Operating tool for medical device

Abstract

The present disclosure relates to an operating tool (1) arranged and configured to grasp and / or operate a medical device, preferably a container, further preferably a sterile container (21; the invention relates to a handling tool (1) for handling containers, comprising a fork-shaped support (3) and two parallel and spaced-apart prongs (5) extending at right angles in the longitudinal direction (X) away from the fork-shaped support (3), each of the two prongs having a container bearing / clamping side on which a plurality of longitudinally spaced-apart receiving projections (7) are formed or arranged, the receiving projection extends in a height direction (Z) to the container supporting / clamping side. Furthermore, the present disclosure relates to a method of operating a medical tool (1) and a medical container (21; 39).

Description

Technical Field

[0001] The present disclosure relates to a handling tool for handling a medical device / medical product / medical object, in particular a medical container, and a system consisting of the handling tool and the medical container. Background Art

[0002] Medical containers, such as sterile material containers, screen baskets with flexible packaging, etc., are already being handled automatically. This handling is carried out with the aid of parallel or serial robots with corresponding manipulators, floor transport vehicles, AGVs (automatic guided vehicles), conveyor rails and conveyor belts, elevator systems and other conveying technologies that are widely used in logistics.

[0003] In many cases, in highly automated AEMPs (preparation units for medical products), carriers in the form of flat plates are used, on which the objects or products to be moved are located. This allows safe handling regardless of the geometry of the objects or products. However, the disadvantage is that the flat plates involve additional costs, cleaning and logistics.

[0004] If objects in the form of sterile containers are manipulated directly, this has hitherto been done with a spade-shaped tool that moves under the base of the object. The disadvantage here is that an additional mechanism must be used to lift the object in order to place the spade-shaped tool under the object. With such a tool it is not possible to grip from a table and / or from a shelf and / or a container transport vehicle, since the object would be moved by the spade-shaped tool before it rests on the spade surface. In addition, the maximum movement / manipulation speed is limited with spade-shaped tools, which can exclude slipping of the object.

[0005] In general logistics applications, forklifts or lifting devices with flat tines are used for such applications, which are spaced apart in parallel and thus cover the theoretical placement plane. However, such flat tines have the disadvantage that a lifting opening for accommodating the tines must be constructed in the bottom of the object to be transported, whereby the available internal volume of the object is reduced. Alternatively, the object to be lifted must be placed on a pallet, which must be contoured for the tines to move underneath. In addition, by fixing the object to the tines solely based on force locking, the maximum movement / operation speed that can exclude sliding of the object is limited, unless the object is additionally fixed to prevent sliding, which is however cumbersome. Summary of the invention

[0006] Therefore, the object of the present disclosure is to eliminate or at least reduce the disadvantages of the prior art. Specifically, the object of the present disclosure is to provide a handling tool for an object to be handled, in particular a medical device, which can grasp or hold the object from any surface or independently of the positioning of the object and can achieve a high handling speed of the object, in particular during automated operation.

[0007] Here, the term "gripping" is first of all to be understood very generally and not only to be limited to a rod-shaped handle, with the help of which an object is clamped between two branches, but to be understood as any type of accommodation, including simply (loosely) gripping the object from below, in which only forces are applied to the object in the lifting direction, or engaging in a corresponding receptacle on the object, in which only lifting forces are applied to the object, but at the same time lateral sliding / falling of the object can be prevented by corresponding guidance.

[0008] The above-mentioned object is therefore achieved by a medical operating tool preferably according to claim 1 and by a system according to the independent claim. Advantageous developments are disclosed in the dependent claims, the contents of which may optionally be claimed separately and independently.

[0009] Specifically, this task is solved by a preferably medical operating tool, which is provided and constructed for grasping and / or operating a medical device / medical object / product / subject, preferably a medical container, further preferably a sterile container, the operating tool having a fork-shaped support and two parallel and spaced-apart fork teeth extending away from the fork-shaped support at right angles in a longitudinal direction, each of the two fork teeth having a container supporting / clamping side, on which a plurality of longitudinally spaced-apart receiving protrusions are constructed or arranged, and the receiving protrusions extend in a (positive) height direction (i.e. upward) to the container supporting / clamping side.

[0010] In other words, the operating tool comprises a fork-shaped support, which extends approximately symmetrically from a middle position in the positive width direction and the negative width direction. On the respective end sections of the fork-shaped support, fork teeth extending away from the fork-shaped support in the positive longitudinal direction are respectively configured in the width direction. In other words, the fork-shaped support and the two fork teeth approximately form a U-shape, wherein the medical device to be operated is approximately accommodated in the accommodation space configured between the fork teeth.

[0011] The tines comprise receiving projections which extend away from the tines in the height direction. The height direction is to be understood as a direction which is approximately orthogonal to the plane orientation spanned by the longitudinal direction and the width direction. The receiving projections are separated from one another by recesses. Preferably, each tine is constructed with at least two receiving projections. Preferably, in the global coordinate system, the fork-shaped support extends in the height direction greater than in the longitudinal direction. It is also preferred that in the global coordinate system, the tine extends in the height direction greater than in the width direction.

[0012] The core of the disclosure is therefore an actuating tool, which is composed of a fork-shaped carrier and two fork tines, wherein the fork tines are each configured with a (upwardly extending) receiving projection.

[0013] By forming the fork tines together with the receiving projections, a positive-locking receiving / locking of the medical device to be operated on the fork tines can be achieved, whereby an increase in the operating speed can be achieved while increasing the operating safety.

[0014] In a first aspect, the receiving projection of the fork tine can be designed to be tapered, in particular wedge-shaped, so that the height extension of the receiving projection in the height direction on the sides of the fork tine facing each other is greater than the height extension of the receiving projection in the height direction on the sides of the fork tine facing away from each other.

[0015] In other words, the receiving projections of the fork tines can taper relative to one another in the height direction, in particular with respect to the extension in the width direction, which corresponds to the extension direction of the fork carrier.

[0016] In yet other words, the receiving projection can have a ramp geometry, the height of which increases towards the receiving space configured between the fork tines. The ramp geometry can preferably have a substantially linear profile. Alternatively, the ramp geometry can have a (partially) parabolic profile.

[0017] By such a configuration of the receiving projection of the fork tine, the snapping process of the fork tine in the medical device to be operated by the operating tool can be improved. In addition, by such a configuration, manufacturing tolerances, positioning tolerances and / or deformations of the medical device to be operated can be compensated. In addition, by such a geometric structure, a self-locking (snapping) connection between the receiving projection and the medical device to be operated can be achieved.

[0018] On the other hand, the fork tine may include a lower side facing away from the container supporting / clamping side, and the operating protrusion is constructed or arranged on the lower side, the operating protrusion extends toward the lower side in the depth direction / negative height direction and the operating protrusion is preferably constructed in a tapered, in particular wedge-shaped manner, so that the height extension of the operating protrusion in the height direction on the sides of the fork tine facing each other is smaller than the height extension of the operating protrusion in the height direction on the sides of the fork tine facing away from each other.

[0019] In other words, the fork tine may include a lower side facing away from the container support / clamping side, on which an actuating protrusion is constructed or arranged, which extends toward the lower side in the depth direction and which preferably tapers away from each other in the negative height direction, in particular with respect to the extension in the width direction.

[0020] In other words, the fork tines can include an actuating projection extending away from the fork tines in the negative height direction. The actuating projection can preferably have a ramp geometry, which extends in the negative height direction and is inclined toward the receiving space formed between the fork tines. The ramp geometry can preferably have a substantially linear profile. Alternatively, the ramp geometry can have a (partially) parabolic profile.

[0021] The actuation projection enables an actuation position when the medical device is not located between the fork tines or enables pushing or pulling of the medical device to be operated.

[0022] On the other hand, the actuating projection can be designed rotationally symmetrically, in particular rotationally symmetrically by 180°, with respect to the receiving projection about a center axis of the fork tine extending in the longitudinal direction of the fork tine.

[0023] In other words, the contour of the actuating projection can correspond to the contour of the receiving projection in the state rotated by 180°.

[0024] By designing the actuating projection in this way, the actuating projection can be hooked / latched in a manner corresponding to the manner in which the receiving projection is arranged in the medical device to be operated, in order to push or pull the medical device. Specifically, the actuating projection is hooked / latched such that when the operating tool is rotated 180° into the initial position, only one of the fork tines engages with the associated actuating projection.

[0025] On the other hand, the handling tool can contain a sensor receptacle, preferably in / on the fork-shaped support.

[0026] In other words, a cutout or the like can be formed on the operating tool, which is configured to accommodate a sensor. The sensor can be an optical and / or radio-based and / or ultrasonic-based sensor, which is suitable for identifying an object to be operated, in particular a medical device, for example, based on a label / marker.

[0027] Alternatively or additionally, the actuating tool can include a sensor receptacle on at least one of the fork tines.

[0028] Such a design of the manipulation tool makes it possible to place the above-mentioned sensor in / on the manipulation tool. Such a sensor assists in detecting the relative position of the medical device in particular with respect to the manipulation tool, thereby enabling an automated and computer-aided method of defining the manipulation tool.

[0029] On the other hand, the distance between two fork tines can preferably be steplessly variable.

[0030] In other words, the tines can be moved relative to the fork-shaped support in the width direction, ie in the extension direction of the fork-shaped support.Preferably, the tines can be moved by means of at least one threaded rod or at least one hydraulic cylinder or at least one pneumatic cylinder.

[0031] By configuring the operating tool in this way, the operating tool can be flexibly adapted to a plurality of medical devices, thereby significantly expanding the range of use of the operating tool.

[0032] On the other hand, at least one of the fork tines can comprise a latching element / latching geometry, preferably a hook, on an end section facing away from the fork-shaped carrier.

[0033] In other words, the operating tool is provided with a latching element on at least one of the fork tines, but advantageously on both fork tines, which latching element engages in a form-locking manner in a preferably cylindrical element. Specifically, the latching element can engage in a form-locking manner in an especially cylindrical object, which is ideally oriented parallel to the fork support. The object can be, for example, a handle and / or a port and / or an eyelet of a (medical) screen basket, a (medical) wire frame, a box, etc.

[0034] On the other hand, at least one of the fork tines can be configured with at least one clamping element, preferably a pneumatic pad.

[0035] In other words, the clamping element can be formed on at least one of the fork teeth, but preferably on both fork teeth, in the direction of the receiving space formed between the fork teeth, which is configured to produce a force-locking connection with the medical device to be operated. Preferably, the clamping element can be designed as a pneumatic or hydraulic pad, which expands when pressure is applied and exerts a clamping force on the product to be gripped.

[0036] By configuring the fork tines together with at least one clamping element, it is possible to prevent / block the product to be gripped, preferably in the form of a medical device, from slipping. This is particularly advantageous in the case of heavy products to be gripped, such as heavy sterile containers, in order to reliably fix the product to be gripped in / on the handling tool when the direction of the handling tool changes.

[0037] In another aspect, the tines may have a truss structure (lightweight construction).

[0038] In other words, the fork tines and / or the fork carrier can be designed with a load-bearing geometry having weight-reducing recesses, wherein unloaded regions can be designed without material or with reduced wall thickness.

[0039] By this configuration of the fork tines and / or the fork-shaped support, the weight of the operating tool can be reduced. The operating speed can be increased by the smaller weight of the operating tool or the smaller inertia caused thereby.

[0040] In another aspect, the fork-shaped support may include a port for a robotic system on a section facing away from the tines.

[0041] In other words, the handling tool can be connected / connectable to the robot system via the fork-shaped support by means of a port, which is configured, for example, in the form of a flange. The port can be configured on the fork-shaped support so that it is arranged centrally in the width direction between the fork teeth.

[0042] In another aspect, the port may be a rotatable / rotatable port such that the working tool can be rotated about a central axis of the port oriented parallel to the longitudinal direction.

[0043] Furthermore, the operating tool can be constructed from fiber-reinforced or glass-sphere-reinforced plastic. Alternatively, the operating tool can be constructed from a metal material.

[0044] On the other hand, the handling tool can be designed by cutting, as a layer structure (composite plastic), by an injection molding method or by means of rapid prototyping (additive manufacturing).

[0045] On the other hand, the fork tines can include a chamfer at the end section facing away from the fork-shaped support. Such a chamfer facilitates the insertion of the fork tines between closely positioned products to be gripped and / or prevents the fork tines from catching. Furthermore, the chamfers can save material and thus weight, which reduces mechanical loads.

[0046] On the other hand, the fork tines can each contain a stop, preferably in the form of a radius, on a section adjacent to the receiving space formed between the fork tines.

[0047] On the other hand, the receiving projections can be designed in a tooth-like manner on the fork tines.

[0048] On the other hand, the fork support can be formed integrally with the fork tine material (monolithic construction). Alternatively, the fork tine can be connected to the fork tine in a form-fitting and / or force-fitting manner (modular construction).

[0049] Furthermore, the object is achieved by a system consisting of a handling tool, preferably according to any of the above aspects, and a medical container, wherein the medical container comprises at least one folded edge, and the fork tine is arranged and constructed to contact and / or fix the folded edge of the medical container in a form-fitting manner via the receiving protrusion and / or the handling protrusion.

[0050] In other words, the system comprises a handling tool and a medical container, preferably in the form of a sterile article container. The receiving projection and / or the handling projection are coordinated in their geometry with the geometry of the fold of the medical container. In other words, the receiving projection and / or the handling projection are designed such that they engage in a form-fitting manner in the fold.

[0051] In one aspect, the medical container may have a base with dimensions AxB and A is a multiple of 1 / 3 of the length of the tines in the longitudinal direction.

[0052] In other words, the length of the tines can be coordinated with the dimensions of the medical container in a defined relationship.

[0053] By this configuration of the fork teeth, a plurality of different medical containers or medical containers of different sizes can be operated by means of the operating tool. In particular, sterile material containers having 1 / 1, 3 / 4 and 1 / 2 lengths can be operated with the operating tool.

[0054] In one aspect, the folds can be symmetrically configured on opposite side walls of the medical container.

[0055] In another aspect, the fold can be oriented parallel to the bottom and / or edge of the medical container.

[0056] On the other hand, the fold can be configured in a section of the medical container facing the opening of the medical container. In other words, the fold can also be configured in the upper section of the medical container in the height direction.

[0057] On the other hand, the fold can configure an edge section of the opening of the medical container. BRIEF DESCRIPTION OF THE DRAWINGS

[0058] Figure 1 is a diagram of an operating tool according to a first embodiment of the present disclosure;

[0059] Figure 2 is a diagram of a system consisting of a handling tool and a first sterile article container according to a first embodiment;

[0060] Figure 3 yes Figure 2 A cross-sectional view of section AA in FIG.

[0061] Figure 4 is a diagram of a system consisting of a handling tool according to a first embodiment and a half-size container basin in a first position;

[0062] Figure 5 is a diagram of a system consisting of a handling tool according to a second embodiment and a half-size container basin in a first position;

[0063] Figure 6is a diagram of an operating tool according to a second embodiment of the present disclosure;

[0064] Figure 7 is a diagram of a system consisting of a handling tool and a first sterile article container according to a second embodiment;

[0065] Figure 8 yes Figure 7 A cross-sectional view of section AA in FIG.

[0066] Fig. 9 is a diagram of an exemplary rack having a plurality of first sterile item containers;

[0067] Fig.10 is a diagram of an exemplary shelf grid of a shelf in a first processing step and a handling tool according to a second embodiment; and

[0068] Fig.11 is a diagram of an exemplary shelf grid of a shelf in a second processing step and a handling tool according to a second embodiment. DETAILED DESCRIPTION

[0069] The embodiments of the present disclosure are described below based on the accompanying drawings. "Top or upper side" is understood below as a higher value in the Z direction / height direction. "Bottom or lower side" is understood below as a smaller value in the Z direction / height direction. "Front" is understood below as a higher value in the X direction / longitudinal direction. "Rear" is understood below as a smaller value in the X direction / longitudinal direction.

[0070] First embodiment

[0071] Figure 1 A three-dimensional view of an operating tool 1 according to the present disclosure in a first embodiment is shown. The operating tool 1 includes a fork-shaped bracket 3, which is configured as a double T-shaped bracket in the first embodiment presented here and extends in the width direction Y. Fork teeth 5 are respectively configured on the end sections of the fork-shaped bracket 3, and the fork teeth extend out from the fork-shaped bracket 3 at right angles in the longitudinal direction X. The two fork teeth 5 are configured in parallel. The fork-shaped bracket 3 and the two fork teeth 5 roughly form a U shape. A receiving protrusion 7 is configured on the upper side of the fork teeth 5 or on the container support / clamping side. The receiving protrusion 7 is interrupted by a recessed portion 9 along the longitudinal direction X. In other words, the extension of the fork teeth 5 in the height direction Z oriented orthogonal to the plane opened by the longitudinal direction X and the width direction Y is increased in the region of the receiving protrusion 7.

[0072] On the fork support 3, on the side facing away from the fork tines 5, the sensor 11 is constructed in a sensor receptacle 13. In addition, a port 15 of a robot system (not shown) is also constructed on the side of the fork support 3 facing away from the fork tines 5. The port 15 is arranged and constructed to move the operating tool 1 in space and rotate around the axis M. The fork tines 5 contain a recess 17, which is configured to reduce the weight of the operating tool 1. Through the recess 17, the fork tines 5 have a load-compliant truss geometry. In addition, the fork tines 5 each contain a chamfer 19 on the end section facing away from the fork support 3.

[0073] In the first embodiment presented here, the fork support 3 and the two fork tines 5 are designed in one piece. Embodiments are also conceivable in which the fork tines 5 are fixedly or detachably connected to the fork support 3.

[0074] Figure 2 A system consisting of a handling tool 1 according to the present disclosure according to a first embodiment and a medical container in the form of a sterile article container 21 is shown. The sterile article container 21 comprises a basin 23 and a cover 25. The basin 23 and the cover 25 are detachably connected to each other by a closure 27. In other words, the cover 25 closes the basin 23 of the sterile article container 21. The handling tool 1 is arranged and configured to accommodate the sterile article container 21 between two fork teeth 5 and automatically grasp and operate the sterile article container 21.

[0075] exist Figure 2 The sterile article container 21 presented in the figure is a full-size or 1 / 1 sterile article container 21. The full-size sterile article container 21 has a length L1 in the longitudinal direction X. The fork tine 5 has a length L3 / 4 in the longitudinal direction X. The length L3 / 4 of the fork tine 5 corresponds to three quarters of the length L1 of the full-size sterile article container 21.

[0076] An end stop 29 is formed on the end section of the fork tines 5 facing the fork support 3 (see also Figure 1 ). The end stop 29 is a partially spherical / curved recess, wherein the radius of the end stop 29 corresponds approximately to the corner radius of the corner 31 of the basin 23 of the sterile container 21 .

[0077] The handling tool 1 engages with the receiving projection 7 in the fold 33 of the basin 23 of the sterile material container 21, which is located at the bottom. Figure 3 With the help of Figure 2 Section AA is explained in more detail.

[0078] Figure 3 The section AA is shown and thus Figure 2 A partial cross-section of the system presented in . Specifically, Figure 3A section through an edge section of a sterile container 21 having a fork tine 5 with a receiving projection 7 and a basin 23 and a lid 25 is shown. The basin 23 contains a fold 33, which is formed parallel to the opening edge of the basin 23 at least on two opposite side walls 35 of the basin 23. In the first embodiment presented here, the fold 33 is formed integrally with the side wall 35 and the fold 33 and the side wall 35 enclose an acute angle.

[0079] The wall thickness of the side wall 35 and the fold 33 is constant / identical in the embodiment presented here. However, embodiments are conceivable in which the wall thickness of the fold 33 is greater than the wall thickness of the side wall 35. The side wall 35 is constructed with a reinforcing rib / reinforcement structure 37 in the first embodiment presented here (see also Figure 2 ).

[0080] The receiving projection 7 is a geometric structure that becomes narrower with increasing height in the height direction Z relative to the extension in the width direction Y. In other words, the receiving projection 7 is formed toward the axis M (see Figure 1 ) direction of the ramp-shaped geometry. In other words, the receiving portion for the medical container or sterile article container 21 is constructed between the two fork teeth 5, and the height of the receiving protrusion 7 increases along the height direction Z toward the receiving portion.

[0081] In the first embodiment presented here, the slope of the receiving projection 7 is coordinated with the angle of the fold 33. In other words, when the sterile container 21 is located in the receiving portion of the handling tool 1, the receiving projection 7 of the fork tine 5 contacts the fold 33 of the sterile container 21.

[0082] Below with the help of Figure 2 and Figure 3 The operating mode of the handling tool 1 in combination with a full-size sterile article container 21 is described. In order to handle the sterile article container 21 and perform pick-and-place tasks, the handling tool 1 is moved in the longitudinal direction X by means of a robot system (not shown) which is connected to the handling tool 1 via a port 15 until the sterile article container 21 abuts against the end stop 29. The abutment of the sterile article container 21 against the end stop 29 can be checked / verified, for example, by means of a sensor 11.

[0083] Furthermore, the sensor 11 can read a label (not shown) mounted on the sterile article container 21. The label can contain information about the content of the sterile article container 21, for example. Furthermore, the sensor 11 can be arranged and configured to read a label mounted in / on a shelf and / or on a container transport vehicle and containing information about a storage location, for example.

[0084] When the sterile container 21 is located on the end stop 29, the movement of the operating tool 1 along the longitudinal direction X is stopped and the operating tool 1 is moved along the positive height direction Z. Here, the accommodating projection 7 of the fork tine 5 is engaged / form-locked with the folded edge 33 of the sterile container 21 and the sterile container 21 is lifted. In other words, the sterile container 21 is inserted into the operating tool 1 in the vertical translation movement of the operating tool 1, so that the sterile container 21 is placed in the accommodating portion with the folded edge 33 in the upper area between the fork tines 5. This ensures the shape-locked and limited seating of the sterile container 21 to be transported. In addition, the sterile container 21 itself stabilizes the fork tine 5 with respect to the lateral movement in the inserted state.

[0085] When the sterile object container 21 is connected to the handling tool 1 in a form-locking manner via the receiving projections 7 of the fork tines 5, the handling tool 1 can be moved and repositioned by means of a robot system. To place the sterile object container 21, once the sterile object container 21 is placed on a surface, the handling tool 1 is moved further in the negative height direction Z, and the receiving projections 7 and the folded edges 33 are disengaged and thus the form-locking, defined seating is released.

[0086] Figure 4 and Figure 5 The handling tool 1 according to the first embodiment is shown with a medical container in the form of a half-sized container basin 39. A new description of the handling tool 1 according to the first embodiment is omitted and will be described below with reference to Figure 4 and Figure 5 Only the differences in the way the handling tool 1 functions in combination with a half-sized container basin 39 are described.

[0087] In order to be able to reliably operate the half-size container pot 39, it is necessary to make the half-size container pot 39 contact the end stop 29. Since the length L3 / 4 of the fork tine 5 is greater than the length L1 / 2 of the half-size container pot 39 when operating the half-size container pot 39, this is not easy to achieve when the half-size container pot 39 is positioned on an obstacle so that the fork tine 5 cannot move so far in the longitudinal direction X that the half-size container pot 39 contacts the end stop 29.

[0088] Figure 4A first step is shown, in which a half-sized container pot 39 is lifted by means of the front section of the handling tool 1. The corner sections / corner radii of the half-sized container pot 39 are arranged in the recess 9 in order to prevent collisions between the fork tines 5 and the corner radii of the half-sized container pot 39 and at the same time to form a defined stop for the half-sized container pot 39 in the fork tines 5 in the longitudinal direction X. In this first step, the half-sized container pot 39 is positioned away from obstacles by means of the handling tool 1 so that the fork tines 5 can be moved in the longitudinal direction X in a second step until the half-sized container pot 39 contacts the end stop 29, as in Figure 5 as presented in .

[0089] Thus, in the specific example, a half-size container basin 39 in the second row of a shelf and / or a container transporter can be lifted with the front section / tip of the handling tool 1 and the container tray can be positioned further in front of the shelf (first step). Subsequently, when the fork tines 5 protrude beyond the half-size container basin 39, the half-size container basin 39 is lifted again with the rear part of the handling tool 1 (second step). This has the advantage that the medical container can be moved to the port 15 of the robot system with the smallest possible lever arm, regardless of its size, and the maximum load-bearing capacity of the robot system can be fully utilized as well as possible.

[0090] Second embodiment

[0091] Figure 6 A perspective view of an operating tool 1 according to the present disclosure in a second embodiment is shown. A repeated description of the same features and characteristics as those of the first embodiment will be omitted and only differences from the first embodiment will be described.

[0092] The operating tool 1 according to the second embodiment comprises an actuating projection 41 on the underside of the fork tine 5. The side of the fork tine 5 facing away from the upper side is understood to be the underside. In other words, the actuating projection 41 and the receiving projection 7 are formed on the sides of the fork tine 5 facing away from each other. The actuating projection 41 and the receiving projection 7 are interrupted by a cutout 9, respectively. In other words, the cutout 9 is arranged identically on the underside and the upper side of the fork tine 5. The exact geometry of the actuating projection 41 will be described later with reference to Figure 8 More detailed explanation.

[0093] Furthermore, a latching element in the form of a hook 43 is formed on the end section of the fork tine 5 facing away from the fork support 3. The hook 43 is designed to engage in a positively locking manner in an eye or a handle or the like provided on an object and to move the object. Figure 6 In the receiving position, the handling tool 1 is presented. In the receiving position, the receiving projections 7 each point upward or in the positive height direction Z.

[0094] Figure 7The handling tool 1 of the second embodiment is shown in the handling position. Specifically, the handling tool 1 is rotated 180° about the center axis M in the handling position, so that the handling projection 41 now points upward or in the positive height direction Z. In other words, the receiving position and the handling position differ in that the handling tool 1 is rotated / rotated 180° about the center axis. The rotation / rotation of the handling tool 1 is carried out here by means of the port 15 or a rotation unit flanged to the port 15. One of the fork teeth 5 engages with the handling projection 41 with the folded edge 33 of the container basin 39 of the sterile article container 21. Later on, according to Figures 9 to 11 Explain in more detail how exactly this works.

[0095] Figure 8 Show Figure 7 The operating projection 41 is engaged in a positively locking manner in the folded edge 33. In the operating position presented here, the receiving projection 7 is formed on the section of the fork tine 5 facing away from the folded edge 33. The operating projection 41 and the receiving projection 7 are configured point-symmetrically with respect to the fork tine axis MP extending in the longitudinal direction X of the fork tine 5. In other words, the contour of the operating projection 41 corresponds to the contour of the receiving projection 7. In other words, the operating projection 41 differs from the receiving projection 7 approximately in its orientation on the fork tine 5.

[0096] Below with the help of Figures 9 to 11 An exemplary operation of the operating tool 1 of the second embodiment will be described.

[0097] Fig. 9 An exemplary shelf 45 is shown which is (completely) occupied by a plurality of sterile article containers. In enlargement A it can be seen that the folds 33 of the sterile article containers 21 rest so tightly on the wall 47 of the shelf 45 that the handling tool 1 cannot engage in the folds 33 .

[0098] In a first step (not shown), as described above, the sterile article container 21 positioned centrally in the rack is lifted from the arrangement in the shelf 45 and manipulated. After the gap 49 has been created by removing the central sterile article container 21 in the shelf 45, the handling tool 1 is moved into the gap 49 in the handling position in a second step, and the handling projection 41 engages with the fold 33 of the sterile article container in a third step by means of a horizontal and subsequently vertical movement (see Fig.10 ). With the subsequent further horizontal movement, the sterile article container 21 hooked by the handling tool 1 is removed / moved away from the side wall 47 in a fourth step. The handling tool 1 is then rotated into the receiving position and the sterile article container 21 is (normally) received.

[0099] Reference numerals list

[0100] 1Operation tools

[0101] 3-prong bracket

[0102] 5 fork tines

[0103] 7. Accommodate the protrusion

[0104] 9 blank space

[0105] 11 Sensors

[0106] 13 sensor housing

[0107] Port 15

[0108] 17 Gap

[0109] 19Chamfer

[0110] 21 Sterile Containers

[0111] 23 pots

[0112] 25 caps

[0113] 27 Closures

[0114] 29 End stop

[0115] 31 corner

[0116] 33 hem

[0117] 35 side wall

[0118] 37 Reinforcement ribs / strengthening structure

[0119] 39 container basin

[0120] 41 Manipulation bulge

[0121] 43 hook

[0122] 45 Shelves

[0123] 47 walls

[0124] 49 Interstitial Space

[0125] X longitudinal direction

[0126] Y width direction

[0127] Z height direction

[0128] M axis

[0129] MP fork tine axis.

Claims

1. An operating tool (1) is arranged and constructed to grasp and / or operate a medical device, preferably a container, further preferably a sterile container (21; 39), the operating tool having a fork-shaped support (3) and two parallel and spaced apart fork teeth (5) extending away from the fork-shaped support (3) at right angles in a longitudinal direction (X), each of the two fork teeth having a container supporting / clamping side, on which a plurality of longitudinally spaced apart receiving protrusions (7) are constructed or arranged, and the receiving protrusions extend in a height direction (Z) to the container supporting / clamping side.

2. The operating tool (1) according to claim 1, wherein: The receiving projection (7) of the fork tine (5) is designed to be tapered, in particular wedge-shaped, so that the height extension of the receiving projection (7) on the sides of the fork tine (5) facing each other in the height direction (Z) is greater than the height extension of the receiving projection (7) on the sides of the fork tine (5) facing away from each other in the height direction (Z).

3. The operating tool (1) according to claim 2, wherein: The fork tine (5) comprises a lower side facing away from the container supporting / clamping side, and an actuating projection (41) is constructed or arranged on the lower side, the actuating projection extends toward the lower side in the depth direction / negative height direction and the actuating projection is preferably constructed in a tapered, in particular wedge-shaped, manner so that the height extension of the actuating projection (41) in the height direction (Z) on the mutually facing sides of the fork tine (5) is smaller than the height extension of the actuating projection (41) in the height direction (Z) on the mutually facing sides of the fork tine (5).

4. The operating tool (1) according to claim 3, wherein: The actuating projection (41) is designed rotationally symmetrically, preferably rotationally symmetrically by 180°, with respect to the receiving projection (7) about a center axis (MP) of the fork tine (5) extending in the longitudinal direction of the fork tine (5).

5. The operating tool (1) according to any one of claims 1 to 4, wherein: The operating tool (1) preferably contains a sensor receptacle (13) in / on the fork-shaped support (3).

6. The operating tool (1) according to any one of claims 1 to 5, wherein: The distance between the two fork teeth (5) is preferably variable in a stepless manner.

7. The operating tool (1) according to any one of claims 1 to 6, wherein: At least one of the fork teeth (5) comprises a latching element, preferably a hook (43), on an end section facing away from the fork support (3).

8. The handling tool (1) according to any one of claims 1 to 7, wherein: At least one of the fork teeth (5) is designed with at least one clamping element, preferably a pneumatic or hydraulic cushion.

9. The handling tool (1) according to any one of claims 1 to 8, wherein: The fork tines (5) have a truss structure.

10. The handling tool (1) according to any one of claims 1 to 9, wherein: The fork-shaped support (3) comprises a port (15) for a robotic system on a section facing away from the fork tines (5).

11. A system consisting of a handling tool (1) preferably according to any one of claims 1 to 10 and a medical container (21; 39), wherein: The medical container (21; 39) comprises a fold (33), and the fork teeth (5) are arranged and constructed to contact and / or fix the fold (33) of the medical container (21; 39) in a form-fitting manner via the receiving projection (7) and / or to engage in the fold (33).

12. The system according to claim 11, wherein: The medical container (21; 39) has a base area with dimensions A×B and A is a multiple of 1 / 3 of the length of the fork tines (5) in the longitudinal direction (X).

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