Isolator module for robotic arm

Abstract

An isolator module (1) for a robot arm, comprising: a box-like housing (2) defining a working chamber (3) isolated from the external environment; means (4) for implementing a controlled pollution environment in said chamber (3); the invention relates to a module (1) for a robotic arm, comprising a working chamber (3), a box-like housing (2) comprising at least one opening (7), said module (1) comprising a glove (8) for accommodating the robotic arm, said glove (8) being sealingly mounted at said at least one opening (7) such that its outer surface is exposed to the working chamber (3) and its inner surface is in communication with the external environment, said glove (8) comprising: a positioning system (9) for positioning the robotic arm within the glove (8); and one or more terminals (10) for interaction of the robotic arm with the chamber (3).

Description

Technical Field

[0001] The present invention relates to an isolator module for a robotic arm.

[0002] The present invention can be applied to the management of aseptic development processes.

[0003] It is well known to use robots inside isolators. Background Art

[0004] The main disadvantage associated with such a solution is that the isolator has to be specially manufactured because much larger dimensions than standard are required to accommodate the robot inside it. In particular, these isolators are approximately four times larger than normal. This results in increased structural complexity, as well as increased costs and more difficulty in maintaining such a large aseptic environment.

[0005] Therefore, an alternative solution is needed to allow the robot to work inside the isolator. Summary of the Invention

[0006] In this context, the technical task of the present invention is to provide an isolator module for a robotic arm that eliminates the above-mentioned drawbacks of the prior art.

[0007] In particular, the object of the present invention is to provide an isolator module for a robotic arm in which the robotic arm can work in an isolated environment but at the same time is not bulky in size.

[0008] Another object of the present invention is to provide a multi-purpose isolator module for a robotic arm.

[0009] The specified technical task and the specified object are substantially achieved by an isolator module for a robotic arm, which comprises:

[0010] A box-shaped housing that defines a working chamber isolated from the external environment;

[0011] Creating means for creating a controlled contamination environment in said chamber;

[0012] The box-shaped housing includes at least one opening.

[0013] The module includes a glove for accommodating the robotic arm, the glove being sealingly mounted at said at least one opening such that its outer surface is exposed to the working chamber and its inner surface communicates with the external environment.

[0014] The glove comprises:

[0015] Positioning means for positioning the robotic arm within the glove;

[0016] One or more terminals for the interaction of the robotic arm with a camera.

[0017] Preferably, the positioning system is of magnetic or electromagnetic type.

[0018] According to one embodiment, the positioning system includes a plurality of metal plates distributed along the glove.

[0019] Preferably, the metal plates are located on the inner surface of the glove.

[0020] According to one embodiment, the isolator module includes a signal device for emitting a signal of the position of the robotic arm relative to the box-shaped housing.

[0021] Preferably, the glove includes an arm portion and an end portion, and the metal plates are distributed along the arm portion.

[0022] According to one embodiment, the box-shaped housing includes support means for the working tools in the chamber.

[0023] According to one embodiment, the isolator module includes an identification system for identifying the position of the robotic arm relative to the support means.

[0024] According to one embodiment, the support means includes a frame, and the isolator module includes one or more tools mounted on the frame. The identification system includes one or more notches formed on the frame and / or on the tools and notch detection sensors. The sensors are mounted on the glove.

[0025] According to one embodiment, the isolator module includes at least one accessory for a cooling module or a heating module or a drawer incubator.

[0026] Preferably, the accessory is formed on a hatch mounted on the rear of the box-shaped housing.

[0027] According to one embodiment, the isolator module includes a channel compartment formed laterally on the box-shaped housing for transferring materials.

[0028] According to one embodiment, the terminal may include: an isolation device and / or a clamping and actuation device and / or an observation device and / or a cutting device and / or a heating device and / or an electromagnetic device.

[0029] According to one embodiment, the glove includes at least one wetting channel and at least one drying channel for washing.

[0030] According to one embodiment, the glove includes a piezoelectric body or a weighing sensor.

[0031] According to one embodiment, the glove includes a material welding device.

[0032] According to one embodiment, the glove includes a mechanical coupler for a medical device (such as a laparoscopic device). BRIEF DESCRIPTION OF THE DRAWINGS

[0033] Other features and advantages of the present invention will become more apparent from the following approximate and non-limiting description of a preferred but non-exclusive embodiment of an isolator module for a robotic arm, as shown in the drawings, in which:

[0034] Figure 1 An isolator module for a robotic arm according to the present invention is shown in a schematic rear view;

[0035] Figure 2 The isolator module is shown in a schematic side view;

[0036] Figure 3 Shown Figure 2 A schematic view of details of the isolator module (glove) shown, with a robotic arm;

[0037] Figure 4 Shown Figure 2 A schematic view of a part of the glove shown;

[0038] Figure 5 Shown Figure 2 A schematic view of the end of the glove shown. DETAILED DESCRIPTION

[0039] Referring to the drawings, the numeral 1 denotes an isolator module for a robotic arm.

[0040] The module 1 includes a box-shaped housing 2 that defines a working chamber 3 isolated from the external environment. The external environment is, for example, the room in which the module 1 is located.

[0041] The module 1 includes means 4 for achieving a controlled contamination environment in the chamber 3. A controlled contamination environment means a sterile environment. Preferably, the means 4 includes a disinfection unit 5. For example, the disinfection unit 5 includes a system for dispensing steam of H2O2 or VHP in the chamber 3.

[0042] Preferably, the means 4 includes a maintenance unit 6 for maintaining predetermined environmental conditions. The maintenance unit 6 includes humidity management means and ultraviolet lamps.

[0043] Preferably, at least the disinfection unit 5 is arranged above the box-shaped housing 2.

[0044] Preferably, the box-shaped housing 2 includes at least one opening 7. The module 1 includes a glove 8 sealingly mounted at the opening 7 such that the outer surface of the glove 8 is exposed to the working chamber 3 and the inner surface of the glove 8 communicates with the external environment. In this way, an external operator (such as a robotic arm) can interact in the working chamber 3 from the outside without compromising the established controlled contamination environment.

[0045] By sealingly mounting the glove 8 on the opening 7, this means that there is no fluid exchange through the opening 7 between the external environment and the chamber 3.

[0046] In a preferred embodiment, the box-shaped housing 2 includes two openings 7 and two corresponding gloves 8.

[0047] Initially, the glove 8 includes a positioning system 9 for positioning the robotic arm therein. In this way, self-centering of the robotic arm within the glove 8 is ensured.

[0048] Preferably, the positioning system 9 is of the magnetic or electromagnetic type.

[0049] In the embodiment described and illustrated herein, the positioning system 9 includes a plurality of metal plates (denoted by the same reference numeral 9) distributed along the glove 8. The robotic arm will have corresponding magnetic parts for identifying the correct position within the glove 8.

[0050] Preferably, the metal plates 9 are distributed on the inner surface of the glove 8.

[0051] Preferably, the glove 8 includes an arm portion 8a and an end portion 8b. Preferably, the shape of the end portion 8b is adapted to accommodate the end effector of the robotic arm. The end effector is a device at the end of the robotic arm, designed to interact with the environment.

[0052] Preferably, the metal plates 9 affect the arm portion 8a.

[0053] Preferably, the glove 8 includes a quick coupling system. Preferably, the glove 8 includes an air decompression system between the glove 8 and the robotic arm.

[0054] Initially, the glove 8 includes one or more terminals 10 for the interaction of the robotic arm with the chamber 3. In particular, the terminals 10 are selected according to the operations that the robotic arm has to perform within the chamber 3. The following is an exemplary and non-exhaustive list of the possible terminals 10 that can be adopted. Any terminal 10 that allows the robotic arm to perform known operations within the chamber 3 is considered implicitly included.

[0055] Among the terminals 10, for example, isolation devices, clamping and actuation devices, observation devices, cutting devices, heating devices, electromagnetic devices, etc. can be identified. For example, the glove 8 can include a terminal 10 for gripping a drill bit.

[0056] Among the terminals 10, there is also preferably glass for an optical device (chamber) of the robotic arm.

[0057] Among the terminals 10, an infrared probe is preferably present.

[0058] Among the terminals 10, pressure and temperature sensors are preferably present.

[0059] Preferably, the terminal 10 is installed inside the glove 8. Preferably, the terminal 10 is welded to the glove 8.

[0060] Preferably, the box-shaped housing 2 includes a support device 11 for the working tools inside the chamber 3. Preferably, the support device 11 includes a rack (denoted by the same reference numeral 11).

[0061] Preferably, the isolator module 1 includes an identification system for identifying the position of the robotic arm relative to the support device 11.

[0062] In one embodiment, the identification system includes one or more notches or grooves 12 formed on the rack 11 and a detection sensor 13 for detecting the grooves 12. The sensor 13 is mounted on the glove 8. In this way, the robotic arm knows where to find the tool.

[0063] Preferably, the sensor 13 is infrared or contact type.

[0064] In one embodiment, the isolator module 1 includes one or more tools 18 mounted on the support device 11. The notches 12 are formed on the tools 18.

[0065] In one embodiment, the notches 12 are formed on the tools 18 and the rack 11.

[0066] Suitably, the isolator module 1 may include a signal device 19 for signaling the position of the robotic arm relative to the box-shaped housing 2, particularly relative to the opening 7. For example, as Figure 1 shown, the signal device 19 includes one or more holes having a predetermined size and geometry. These holes are used for spatial centering of the robotic arm and can thus be placed on an automated guided vehicle (AGV).

[0067] Preferably, the box-shaped housing 2 includes at least one accessory 14 for a cooling module or a heating module or a drawer-type incubator. In this way, the isolator module 1 can be configured as an isolator, a climate chamber, or an incubator as needed.

[0068] Preferably, the accessory 14 is formed on a hatch 15 mounted on the rear (so-called back) of the box-shaped housing 2.

[0069] Preferably, the box-shaped housing 2 includes a front screen 16 to allow observation of the chamber 3 from the outside. Preferably, the opening 7 is formed on the front screen 16.

[0070] Preferably, the isolator module 1 includes a passage compartment 17 for transferring materials between modules (managed inside the chamber 3). The passage compartment 17 is formed on the side of the box-shaped housing 2.

[0071] According to one embodiment, the glove 8 includes at least one wetting channel and at least one drying channel, such that it is used for washing.

[0072] According to one embodiment, the glove 8 includes a piezoelectric body or a load cell.

[0073] According to one embodiment, the glove 8 includes a material welding device.

[0074] According to one embodiment, the glove 8 includes a mechanical coupler for medical devices (such as laparoscopic equipment).

[0075] The isolator module 1 can be assembled in sequence with various modules to create an isolator system that meets production requirements.

[0076] The modules constituting the isolator system are placed side by side and connected laterally.

[0077] Suitably, the material transfer module is connected to the side (i.e., upstream) of the first module in the row and / or the side (i.e., downstream) of the last module in the row. This module is of a known type and will not be further described. In particular, this module includes a biological purification device. Its function is actually to allow materials to enter or leave with respect to the working chamber 3 of the adjacent module 1 without compromising the sterile conditions of the materials. In particular, it includes a vertical sliding door with an expandable seal, magnetism, and auxiliary closing.

[0078] According to one embodiment, the isolator system includes four modules 1 connected in sequence.

[0079] The first module 1 is equipped with a HEPA H14 filter and maintained at a temperature between +80°C and -100°C. The first module 1 is equipped with a glove 8.

[0080] The second module 1 is maintained at a temperature between +80°C and -100°C. The second module 1 is equipped with two gloves 8.

[0081] The third module 1 is maintained at a temperature between +50°C and -5°C and performs CO2 control.

[0082] The fourth module 1 is used as an incubator and maintained at a temperature of +37°C under CO2 control.

[0083] There are connection modules or exchange compartments between adjacent modules 1.

[0084] In a preferred embodiment, the isolator system includes three isolator units. Each unit includes one or more modules 1 as described above.

[0085] The first unit is used for preparing working materials. Preferably, the first unit includes two modules 1 connected to each other and a material transfer module located on the side (i.e., downstream) of the last module 1.

[0086] The first module 1 is used to disinfect the material. The second module 1 is used to prepare the material.

[0087] The second unit is used for the treatment and post-treatment of the material. Preferably, the second unit includes two modules 1 connected to each other and a material transfer module located on the side (i.e., downstream) of the last module 1.

[0088] In the module 1 of the second unit, humidity and temperature control are carried out to maintain a temperature range between -100°C and 150°C.

[0089] In particular, the first module 1 of the second unit is connected upstream of the material transfer module of the first unit.

[0090] The first module 1 of the second unit houses a 3D printer or a thermoforming tool.

[0091] The second module 1 of the second unit is used to prepare the material for post-development processing.

[0092] Preferably, one or more robotic arms for manipulation at extreme temperatures are provided within one or more modules 1 of the second unit.

[0093] The material transfer module of the second unit is used to load the post-treatment material and the cell culture material.

[0094] The third unit is used for incubation and cell culture. Preferably, the third unit includes three modules 1 connected to each other and a material transfer module located on the side (i.e., downstream) of the last module 1.

[0095] In the module 1 of the third unit, CO2, O2, and temperature control are performed to set the environmental conditions suitable for cultivation.

[0096] The first module 1 of the third unit is used to prepare the culture medium and cells.

[0097] The second module 1 of the third unit includes a rack for storing growth tests (to increase the utilization rate of the useful area).

[0098] The third module 1 of the third unit includes a temperature-controlled microscope for analysis and digital data collection.

[0099] The features and advantages of the isolator module for the robotic arm according to the present invention are clearly visible from this description.

[0100] In particular, there is a positioning system on the glove for positioning the robotic arm within the glove and one or more terminals for the interaction of the robotic arm with the chamber, which allows the use of the robotic arm without introducing it into the isolator module. This keeps the size of the isolator small, thus making the size of the surface to be disinfected small.

[0101] In addition, the possibility of connecting a thermal module (heating or refrigerating) or a drawer incubator diversifies the functions of the isolator module, which can be used as an isolator, a climatic chamber or an incubator. The accessories for these modules / incubators are located on the back of the box-shaped housing, which allows the functions to be transferred to surfaces that are not used in known solutions.

Claims

1. An isolator module (1) for a robotic arm, comprising: A box-shaped housing (2) that defines a working chamber (3) isolated from the external environment; A device (4) for achieving a controlled contamination environment in the chamber (3); The box-shaped housing (2) includes at least one opening (7), The module (1) includes a glove (8) for accommodating the robotic arm, and the glove (8) is sealingly mounted at the at least one opening (7) such that its outer surface is exposed to the working chamber (3), and its inner surface communicates with the external environment. The glove (8) includes: A positioning system (9) for positioning the robotic arm within the glove (8); One or more terminals (10) for the interaction between the robotic arm and the chamber (3).

2. The isolator module (1) according to claim 1, wherein the positioning system (9) is of magnetic or electromagnetic type.

3. The isolator module (1) according to claim 2, wherein the positioning system (9) includes a plurality of metal plates (9) distributed along the glove (8).

4. The isolator module (1) according to claim 3, wherein the metal plates (9) are located on the inner surface of the glove (8).

5. The isolator module (1) according to any one of the preceding claims, including a signal device (19) for emitting a signal of the position of the robotic arm relative to the box-shaped housing (2).

6. The isolator module (1) according to claim 3 or 4 or 5, wherein the glove (8) includes an arm portion (8a) and an end portion (8b), and the metal plates (9) are distributed along the arm portion (8a).

7. The module (1) according to any one of the preceding claims, wherein the box-shaped housing (2) includes a support device (11) for a working tool (18) within the chamber (3).

8. The isolator module (1) according to claim 7, including an identification system (12, 13) for identifying the position of the robotic arm relative to the support device (11).

9. The isolator module (1) according to claim 8, wherein the support device (11) includes a frame (11), the isolator module (1) includes one or more tools (18) mounted on the frame (11), and the identification system (12, 13) includes one or more notches (12) formed on the frame (11) and / or on the tool (18) and a detection sensor (13) for detecting the notches (12), and the sensor (13) is mounted on the glove (8).

10. The isolator module (1) according to any one of the preceding claims, including at least one accessory (14) for a cooling module or a heating module or for a drawer-type incubator.

11. The isolator module (1) according to claim 10, wherein the at least one accessory (14) is formed on a hatch (15) mounted on the rear of the box-shaped housing (2).

12. The isolator module (1) according to any one of the preceding claims, comprising a channel compartment (17) formed laterally on the box-shaped housing (2) for transferring materials.

13. The isolator module (1) according to any one of the preceding claims, wherein the terminal (10) may comprise: Isolation device and / or clamping and actuation device and / or observation device and / or cutting device and / or heating device and / or electromagnetic device.

14. The isolator module (1) according to any one of the preceding claims, wherein the at least one glove (8) comprises at least one wetting channel and at least one drying channel such that it is used for washing, or it comprises a piezoelectric body or a weighing sensor, or it comprises a material welding device.

15. The isolator module (1) according to any one of the preceding claims, wherein the at least one glove (8) comprises a mechanical coupler for medical devices such as laparoscopic devices.

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