Operating tool for a medical device

Abstract

This disclosure relates to an operating tool (1) configured and arranged to grasp and / or operate a medical device, preferably a container, more preferably a sterile container (21; 39), the operating tool having a forked support (3) and two parallel, spaced-apart forks (5) extending at right angles in the longitudinal direction (X) away from the forked support (3), each of the two forks having a container support / clamping side, on which a plurality of longitudinally spaced receiving protrusions (7) are constructed or arranged, the receiving protrusions extending in the height direction (Z) to the container support / clamping side. Furthermore, this disclosure relates to a system comprising a medical operating tool (1) and a medical container (21; 39).

Description

Technical Field

[0001] This disclosure relates to an operating tool for operating medical devices / medical products / medical objects, particularly medical containers, and a system comprising said operating tool and said medical container. Background Technology

[0002] Medical containers, such as sterile containers and sieve baskets with flexible packaging, are already being automated. This operation is carried out with the help of parallel or serial robots equipped with corresponding manipulators, ground transport vehicles, AGVs (automated guided vehicles), transport tracks and conveyor belts, elevator systems, and other conveying technologies widely used in logistics.

[0003] In many cases, highly automated AEMP (Preparation Unit for Medical Products) utilizes flat-plate carriers on which the object or product to be moved rests. This enables safe operation regardless of the object's or product's geometry. However, the downside is that flat plates incur additional costs, cleaning expenses, and logistical overhead.

[0004] If directly handling objects in the form of sterile containers, this has so far been done using a shovel-shaped tool that moves beneath the object. A disadvantage here is that an additional mechanism must be used to lift the object so that the shovel-shaped tool can be positioned underneath it. This tool cannot be used to pick up objects from workbenches and / or shelves and / or container trolleys because the object will move due to the shovel-shaped tool before it is placed on the shovel surface. Furthermore, the maximum movement / operation speed is limited in the shovel-shaped tool, which prevents the object from slipping.

[0005] In typical logistics applications, forklifts or lifting devices with flat, spaced-apart forks are used, thus expanding the theoretical placement plane. However, a disadvantage of these flat forks is that a lifting opening must be constructed in the bottom of the object to be transported to accommodate the forks, thereby reducing the usable internal volume of the object. Alternatively, the object to be lifted must be placed on a pallet, which must be contoured to allow the forks to move underneath. Furthermore, securing the object to the forks solely based on force-locking limits the maximum movement / operation speed at which slippage can be prevented unless the object is additionally secured to prevent slippage, which is cumbersome. Summary of the Invention

[0006] Therefore, the object of this disclosure is to eliminate or at least reduce the disadvantages of the prior art. Specifically, the object of this disclosure is to provide an operating tool for an object to be operated, particularly a medical device, which enables the object to be grasped or contained from any ground surface or regardless of its location, and especially to achieve a high operating speed in automated operation.

[0007] Here, the term "grip" should first be understood very generally and not limited to a rod-shaped handle by which an object is clamped between two branches, but rather understood as any means of containment, including simply (loosely) gripping the object from below (where force is applied to the object only in the lifting direction) or fitting into a corresponding containment on the object (where only lifting force is applied to the object but lateral sliding / slipping of the object is prevented by corresponding guidance).

[0008] Therefore, the above-mentioned task is solved by the medical operating tool according to the invention and by the system according to the invention.

[0009] Specifically, this task is addressed by selecting a medical manipulation tool provided and constructed for grasping and / or manipulating medical devices / medical objects / products / objects, preferably medical containers, more preferably sterile containers, the manipulation tool having a forked support and two parallel, spaced-apart forks extending at right angles away from the forked support in a longitudinal direction, each of the two forks having a container support / clamping side, on which a plurality of longitudinally spaced receiving protrusions are constructed or arranged, the receiving protrusions extending in a (positive) height direction (i.e., upward) to the container support / clamping side.

[0010] In other words, the operating tool includes a forked support that extends approximately symmetrically from a central position along both the positive and negative width directions. Forked teeth, extending from the forked support in the positive longitudinal direction, are respectively constructed on the corresponding end sections of the forked support along the width direction. In other words, the forked support and the two forked teeth generally form a U-shape, wherein the medical device to be operated is generally accommodated in the receiving space constructed between the forked teeth.

[0011] The fork teeth include receiving protrusions that extend from the fork teeth along the height direction. The height direction should be understood as a direction that is approximately orthogonal to the planar orientation opened by the longitudinal and width directions. The receiving protrusions are separated from each other by gaps. Preferably, each fork tooth has at least two receiving protrusions. Preferably, in the global coordinate system, the fork-shaped support extends more in the height direction than in the longitudinal direction. It is also preferred that, in the global coordinate system, the fork teeth extend more in the height direction than in the width direction.

[0012] Therefore, the core of this disclosure is an operating tool, which consists of a fork-shaped support and two fork teeth, wherein each fork tooth is constructed with an upwardly extending receiving protrusion.

[0013] By constructing a receiving / locking mechanism together with receiving protrusions, the medical device to be operated can be shaped and locked on the receiving / locking mechanism, thereby improving both operational safety and operational speed.

[0014] In the first aspect, the receiving protrusion of the fork tooth can be constructed in a tapering, particularly wedge-shaped manner, such that the height extension of the receiving protrusion along the height direction on the mutually facing sides of the fork tooth is greater than the height extension of the receiving protrusion along the height direction on the mutually opposing sides of the fork tooth.

[0015] In other words, the receiving protrusions of the fork teeth can taper relative to each other along the height direction, and especially with respect to the extension in the width direction, which corresponds to the extension direction of the fork-shaped support.

[0016] In other words, the receiving protrusion can have a ramp geometry, the height of which increases toward the receiving space constructed between the forks. The ramp geometry preferably has a generally linear profile. Alternatively, the ramp geometry can have a (partially) parabolic profile.

[0017] This design, which accommodates the protrusions in the fork teeth, improves the engagement process of the fork teeth within the medical device to be operated by the tool. Furthermore, this design can compensate for manufacturing tolerances, positioning tolerances, and / or deformations of the medical device to be operated. Additionally, this geometry enables a self-locking connection (locking) between the accommodating protrusions and the medical device to be operated.

[0018] On the other hand, the fork teeth may include a lower side facing away from the container support / clamping side, on which an actuating protrusion is constructed or arranged. The actuating protrusion extends toward the lower side in the depth direction / negative height direction and is preferably constructed in such a tapered, especially wedge-shaped manner that the height extension of the actuating protrusion in the height direction on the mutually facing sides of the fork teeth is less than the height extension of the actuating protrusion in the height direction on the mutually opposing sides of the fork teeth.

[0019] In other words, the fork tooth may include a lower side opposite to the container support / clamping side, on which an actuating protrusion is constructed or arranged, the actuating protrusion extending downward in the depth direction and preferably tapering away from each other in the negative height direction, particularly with respect to the extension in the width direction.

[0020] In other words, the fork teeth may include actuating protrusions extending away from the fork teeth in a negative height direction. The actuating protrusions may preferably have a ramp geometry extending in a negative height direction toward a receiving space constructed between the fork teeth. The ramp geometry preferably has a generally linear profile. Alternatively, the ramp geometry can have a (partially) parabolic profile.

[0021] The manipulation protrusion enables the manipulation of position or pushing or pulling of the medical device when it is not located between the forks.

[0022] On the other hand, the manipulating protrusion can be configured to be rotationally symmetrical about the central axis of the fork tooth extending in the longitudinal direction of the fork tooth with respect to the receiving protrusion, particularly with a rotational symmetry of 180°.

[0023] In other words, the profile of the manipulating protrusion can correspond to the profile of the accommodating protrusion in a state of 180° rotation.

[0024] By designing the actuating protrusion in this way, it can hook / lock in a manner corresponding to how the protrusion is housed in the medical device to be operated, in order to push or pull the medical device. Specifically, this actuating protrusion achieves hook / lock such that when the operating tool is rotated 180° to the initial position, only one tooth of the fork engages with its corresponding actuating protrusion.

[0025] On the other hand, the operating tool may include a sensor housing, preferably in / on a fork-shaped bracket.

[0026] In other words, the operating tool may be constructed with a recess or other structure designed to accommodate a sensor. The sensor may be optical and / or radio-based and / or ultrasonic-based, suitable for, for example, identifying objects to be operated based on tags / marks, particularly medical devices.

[0027] Alternatively or additionally, the operating tool may be included in a sensor housing on at least one fork tooth.

[0028] This design of the manipulator allows for the placement of the aforementioned sensor within / on the manipulator. This sensor assists in detecting the relative position of the medical device with respect to the manipulator, thereby enabling an automated and computer-aided method of manipulating the manipulator.

[0029] On the other hand, the distance between the two forks can preferably be continuously variable.

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

[0031] By constructing the operating tool in this way, it can be flexibly adapted to multiple medical devices, thereby significantly expanding the scope of its application.

[0032] On the other hand, at least one of the forks may include a locking element / locking geometry, preferably a hook, on the end section opposite to the fork-shaped support.

[0033] In other words, the operating tool has a locking element constructed on at least one of the forks, but advantageously on two forks, which achieves a form-locking fit into a preferably cylindrical element. Specifically, the locking element can be form-lockingly fitted into a particularly cylindrical object, ideally oriented parallel to the fork support. The object can be, for example, a handle and / or port and / or eyelet of a (medical) sieve basket, (medical) wire frame, box, etc.

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

[0035] In other words, the clamping element may be constructed on at least one, but preferably two, tooth of the fork in a direction toward the receiving space constructed between the forks, the receiving space being configured to establish force engagement with the medical device to be operated. Preferably, the clamping element may be constructed as a pneumatic or hydraulic pad that expands when pressure is applied and applies a clamping force to the product to be gripped.

[0036] By constructing the fork teeth together with at least one clamping element, slippage of the product to be grasped, preferably in the form of a medical device, can be prevented / avoided. This is particularly advantageous in the case of heavy products to be grasped, such as containers for carrying sterile articles, so as to reliably secure the product to be grasped in / on the operating tool when the orientation of the operating tool changes.

[0037] On the other hand, the fork can have a truss structure (lightweight structure).

[0038] In other words, the fork teeth and / or fork-shaped supports can be constructed with a load-bearing geometry that has weight-reducing gaps, wherein unloaded areas can be constructed without material or with reduced wall thickness.

[0039] This design, with its fork teeth and / or fork-shaped support, reduces the weight of the operating tool. The reduced weight of the tool, or the resulting lower inertia, allows for increased operating speed.

[0040] On the other hand, the fork-shaped bracket can contain the port of the robot system on the section opposite to the fork teeth.

[0041] In other words, the manipulator can be connected to / connected to the robot system via a fork-shaped support using a port constructed, for example, in the form of a flange. The port can be constructed on the fork-shaped support so that it is centrally positioned between the fork teeth along the width direction.

[0042] On the other hand, the port can be a rotatable / rotatable port, allowing the operating tool to rotate about a central axis of the port that is parallel to the longitudinal direction.

[0043] In addition, the operating tool can be constructed of fiber-reinforced or glass-bead-reinforced plastic. Alternatively, the operating tool can be constructed of metal.

[0044] On the other hand, the tools can be constructed by cutting, layering (composite plastics), injection molding, or by means of rapid prototyping (additive manufacturing).

[0045] On the other hand, the fork teeth may include chamfers at the end section opposite to the fork-shaped support. These chamfers facilitate the insertion of the fork teeth between the positioned products to be gripped and / or prevent the fork teeth from hooking. Furthermore, the chamfers save material and thus weight, reducing mechanical load.

[0046] On the other hand, the fork teeth may each include a stop, preferably in the form of a radius, on the section adjacent to the receiving space constructed between the fork teeth.

[0047] On the other hand, the accommodating protrusions can be toothed on the fork teeth.

[0048] On the other hand, the fork-shaped support can be constructed integrally with the fork tooth material (integral structure). Alternatively, the fork tooth can be connected to the fork tooth in a form-locking and / or force-locking manner (modular structure).

[0049] Furthermore, this task is accomplished by a system consisting of an operating tool and a medical container, preferably according to any of the foregoing aspects, wherein the medical container includes at least one folded edge, and the fork is configured to engage and / or secure the folded edge of the medical container by means of the receiving protrusion and / or the shape of the manipulating protrusion.

[0050] In other words, the system includes an operating tool and a medical container, preferably in the form of a sterile article container. The receiving and / or maneuvering protrusions are geometrically coordinated with the folded edge of the medical container. In other words, the receiving and / or maneuvering protrusions are constructed such that they are shape-locked into the folded edge.

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

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

[0053] This forked design allows for the manipulation of multiple different medical containers or medical containers of different sizes using a manipulator. In particular, it enables the manipulation of sterile containers with lengths of 1 / 1, 3 / 4, and 1 / 2.

[0054] In one respect, the folded edges can be symmetrically constructed on the opposite sidewalls of the medical container.

[0055] On the other hand, the folded edge can be oriented parallel to the bottom and / or edge of the medical container.

[0056] On the other hand, the folded edge can be constructed in the section of the medical container facing the opening of the medical container. In other words, the folded edge can also be constructed in the upper section of the medical container along the height direction.

[0057] On the other hand, folded edges can be used to construct the edge segments of the opening of a medical container. Attached Figure Description

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

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

[0060] Figure 3 yes Figure 2 Sectional view of section AA in the middle;

[0061] Figure 4 This is a diagram of a system consisting of an operating tool according to the first embodiment and a half-sized container in a first position.

[0062] Figure 5 This is a diagram of a system consisting of an operating tool according to the second embodiment and a half-sized container in the first position;

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

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

[0065] Figure 8 yes Figure 7 Sectional view of section AA in the middle;

[0066] Figure 9This is an illustration of an exemplary shelf with multiple first sterile article containers;

[0067] Figure 10 The illustration shows an exemplary shelf compartment in the first processing step and an operating tool according to the second embodiment; and

[0068] Figure 11 This is an illustration of an exemplary shelf unit and an operating tool according to the second embodiment during the second processing step.

[0069] Wherein: 1-operating tool; 3-fork-shaped bracket; 5-fork tooth; 7-accommodating protrusion; 9-empty part; 11-sensor; 13-sensor accommodating part; 15-port; 17-gap; 19-bevel; 21-sterile item container; 23-basin; 25-lid; 27-closure; 29-end stop; 31-corner; 33-folded edge; 35-side wall; 37-reinforcing rib / reinforcing structure; 39-container basin; 41-operating protrusion; 43-hook; 45-shelf; 47-wall; 49-gap space; X-longitudinal direction; Y-width direction; Z-height direction; M-axis; MP-fork tooth axis. Detailed Implementation

[0070] The embodiments of this disclosure are described below with reference to the accompanying drawings. "Upper" or "upper side" is understood below as a higher value along the Z-direction / height direction. "Lower" or "lower side" is understood below as a smaller value along 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.

[0071] First Embodiment

[0072] Figure 1 A perspective view of the operating tool 1 according to the present disclosure in a first embodiment is shown. The operating tool 1 includes a fork-shaped support 3, which in the first embodiment presented herein is constructed as a double-T-shaped support and extends in the width direction Y. Fork teeth 5 are respectively constructed on the end sections of the fork-shaped support 3, which extend from the fork-shaped support 3 at right angles in the longitudinal direction X. The two fork teeth 5 are constructed in parallel. The fork-shaped support 3 and the two fork teeth 5 generally form a U-shape. A receiving protrusion 7 is constructed on the upper side of the fork teeth 5 or the container support / clamping side. The receiving protrusion 7 is interrupted along the longitudinal direction X by a gap 9. In other words, in the region of the receiving protrusion 7, the extension of the fork teeth 5 in the height direction Z, which is orthogonal to the plane orientation opened by the longitudinal direction X and the width direction Y, is increased.

[0073] On the fork-shaped support 3, on the side opposite to the fork teeth 5, a sensor 11 is constructed in a sensor housing 13. Furthermore, a port 15 for a robot system (not shown) is also constructed on the side of the fork-shaped support 3 opposite to the fork teeth 5. The port 15 is configured to allow the manipulator 1 to move in space and rotate about axis M. The fork teeth 5 include a gap 17, which is configured to reduce the weight of the manipulator 1. Through the gap 17, the fork teeth 5 have a truss geometry that conforms to the load. Additionally, the fork teeth 5 include chamfers 19 on the end sections opposite to the fork-shaped support 3.

[0074] In the first embodiment presented here, the fork-shaped bracket 3 and the two fork teeth 5 are integrally constructed. Some embodiments are also conceivable in which the fork teeth 5 are fixedly or detachably connected to the fork-shaped bracket 3.

[0075] Figure 2 A system comprising an operating tool 1 according to the present disclosure and a medical container in the form of a sterile article container 21, according to a first embodiment, is shown. The sterile article container 21 includes a basin 23 and a lid 25. The basin 23 and the lid 25 are detachably connected to each other by a closure 27. In other words, the lid 25 closes the basin 23 of the sterile article container 21. The operating tool 1 is set and configured to receive the sterile article container 21 between two forks 5 and to automatically grasp and manipulate the sterile article container 21.

[0076] exist Figure 2 The sterile article container 21 presented is either a full-size or 1 / 1 size sterile article container 21. The full-size sterile article container 21 has a length L1 in the longitudinal direction X. The fork 5 has a length L3 / 4 in the longitudinal direction X. The length L3 / 4 of the fork 5 corresponds to three-quarters of the length L1 of the full-size sterile article container 21.

[0077] An end stop 29 is constructed on the end section of the fork tooth 5 facing the fork-shaped support 3 (see also...). Figure 1 The end stop 29 is a partially spherical / curved gap, wherein the radius of the end stop 29 approximately corresponds to the corner radius of the corner 31 of the basin 23 of the sterile article container 21.

[0078] Operating tool 1 utilizes the receiving protrusion 7 to be fitted into the folded edge 33 of the basin 23 of the sterile item container 21, as shown below. Figure 3 China with the help of Figure 2 The section AA in the text will be explained in more detail.

[0079] Figure 3 Section AA is shown and therefore shows Figure 2 The system presented in the image is a partial cross-section. Specifically, Figure 3A cross-section is shown through the edge section of a sterile article container 21 having a fork 5 receiving a protrusion 7 and a basin 23 and a lid 25. The basin 23 includes a folded edge 33, which is constructed parallel to at least two opposing sidewalls 35 of the basin 23 at the opening edge of the basin 23. In the first embodiment presented herein, the folded edge 33 is integrally constructed with the sidewalls 35 and the folded edge 33 and the sidewalls 35 form an acute angle.

[0080] The wall thicknesses of the sidewall 35 and the flange 33 are constant / identical in the embodiment presented herein. However, embodiments in which the wall thickness of the flange 33 is greater than that of the sidewall 35 are conceivable. The sidewall 35, in the first embodiment presented herein, is constructed with reinforcing ribs / reinforcing structures 37 (see also...). Figure 2 ).

[0081] The receiving protrusion 7 is a geometry that narrows relative to its extension in the width direction Y as its height increases along the height direction Z. In other words, the receiving protrusion 7 is oriented towards the axis M (see...). Figure 1 The geometric structure is a ramp-shaped structure that rises in the direction of Z. In other words, the receiving part of the medical container or sterile article container 21 is constructed between the two forks 5, and the height of the receiving protrusion 7 rises in the height direction Z toward the receiving part.

[0082] In the first embodiment presented here, the slope of the receiving protrusion 7 is coordinated with the angle of the folded edge 33. In other words, when the sterile article container 21 is located in the receiving portion of the operating tool 1, the receiving protrusion 7 of the fork tooth 5 contacts the folded edge 33 of the sterile article container 21.

[0083] The following uses Figure 2 and Figure 3 The operation of the manipulator 1 combined with the full-size sterile item container 21 is described. To manipulate the sterile item container 21 and perform pick-and-place tasks, the manipulator 1 moves longitudinally in the X direction using a robotic system (not shown) until the sterile item container 21 is abutted against the end stop 29. This robotic system is connected to the manipulator 1 via port 15. For example, sensor 11 can be used to check / verify the abutment of the sterile item container 21 against the end stop 29.

[0084] In addition, sensor 11 can read labels (not shown) affixed to sterile article container 21. This label may, for example, contain information about the contents of sterile article container 21. Furthermore, sensor 11 can be configured to read labels affixed to shelves / onboards and / or on container transport vehicles and, for example, contain information about the storage location.

[0085] When the sterile article container 21 is positioned on the end stop 29, the movement of the operating tool 1 in the longitudinal direction X is stopped, and the operating tool 1 is moved in the positive height direction Z. Here, the receiving protrusion 7 of the fork 5 engages / shape-locks with the flange 33 of the sterile article container 21, raising the sterile article container 21. In other words, the sterile article container 21 is inserted into the operating tool 1 during the vertical translational movement of the operating tool 1, such that the sterile article container 21 is placed in the receiving portion in the upper region between the fork 5 using the flange 33. This ensures that the sterile article container 21 to be transported is positioned in a defined shape-locked position. Furthermore, the sterile article container 21 itself stabilizes the fork 5 about lateral movement in the inserted state.

[0086] When the sterile article container 21 is connected to the operating tool 1 in such a form-locking manner via the receiving protrusion 7 of the fork 5, the operating tool 1 can be moved and repositioned by means of a robotic system. In order to place the sterile article container 21, once the sterile article container 21 is placed on a surface, the operating tool 1 moves further in the negative height direction Z, and the receiving protrusion 7 and the folded edge 33 disengage and thus loosen the form-locking defined seating.

[0087] Figure 4 and Figure 5 The operating tool 1 according to the first embodiment is shown, which is a medical container in the form of a half-sized container basin 39. A restatement of the operating tool 1 according to the first embodiment is omitted, and the following description will be provided by analogy. Figure 4 and Figure 5 This describes only the difference in how the operating tool 1 and the half-size container 39 work together.

[0088] In order to reliably operate the half-size container 39, it is necessary to bring the half-size container 39 into contact with the end stop 29. Because the length L3 / 4 of the fork 5 is greater than the length L1 / 2 of the half-size container 39 when operating the half-size container 39, it is not easy to achieve this when the half-size container 39 is positioned on the obstacle such that the fork 5 cannot move so far in the longitudinal direction X that the half-size container 39 comes into contact with the end stop 29.

[0089] Figure 4The first step is shown, in which a half-sized container 39 is lifted using the front section of the operating tool 1. The corner sections / corner radii of the half-sized container 39 are arranged in the clearance 9 to prevent collision between the fork 5 and the corner radii of the half-sized container 39, and simultaneously to construct a defined stop for the half-sized container 39 in the longitudinal direction X within the fork 5. In this first step, the half-sized container 39 is positioned away from the obstacle by means of the operating tool 1, so that in the second step the fork 5 can move in the longitudinal direction X until the half-sized container 39 contacts the end stop 29, as shown in... Figure 5 As presented in the text.

[0090] Therefore, in a specific example, the front section / tip of the manipulator 1 can be used to lift a half-size container tray 39 located in the second row of the shelf and / or container transport vehicle and position the container tray further forward on the shelf (first step). Subsequently, when the fork 5 protrudes beyond the half-size container tray 39, the half-size container tray 39 is lifted again with the rear portion of the manipulator 1 (second step). This has the advantage that medical containers can be moved toward the port 15 of the robot system with the smallest possible lever arm, regardless of their size, and the maximum load-bearing capacity of the robot system can be fully utilized as much as possible.

[0091] Second Embodiment

[0092] Figure 6 A perspective view of the operating tool 1 according to the present disclosure in the second embodiment is shown. Repeated descriptions of features and characteristics identical to those in the first embodiment will be omitted below, and only the differences from the first embodiment will be described.

[0093] According to the second embodiment, the operating tool 1 includes an operating protrusion 41 on the lower side of the fork tooth 5. The side of the fork tooth 5 facing away from the upper side is understood as the lower side. In other words, the operating protrusion 41 and the receiving protrusion 7 are constructed on the mutually facing sides of the fork tooth 5. The operating protrusion 41 and the receiving protrusion 7 are correspondingly interrupted by a recess 9. In other words, the recess 9 is similarly arranged on the lower and upper sides of the fork tooth 5. The exact geometry of the operating protrusion 41 will be referred to later. Figure 8 A more detailed explanation.

[0094] Furthermore, a locking element in the form of a hook 43 is constructed on the end section of the fork 5 facing away from the fork-shaped support 3. The hook 43 is configured to fit into a hole or handle, etc., on an object and cause the object to move. Figure 6 The operating tool 1 is presented in the receiving position. In the receiving position, the receiving protrusions 7 point upwards, or in other words, in the positive height direction Z.

[0095] Figure 7The second embodiment of the operating tool 1 is shown in the operating position. Specifically, the operating tool 1 is rotated 180° about the central axis M in the operating position, so that the operating protrusion 41 now points upward, or in other words, points in the positive height direction Z. In other words, the receiving position and the operating position are different with the operating tool 1 rotating / rotating 180° about the central axis. The rotation / rotation of the operating tool 1 is here performed by means of a rotating unit connected to port 15 or flange. One of the forks 5 engages with the flange 33 of the container basin 39 of the sterile article container 21 with the operating protrusion 41. (To be continued...) Figures 9 to 11 A more detailed explanation of the precise working method.

[0096] Figure 8 Show Figure 7 The cross-section BB shows the actuating protrusion 41 being shaped-locked into the flange 33. In the actuating position presented here, the receiving protrusion 7 is constructed on the section of the fork 5 facing away from the flange 33. The actuating protrusion 41 and the receiving protrusion 7 are symmetrically constructed about the fork axis MP extending in the longitudinal direction X of the fork 5. In other words, the profile of the actuating protrusion 41 corresponds to the profile of the receiving protrusion 7. In other words, the actuating protrusion 41 is substantially different from the receiving protrusion 7 in its orientation on the fork 5.

[0097] The following uses Figures 9 to 11 An exemplary working method of the operating tool 1 of the second embodiment is described.

[0098] Figure 9 An exemplary shelf 45 is shown, which is (completely) occupied by multiple sterile article containers. As can be seen in magnification A, the folded edges 33 of the sterile article containers 21 are positioned so closely to the wall 47 of the shelf 45 that the operating tool 1 cannot be inserted into the folded edges 33.

[0099] In the first step (not shown), as described above, the sterile article container 21, centered on the rack, is lifted and manipulated from its arrangement in the shelf 45. After a gap space 49 is created by removing the central sterile article container 21 from the shelf 45, the manipulator 1 moves into the gap space 49 in the manipulating position in the second step, and the manipulator protrusion 41 engages with the folded edge 33 of the sterile article container in the third step by means of horizontal and subsequent vertical movements (see...). Figure 10 With further horizontal movement, the sterile article container 21, hooked by the operating tool 1, is removed / moved away from the side wall 47 in the fourth step. The operating tool 1 then rotates into the receiving position and the sterile article container 21 is (normally) received.

Claims

1. An operating tool (1) configured to grasp and / or operate a medical device, the operating tool having a forked support (3) and two parallel, spaced-apart forks (5) extending perpendicularly away from the forked support (3) in a longitudinal direction (X), each of the two forks having a container support / clamping side, on which a plurality of longitudinally spaced receiving protrusions (7) are constructed or arranged, the receiving protrusions extending in a height direction (Z) to the container support / clamping side, characterized in that, The fork tooth (5) includes a lower side facing away from the container support / clamping side, and an actuation protrusion (41) is constructed or arranged on the lower side, the actuation protrusion extending toward the lower side in the depth direction / negative height direction.

2. The operating tool (1) according to claim 1, wherein, The receiving protrusion (7) of the fork tooth (5) is constructed in such a tapered manner that the height extension of the receiving protrusion (7) along the height direction (Z) on the mutually facing sides of the fork tooth (5) is greater than the height extension of the receiving protrusion (7) along the height direction (Z) on the mutually opposing sides of the fork tooth (5).

3. The operating tool (1) according to claim 2, wherein, The operating protrusion (41) is constructed in such a tapered manner that the height extension of the operating protrusion (41) in the height direction (Z) on the mutually facing sides of the fork tooth (5) is less than the height extension of the operating protrusion (41) in the height direction (Z) on the mutually opposing sides of the fork tooth (5).

4. The operating tool (1) according to claim 3, wherein, The manipulation protrusion (41) is configured to be rotationally symmetrical about the central axis (MP) of the fork tooth (5) extending in the longitudinal direction of the fork tooth (5) with respect to the receiving protrusion (7).

5. The operating tool (1) according to any one of claims 1 to 4, wherein, The operating tool (1) includes a sensor receiving part (13) in / on the fork-shaped bracket (3).

6. The operating tool (1) according to any one of claims 1 to 4, wherein, The distance between the two forks (5) varies infinitely.

7. The operating tool (1) according to any one of claims 1 to 4, wherein, At least one of the fork teeth (5) includes a locking element on the end section opposite to the fork-shaped bracket (3).

8. The operating tool (1) according to any one of claims 1 to 4, wherein, At least one of the forks (5) is configured to have at least one clamping element.

9. The operating tool (1) according to any one of claims 1 to 4, wherein, The fork (5) has a truss structure.

10. The operating tool (1) according to any one of claims 1 to 4, wherein, The fork-shaped bracket (3) includes a port (15) of the robot system on the section opposite to the fork teeth (5).

11. A system comprising an operating tool (1) and a medical container (21; 39) according to any one of claims 1 to 10, wherein, The medical container (21; 39) includes a flange (33) and the fork (5) is provided and configured to engage and / or secure the flange (33) of the medical container (21; 39) in a shape-locking manner through the receiving protrusion (7) and / or be embedded in the flange (33).

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

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