean only the surface or only the deep working area of the instrument. Wherein, the operator can input a selection instruction for the cleaning program according to actual needs, and the first cleaning program and the second cleaning program can be selected at the same time.

[0033] As shown in Figure 1 , in the case of a large number of deep working areas on the surface of the endoscope, the operator can select to perform the first cleaning program and the second cleaning program at the same time. The control system can identify the deep working area of the endoscope that needs to be cleaned based on the three-dimensional image of the target endoscope through the storage, and mark the deep working area, i.e. the cleaning module will spray water flow on the surface of the endoscope without distinction, completing the first cleaning program. Then, based on the model of the endoscope, the cleaning module will spray water flow on the deep working area of the surface of the endoscope for targeted cleaning of the hidden contaminants (such as body fluids or human tissue fragments) in the deep working area.

[0034] In order to enable the cleaning module to adjust the nozzle orientation and angle in advance and perform targeted cleaning on the deep working area when it reaches the corresponding deep working area, the remote server can predict the next position containing the deep working area closest to the current position of the cleaning module based on at least two position information of the cleaning module. Specifically, the position information includes at least starting position information, first position information, second position information and third position information. The above position information refers to the position information containing the position of the deep working area. The starting position information refers to the position information of the position where the cleaning starts. The second position information refers to the position information of the current cleaning module. The first position information refers to the position information of the completed cleaning of the last operation (cleaning) of the cleaning module. The third position information refers to the position information of the position closest to the second position (when the second position coincides with the initial position, the second position and the initial position refer to the same position) from the cleaning module before starting cleaning.

[0035] According to a preferred embodiment, the cleaning module performs the second cleaning program. The cleaning module sprays high-pressure water flow at the initial position. Based on the initial information of the initial position, the remote server marks the initial position in the three-dimensional image of the instrument and determines the third position information. Based on the distance between the third position and the initial position along the axial direction of the instrument, the remote server can predict the time value required for the cleaning module to reach the third position in advance, as shown in Figure 4 .

[0036] In the time value range, the remote server can timely confirm the information (related to cleaning, such as width) of the deep work area corresponding to the third position, and control the spray head angle, direction and water pressure of the sprayed liquid based on the information of the deep work area. The cleaning module can adjust the spray head angle and direction when moving between the initial position and the third position, and start working when reaching the third position.

[0037] Specifically, the first cleaning program and the second cleaning program can be performed in cross. When the system is in the setting of simultaneous performance of the first cleaning program and the second cleaning program, the cleaning module will preferentially perform the first cleaning program, and then perform the second cleaning program, that is, when reaching a set position, the cleaning module will first spray water flow with fixed pressure to all surface areas of the position, and then perform targeted cleaning (referring to changes in the angle and direction of the spray head, and changes in the flow rate of the water flow sprayed by the spray head) based on the deep work area. When the cleaning module reaches the third position, the cleaning module can preferentially perform the first cleaning program to flush the instrument surface area belonging to the third position with water flow at a flow rate of 40 m / s. After completing the first cleaning program, the cleaning module adjusts the direction and angle of the spray head based on the instruction of the remote server, so that the spray head can concentrate on spraying water flow to the deep work area of the third position, and the flow rate of the water flow can be 60 m / s.

[0038] When the cleaning module completes the instruction currently issued by the control server, the control server automatically replaces the starting position with the first position. The cleaning module automatically switches from the second cleaning program to the first cleaning program after completing the current instruction, so that the cleaning module can continuously move along the instrument axis and complete the cleaning work.

[0039] The beneficial effects of the technical solution are:

[0040] According to different appearances of instruments, different cleaning methods are set in the technical solution. For example, for some instruments with smooth surfaces, only the first cleaning program needs to be used for cleaning. For instruments with a large number of deep work areas, the first cleaning program and the second cleaning program can be used in sequence to clean them, so as to achieve the purpose of step-by-step cleaning, overall cleaning and individual customization for instruments with different appearances.

[0041] Since the color of the gap and the trench on the surface of the instrument is basically consistent with the color of the surface of the instrument, it is difficult to be captured by the electronic device. In order to overcome this problem, the technical solution determines the position of the depth work area and the operation required to be implemented by the cleaning module at different time nodes in advance through the three-dimensional image of the instrument, that is, based on the position information of the depth work area marked in the three-dimensional image, the remote server can calculate the use node of the cleaning program of the cleaning module with time as the anchor point. The cleaning method provided by the technical solution eliminates the waiting time of the cleaning module, and switches the first cleaning program to the second cleaning program when reaching the corresponding position; in addition, the remote server can pre-confirm the depth work area based on the three-dimensional image of the instrument model stored in the database, improve the accuracy of the depth work area judgment, and reduce the errors that may occur when judging the image information, such as when the depth work area is difficult to identify because the color or image is similar to the color or outline of the surrounding area.

[0042] According to a preferred embodiment, the cleaning module moves at a constant speed along the axis of the instrument, and the moving speed is x. The remote server can pre-calibrate the time value T required for the nozzle to reach the third position based on the following formula:

[0043] T = (Y2-Y1) / x

[0044] Y2 indicates the distance between the initial position and the second position; Y1 indicates the distance between the initial position and the third position; x is the moving speed when the cleaning module moves at a constant speed; T is the time value required for the cleaning module to move from the second position to the third position. Within the time value range, the remote server can generate adjustment angle of the nozzle and judgment information of the flow rate of the nozzle spraying water or gas based on the depth to which the third position belongs. Preferably, when the system does not use image information or the distance detection unit to monitor the position of the cleaning module in the two depth work areas in real time, the first position and the second position can refer to the same position, that is, the remote server takes the two depth work areas as the anchor points and takes the three-dimensional image as the judgment basis. When the cleaning module completes the cleaning work in a depth work area, the current position is the first position closest to the depth work area which has not completed the cleaning work after the distance of the completed depth work area, which also represents the current position (second position) of the cleaning module. The remote server marks the first position / second position in the three-dimensional image as one end point of the distance calculation, and sets the third position as the other end point of the distance calculation, so as to determine the moving time of the cleaning module, as shown in the following formula: Figure 4

[0045] ​According to a preferred embodiment, the system is provided with a length detection unit. The length detection unit can detect the distance between the initial position and the second position. Based on the distance value detected by the length detection unit matching the distance value generated by the remote server, the remote server can send instructions to the cleaning module using the calculated time value. When the distance value detected by the length detection unit does not match the distance value generated by the remote server, the system stops working and generates an error, i.e. when the judgment result is that the two position information of the cleaning module do not match, the remote server controls the cleaning module to stop working and generates an error instruction. For example, taking the initial position as the reference, when the length detection unit integrated in the cleaning module detects that the current position is 10 cm away from the initial position, and in the three-dimensional image, the initial position is 10 cm away from the last depth work area updated from the third position to the second position, it is confirmed that the current position information is correct. Taking the initial position as the reference, when the length detection unit integrated in the cleaning module detects that the current position is 10 cm away from the initial position, and in the three-dimensional image, the initial position is 14 cm away from the last depth work area updated from the third position to the second position, it is confirmed that the current position information is incorrect, and the remote server controls the cleaning module to shut down and generates an error to the operator. Preferably, there is an error range between the distance information generated by the length detection unit and the distance information generated by the remote server, i.e. based on the position information transmitted by the length detection unit, the remote server generates a first distance C1; based on the marked position in the three-dimensional image, the distance information generated by the remote server is a second distance C2. The condition for confirming that the current position information is correct is:

[0046] C1±c=C2

[0047] c represents the allowable error range of variation.

[0048] Preferably, c can be 1-20 cm. The value of c is set by artificial, and the value can be the minimum width of the gap or the ditch or other values recognized by the operator.

[0049] According to a preferred embodiment, the procedure for updating the third position to the first position is:

[0050] When the cleaning module completes the cleaning work of the current depth work area, the cleaning module sends an indication of work completion to the remote server, and the remote server updates the corresponding third position to the first position in the last round of calculation;

[0051] Mark the updated third position in the three-dimensional image.

[0052] The remote server can calculate the time for the cleaning module to reach the third position from the first position based on the position information of the first position and the third position.

[0053] According to a preferred embodiment, when the data collection module set has an image collection unit, the image collection unit can collect a mark point on the surface of the instrument which is different from the main color or other features of the instrument. Based on the mark point, the remote server can confirm the position of the mark point in the three-dimensional image and obtain the distance between the initial position and the mark point. The length detection unit can confirm the distance between the cleaning module located at the position of the mark point and the initial position. The remote server can match the distance data generated by the two to confirm whether the cleaning module is in the correct position to clean the deep work area.

[0054] According to a preferred embodiment, when the data collection module set has an image collection unit, the third position updating procedure of the first position is:

[0055] Confirming the third position of the current operation based on the instruction of the work indication completed sent by the cleaning module;

[0056] Matching the third position calibrated in the three-dimensional image with the image of the third position collected by the image collection unit;

[0057] If the image is consistent, the third position is updated to the first position, and the three-dimensional image is updated to the third position that meets the requirements and is sent to the remote server.

[0058] By matching the image of the image collection unit and the image of the corresponding position in the three-dimensional image, the accuracy of updating the third position is increased.

[0059] The beneficial effects of the technical solution are:

[0060] The technical solution overcomes the problem of signal transmission delay. After determining the moving speed of the cleaning module, the remote server can generate the time for the cleaning module to reach the next unfinished deep work area from the completed deep work area, and can quickly generate the instruction to adjust the nozzle before the cleaning module reaches the third position, so that the nozzle can respond faster and accurately and efficiently position the deep work area. Preferably, when the instrument model or category is different, the axial length is different, so the set uniform moving speed and the required flow rate and time for cleaning are also different. For example, when the instrument is a 70 cm long intramedullary decompression tube, the moving speed of the cleaning module is 10 cm / min.

[0061] Because the depth, width and shape of the deep work area on the surface of the instrument are different, using the same flow rate of air or water flow when facing different shapes of deep work area will cause the following problems:

[0062] For deep work areas with deep inward recesses or complex recess shapes, the flow rate of the air or water flow of the nozzle is not enough to flush out the internal contaminants;

[0063] For the depth work area with shallow inwardly concave depth, too fast flow rate of air or water flow will cause the bubbles in water to break and form strong cavitation, increase the amplitude of pipeline vibration, and long time and repeated vibration will easily cause the connection between pipeline connections to be loose.

[0064] According to a preferred embodiment, based on the cleaning difficulty of the depth work area of the instrument surface distribution, the remote server can divide the depth work area into at least three levels, and the precision cleaning mode corresponding to different levels is different. Preferably, the levels include a first level, a second level and a third level, which are divided by the flow rate of water flow or air flow. BRIEF DESCRIPTION OF DRAWINGS

[0065] Figure 1 is a schematic diagram of the relationship between the cleaning module and the instrument provided by the present application;

[0066] Figure 2 is a structural schematic diagram of the cleaning module provided by the present application;

[0067] Figure 3 is a structural schematic diagram of another embodiment of the cleaning module provided by the present application;

[0068] Figure 4 is a schematic diagram of the time value judgment method provided;

[0069] Figure 5 is a structural schematic diagram of the display module.

[0070] LIST OF REFERENCE NUMBERS

[0071] 100: remote server; 200: data acquisition module; 210: display module; 300: cleaning module; 310: spray head; 311: first spray head; 312: second spray head; 320: support frame; 400: instrument; 500: depth work area; 510: first position; 520: second position; 530: third position; 600: initial position; 700: axial direction. DETAILED DESCRIPTION

[0072] The following will be described in detail with reference to the accompanying drawings.

[0073] In the description of the present application, it should be noted that the terms "upper", "lower", "inner", "outer", "front", "back", and the like indicate the orientation or positional relationship shown in the drawings, and are only for the convenience of describing the present application and simplifying the description, and do not indicate or imply that the devices or elements referred to must have a particular orientation, be constructed and operated in a particular orientation, and therefore cannot be understood as limiting the present application. In addition, the terms "first", "second" are only for descriptive purposes and cannot be understood as indicating or implying relative importance. In the description of the present application, it should be noted that unless otherwise explicitly specified and limited, the terms "mounting", "provided with", "connected" and the like should be broadly understood, for example, "connected" can be fixedly connected, can be detachably connected, or integrally connected; can be directly connected, or indirectly connected through an intermediate medium; can be internal communication of two elements. The meaning of "several" is two or more, unless otherwise explicitly specified and limited. For those skilled in the art, the specific meaning of the above terms in the present application can be understood according to the specific circumstances.

[0074] Embodiment 1

[0075] The present embodiment also provides a cleaning system for a lumen instrument. The present embodiment provides an instrument 400 cleaning system. The present embodiment also provides an instrument 400 washing system. The present embodiment is suitable for flushing of the instrument 400. The present embodiment is also suitable for drying of the instrument 400. The present embodiment is also suitable for sterilization of the instrument 400. The present embodiment can provide a plurality of spray heads 310, wherein the spray heads 310 can be functionally arranged, or collectively used. Collective use means that the same spray head 310 can spray water, disinfectant or gas.

[0076] The system comprises a cleaning module 300 capable of cleaning the surface of the instrument 400 and a remote server 100. The remote server 100 is provided with a database storing a three-dimensional image of the instrument 400, the three-dimensional image of the instrument 400 at least marking a first position 510 of the completed cleaning closest to the current cleaning module 300 in the time node and a third position 530 of the incomplete cleaning closest to the current cleaning module 300 in the time node, in response to the cleaning module 300 completing the cleaning work at the third position 530, the remote server 100 updates the third position 530 on the three-dimensional image of the instrument 400 stored by it to the first position 510, and generates a new third position 530 based on the three-dimensional image, so that the remote server 100 can obtain instructions related to the cleaning of the next depth work area 500 after the cleaning module 300 completes the current cleaning task.

[0077] According to a preferred embodiment, the cleaning module 300 comprises at least a supporting frame 320 capable of circumferentially surrounding the instrument 400, and a spray head 310 arranged on the supporting frame 320, wherein the spray head 310 is provided with a first spray head 311 for spraying and a second spray head 312 for generating gas.

[0078] According to a preferred embodiment, the instruction refers to the working state of the spray head 310 in the depth work area 500 belonging to the third position 530, wherein the working state of the spray head 310 comprises at least the adjustment angle of the first spray head 311 and the second spray head 312 for the depth work area 500 belonging to the third position 530.

[0079] According to a preferred embodiment, the system further comprises a data acquisition module 200, wherein the data acquisition module 200 comprises a length detection unit capable of detecting the second position 520 of the cleaning module 300 and arranged on the cleaning module 300, and wherein the remote server 100 generates a first distance C1 based on the second position 520 of the cleaning module 300 transmitted by the length detection unit, and generates a second distance C2 based on the first position 510 or the third position 530 marked on the three-dimensional image. Preferably, when C2 is not equal to C1, the judgment result is that the two position information of the cleaning module 300 do not match.

[0080] According to a preferred embodiment, based on the condition of confirming the current position of the cleaning module 300, the remote server 100 generates a judgment result of the execution instruction of the cleaning module 300, wherein when the judgment result is that the two position information of the cleaning module 300 do not match, the remote server 100 controls the cleaning module 300 to stop working and generates an error reporting instruction.

[0081] According to a preferred embodiment, the depth work area 500 marked on the three-dimensional image comprises at least the following contents: the non-surface three-dimensional image of the depth work area 500; and the cleaning level corresponding to the depth work area 500.

[0082] According to a preferred embodiment, based on the depth of the depth work area 500, the remote server 100 can classify the depth work area 500 on the surface of the instrument 400 into at least two levels, and the flow rate of the water flow and / or the gas flow borne by the depth work area 500 of different levels is different.

[0083] According to a preferred embodiment, the remote server 100 can generate a first cleaning program for the direct cleaning area of the surface of the instrument 400 and a second cleaning program for the deep working area 500 of the surface of the instrument 400, wherein the first cleaning program and the second cleaning program are carried out at different times in a single operation.

[0084] According to a preferred embodiment, the first spray head 311 and the second spray head 312 are arranged alternately, so that the spray head 310 can spray air flow and / or water flow to the surface of the instrument 400 at the same height and different angles.

[0085] According to a preferred embodiment, based on the cleaning difficulty of the deep working area 500 distributed on the surface of the instrument 400, the remote server 100 can divide the deep working area 500 into at least three levels, and the precision cleaning mode corresponding to different levels is different. Preferably, the levels include a first level, a second level and a third level, which are divided from each other by the flow rate of water flow or air flow.

[0086] The first water flow or air flow level flow rate is set to be less than a, and the first water flow or air flow level is suitable for the case where the depth of the deep working area 500 domain is not greater than θ, under this condition, there is no deep working area 500, and the surface of the instrument 400 is entirely a direct cleaning area, at this time, the first spray head 311 and / or the second spray head 312 is not inclined.

[0087] The second water flow or air flow level flow rate is set to be greater than a and less than β, and the level is suitable for the case where the depth of the deep working area 500 domain is not greater than θ, under this condition, the remote server 100 issues an angle adjustment instruction, and the first spray head 311 or the second spray head 312 is inclined based on the angle adjustment instruction, so that the water flow and the air flow can be concentrated in the deep working area 500. Preferably, the inclination angle can be a preset inclination angle. The preset inclination angle can make the air flow or water flow sprayed by the spray head 310 at different positions enter the deep working area 500.

[0088] The third water flow or air flow level flow rate is set to be greater than β, and the level is suitable for the case where the depth of the deep working area 500 is greater than θ, under this condition, the remote server 100 issues an angle adjustment instruction, and the first spray head 311 or the second spray head 312 is inclined based on the angle adjustment instruction, so that the water flow and the air flow can be concentrated in the deep working area 500. Preferably, when the diameter of the water pipe is 10 mm, a is 5 m / s, and β is 8 m / s. θ is between 1-9 mm.

[0089] According to a preferred embodiment, the system further comprises a display module. The display module is electrically connected with the remote server 100. The display module can provide medical staff with information including non-surface three-dimensional images of the deep working area 500 and cleaned positions, etc.Figure 5 The display module and the input module are preferably integrated, i.e. the display module is capable of containing the function of touch screen input. The operator can input preset instructions, such as the inclination angle of the spray head 310, based on the input module.

[0090] In order to enable the cleaning module 300 to adjust the orientation and angle of the spray head 310 in advance and to perform targeted cleaning on the deep work area when reaching the position corresponding to the deep work area, the remote server 100 can predict the next position containing a deep work area closest to the current position of the cleaning module 300 based on at least two position information of the cleaning module 300. Specifically, the position information at least includes starting position information, first position 510 information, second position 520 information and third position 530 information. The above-mentioned position information all refer to position information containing the position of the deep work area. The starting position information refers to the position information of the position where cleaning starts. The second position 520 information refers to the position information of the current cleaning module 300. The first position 510 information refers to the position information of the position where the cleaning of the last operation (cleaning) of the cleaning module 300 has been completed. The third position 530 information refers to the position information of the position closest to the second position 520 (when the second position 520 coincides with the initial position 600, the second position 520 and the initial position 600 refer to the same position) from the cleaning module 300 before starting cleaning. Preferably, one deep work area 500 belongs to one position. Or, since the cleaning module 300 is annular, a plurality of separate trenches or gaps with the same axial 700 distance from the initial position 600 are one deep work area 500, therefore, different deep work areas 500 have different axial 700 distances from the initial position 600, and therefore, different deep work areas 500 have different positions. The axial 700 direction refers to the extension direction of the instrument 400, i.e. the cleaning direction of the cleaning module 300.

[0091] When the data acquisition module 200 uses the length detection unit, the second position 520 can not coincide with the position. For example, as shown in Figure 4 As shown, the cleaning module 300 completes the cleaning work of the first deep work area 500 and sends a cleaning completion instruction to the remote server 100. The remote server 100 changes the original mark (third position 530) of the deep work area 500 to the first position 510.

[0092] Preferably, the distance detection for verifying whether the cleaning module 300 travels the correct distance can be at the time point before and after the cleaning module 300 completes one deep work area 500.

[0093] For example, the distance detection for verifying whether the cleaning module 300 travels the correct distance can be at a time point before the cleaning module 300 completes a deep work area 500: the remote server 100 generates the time for the cleaning module 300 to reach the third position 530 from the first position 510, and after the time ends, the length detection unit detects the distance between the current position of the cleaning module 300 and the initial position 600, and compares it with the distance between the initial position 600 and the third position 530 marked in the three-dimensional image.

[0094] The distance detection for verifying whether the cleaning module 300 travels the correct distance can be at a time point after the cleaning module 300 completes a deep work area 500: the cleaning module 300 completes the cleaning work of the first deep work area 500 and sends an instruction of completion of cleaning to the remote server 100. At the same time, the length detection unit detects the distance between the current position of the cleaning module 300 and the initial position 600, so as to match the distance between the third position 530 which has not been changed to the first position 510 and the initial position 600.

[0095] Embodiment 2

[0096] The embodiment provides a cleaning method of the instrument 400, comprising the following steps:

[0097] Obtaining the type of the instrument 400 to be cleaned, and obtaining the three-dimensional image of the instrument 400 of the type in the database;

[0098] Based on the three-dimensional image of the instrument 400, the remote server 100 marks the first position 510 of completed cleaning closest to the current cleaning module 300 at a time node and the second position 520 of uncompleted cleaning closest to the current cleaning module 300 at a time node on the three-dimensional image;

[0099] In response to the cleaning module 300 completing the cleaning work at the second position 520, the remote server 100 updates the second position 520 stored on the three-dimensional image of the instrument 400 to the first position 510, and generates a new third position 530 based on the three-dimensional image.

[0100] It should be noted that the above-mentioned embodiments are only examples, and those skilled in the art can think of various solutions under the inspiration of the disclosure of the present application, and these solutions also belong to the disclosed range of the present application and fall within the protection scope of the present application. Those skilled in the art should understand that the specification and drawings of the present application are illustrative and not limiting to the claims. The protection scope of the present application is defined by the claims and their equivalents. The specification of the present application contains multiple inventive concepts, such as "preferably", "according to a preferred embodiment" or "optionally", which all indicate that the corresponding paragraph discloses an independent concept, and the applicant reserves the right to file a divisional application according to each inventive concept. Throughout the text, the features introduced by "preferably" are only optional ways, and should not be understood as necessarily provided, therefore the applicant reserves the right to abandon or delete the relevant preferred features at any time.

Claims

1. A cleaning system for a tubular medical device, comprising a cleaning module for cleaning the device surface and a remote server, characterized in that, It also includes a data acquisition module, which contains a length detection unit integrated into the cleaning module to detect the second position of the cleaning module. A remote server is configured to store a database of 3D images of the instruments. The 3D images of the instruments are marked at time points with the first position (closest to the current cleaning module that has been cleaned) and the third position (closest to the current cleaning module that has not been cleaned). Within a given time range, the remote server confirms the information of the depth work area corresponding to the third position and controls the nozzle angle, direction, and water pressure of the sprayed liquid based on this information. In response to the cleaning module completing the cleaning work at the third position, the remote server updates the third position on its stored 3D image of the instrument to the first position, and generates a new third position based on the 3D image. This allows the remote server to obtain instructions related to cleaning the next deep work area after the cleaning module completes the current cleaning task. The cleaning module includes a support frame surrounding the instrument and nozzles mounted on the support frame. The nozzles are equipped with a first nozzle for spraying and a second nozzle for generating gas. The first and second nozzles are alternately arranged so that the nozzles spray airflow and / or water flow onto the instrument surface at the same height and different angles. The cleaning module controls the first and second nozzles to adjust the spray angle based on the depth of the working area identified by a remote server. Based on the cleaning difficulty of the deep work area distributed on the instrument surface, the remote server divides the deep work area into three levels: Level 1, Level 2, and Level 3, which are distinguished by the flow rate of water or air. The first water or air flow level has a flow rate of less than α and is suitable for deep work areas with a depth of no more than θ. In this case, the first nozzle and / or the second nozzle are not tilted. The second water or air flow level has a flow rate of greater than α and less than β and is suitable for deep work areas with a depth of no more than θ. The third water or air flow level has a flow rate of greater than β and is suitable for deep work areas with a depth greater than θ.

2. The cleaning system according to claim 1, characterized in that, The instruction refers to: The nozzle (310) is in operation in the deep working zone (500) belonging to the third position (530), wherein, The working state of the nozzle (310) includes at least the adjustment angle of the first nozzle (311) and the second nozzle (312) for the deep working area (500) belonging to the third position (530).

3. The cleaning system according to claim 2, characterized in that, The remote server (100) generates a first distance C1 based on the second position (520) of the cleaning module (300) transmitted by the length detection unit, and generates a second distance C2 based on the first position (510) or the third position (530) marked on the three-dimensional image.

4. The cleaning system according to claim 1, characterized in that, Based on the condition of confirming the current position of the cleaning module (300), the remote server (100) generates a judgment result of the execution instruction of the cleaning module (300). When the judgment result is "the two position information of the cleaning module (300) do not match", the remote server (100) controls the cleaning module (300) to stop working and generates an error message.

5. The cleaning system according to claim 2, characterized in that, The depth working area (500) marked on the three-dimensional image contains at least the following: Non-surface 3D image of the deep working area (500); The corresponding cleaning level for the deep working area (500).

6. The cleaning system according to claim 5, characterized in that, Based on the depth of the deep working area (500), the remote server (100) can classify the deep working area (500) on the surface of the instrument (400) into at least two levels, with different levels of deep working areas (500) experiencing different flow rates of water and / or air.

7. The cleaning system according to claim 2, characterized in that, The remote server (100) is capable of generating a first cleaning procedure for the direct cleaning area of ​​the instrument (400) surface and a second cleaning procedure for the deep working area (500) of the instrument (400) surface, wherein the first cleaning procedure and the second cleaning procedure are performed at different times in a single operation.

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