Automated instrument sorting system and method

Abstract

Device, in particular automated instrument sorting device, for taking out and handling surgical instruments from instrument containers, in particular sieve baskets, comprising: - a conveyor belt which is arranged in such a way that at least one first instrument container loaded with at least one surgical instrument can be supplied to the conveyor belt; - a table arranged above the conveyor belt, the table having a deposit which comprises at least one first deposit section and at least one first window; - an optical system arranged above the deposit, which is suitable for detecting data, in particular position data, of at least one instrument in the first instrument container and / or on the first deposit section of the deposit; - a control unit which is set up for at least temporarily storing the detected data and for comparing the detected data with a database comprising instrument data; - a taking-out mechanism arranged above the deposit, which is set up for, in a taking-out position of the deposit, passing through at least one first window of the deposit and for grasping at least one instrument from the first instrument container and placing it on a first deposit section of the deposit, preferably adjacent to the window; - a grasping mechanism which is suitable for and set up for grasping and handling at least one instrument on the first deposit section of the deposit and for placing at least one instrument in a first instrument container or a further instrument container.

Description

Technical Field

[0001] The present invention relates to an apparatus, particularly an automated instrument sorting apparatus, for retrieving and manipulating surgical instruments from an instrument container, particularly a sieve basket, and to a method for automating the retrieval, sorting, and manipulating of surgical instruments from an instrument container, particularly a sieve basket. Background Technology

[0002] In the prior art, regarding the handling of sterile article containers and sieve baskets in the medical field, particularly in processing units for medical products (AEMP), manual processes remain paramount, which are not only tiring but also harmful to personnel health. This includes moving sterile article containers, lifting and loading them into transport vehicles and shelves, unloading them, and removing sieve baskets from the containers. Specifically, in AEMP, manually removing, sorting, and manipulating surgical instruments from sieve baskets is a labor-intensive process that can be accompanied by safety risks.

[0003] Existing technologies already offer various solutions for automating the transport, loading, and unloading of sterile article containers and sieve baskets. Furthermore, various schemes for identifying and grasping surgical instruments from disordered states have been investigated, with a focus typically on imaging and image processing.

[0004] Despite these advances, existing technologies still have several important limitations. In particular, the automated removal of individual instruments from the sieve basket, especially for pre-cleaning, has not been adequately addressed to date. This is crucial to automating currently performed manual processes and saving manpower. Furthermore, it is essential for protecting personnel from contaminated instruments that can cause injury and serious illness. Summary of the Invention

[0005] Therefore, the objective of this invention is to overcome these and other deficiencies of the prior art. Furthermore, this invention aims to facilitate the complete automation of the sterile article cycle, from the delivery of contaminated instruments in sterile article containers to the output of cleaned and sterilized instruments via a cleaning and sterilization apparatus (RDG) on the clean side. Here, the objective of this invention is particularly to automate the manual processes in the processing unit for medical products (AEMP) of the prior art. Specifically, the objective of this invention is to provide equipment capable of automating the removal, sorting, and handling of surgical instruments from a sieve basket. Another objective of this invention is to improve the efficiency of the processing unit for medical products (AEMP), thereby alleviating personnel shortages and protecting personnel from potential injury and serious illness caused by handling contaminated instruments. It is anticipated that this invention will provide significant improvements in efficiency, safety, and cost savings compared to the prior art.

[0006] These and other issues are addressed by the subject matter of the attached independent claims.

[0007] Preferred embodiments can be derived from the dependent claims, and further from the following description, especially in consideration of the various embodiments addressed and described in the appended claims.

[0008] The embodiments, features, and combinations of features described herein in connection with the invention, as well as the combinations of features given in the appended claims, and each combination of features mentioned and described in connection with the embodiments, are all considered to be disclosed herein, but are at least considered to be deducible by those skilled in the art. In particular, each feature and each combination of features in the embodiments described herein can be claimed, for example, in other combinations, especially in other claim classes, at least because those skilled in the art recognize that each individual combination of features mentioned herein is suitable for contributing to solving the problem on which it is based.

[0009] Furthermore, each feature and combination of features in the claims and the following description can be used or claimed individually, regardless of the subject matter claimed, whether it is dependent on or referenced by other claims, and regardless of the claim category to which the feature is claimed. For example, one or more embodiments can be provided by selecting any combination from one or more claims based on the following description and / or drawings.

[0010] The objectives described above are achieved according to the invention by means of a device according to the invention. Such a device is capable, in particular, of automated instrument sorting, suitable for retrieving and manipulating surgical instruments from instrument containers, especially sieve baskets.

[0011] The described device offers several advantages over devices known in the prior art. The automated instrument sorting equipment, in particular, enables more reliable, faster, and more accurate removal of surgical instruments from instrument containers, especially sieve baskets. A conveyor belt transports the instrument containers to a retrieval mechanism, which grasps the instruments from the containers and places them on a storage section. An optical system detects the position of the instruments in the containers and on the storage section and stores the data in a database. A control unit compares the detected data with a database containing instrument data. Therefore, the device can quickly and accurately identify and locate instruments. This automation saves time and improves efficiency when handling surgical instruments.

[0012] The device according to the invention includes a conveyor belt arranged such that at least one first instrument container loaded with at least one surgical instrument can be supplied to the conveyor belt. The device further includes a table with a storage section arranged above the conveyor belt, the storage section including at least one first storage section and at least one first window, and an optical system arranged above the storage section, the optical system being adapted to detect data, particularly position and / or type and / or configuration, or such data, of at least one instrument in the first instrument container and / or on the first storage section of the storage section. Preferably, the storage section is rotatable about an axis substantially perpendicular to the conveyor belt. This rotatability is particularly advantageous because a storage section preferably rotatable about an axis substantially perpendicular to the conveyor belt allows for high flexibility in positioning and transferring instruments. The rotatability of the storage section allows it to serve various processing stations without the need for cumbersome instrument transfers. This simplifies the process, reduces operation time, and minimizes the risk of damage or contamination of instruments during transfer. The rotatability of the storage section is particularly advantageous because the table is preferably usable as a cycle table in the method according to the invention. Specifically, the instruments can be further transported to the processing station by rotating the table. For example, grasping, identifying, opening the instruments if necessary, and placing them in a sieve basket, etc. These and other steps can advantageously occur locally continuously and / or in parallel over time. Additionally, the rotatable storage section reduces the space requirements of the equipment and enables more efficient use of existing space.

[0013] The control unit provided in the device according to the invention is configured to at least temporarily store the detected data and compare it with a database including device data. This allows for identification of the type and / or location and / or number of devices and thus also allows for device tracking. A retrieval mechanism is arranged above the storage section, the retrieval mechanism being configured to pass through at least one first window of the storage section when the storage section is in the retrieval position. The retrieval mechanism is thus capable of grasping and retrieving at least one device from the device container, and the first storage section of the storage section preferably adjacent to the window is preferably positioned in an undefined manner.

[0014] The gripping mechanism, particularly the manipulator, of the device according to the invention is preferably connected to the hand joint of a robot arm. The gripping mechanism is configured to grip and manipulate at least one instrument on a first storage section of the storage unit. Specifically, the gripping mechanism is configured to place at least one instrument in a first instrument container or another instrument container.

[0015] The objectives described above are also achieved according to the invention by means of a method according to the invention, which is used to automatically remove, sort, and manipulate surgical instruments from an instrument container, particularly a sieve basket, by means of equipment, especially automated instrument sorting equipment, preferably equipment according to the invention. The method according to the invention comprises at least the following steps: An optional step is to place at least one first instrument container loaded with at least one surgical instrument on a conveyor belt. Furthermore, the method includes the step of supplying the first instrument container loaded with at least one surgical instrument to the device to enter a retrieval position. In other words, the conveyor belt moves the container into the retrieval position.

[0016] As used herein, the term "retrieval position" preferably refers to the position of the container in which surgical instruments can be retrieved from the instrument container. In the retrieval position, the instruments are within reach of the retrieval mechanism, i.e., the first instrument container is arranged below the storage section such that the retrieval mechanism can pass through a first window of the storage section and grasp at least one instrument in the first instrument container.

[0017] The method according to the invention can particularly include the step of supplying a first instrument container, in particular a sieve basket, loaded with at least one surgical instrument to the device according to the invention. Here, the device, or preferably a fixed instrument sorting system, is positioned and / or configured such that the instrument container can be supplied to a conveyor belt manually, via an unmanned transport system (FTS, in particular an AGV or similar system), or by means of another conveyor belt or another interface. Particularly preferred is that the method according to the invention includes the step of automatically removing the sieve basket from the sterile article container and preferably automatically supplying it to the conveyor belt.

[0018] The method according to the invention further includes step b): providing a storage section arranged on a table in a retrieval position of the storage section, the storage section including at least one first storage section and at least one first window, the first window being arranged above the first instrument container in the retrieval position.

[0019] The method according to the invention further includes the steps of: passing through a first window of the storage section in a retrieval position by means of a retrieval mechanism arranged above the storage section, and grasping at least one instrument in a first instrument container. In other words, the window enables the retrieval mechanism to grasp through the storage area so as to reach the container and the instrument therein located on the conveyor belt below the storage section.

[0020] The method according to the invention further includes the step of removing the retrieval mechanism along with the grasping instrument. This step specifically repositions the retrieval mechanism back into the position above the storage section. This advantageously prevents the window and storage section from colliding with the retrieval mechanism, as long as the storage section rotates.

[0021] The method according to the invention further includes the step of placing the instrument on a first storage section preferably adjacent to the window of the storage unit. In other words, the instrument is placed in a section provided for this purpose on the storage unit, wherein the shortest path relative to the storage unit is preferably advantageously selected, i.e., the storage section next to the window is selected.

[0022] The method according to the invention further includes the step of detecting data, particularly position data, of at least one instrument (10) on a first storage section of the storage section using an optical system arranged above the storage section. This is particularly advantageous because the optical system is capable of detecting the position of the instrument on the first storage section of the storage section and storing the data in a database. The detected data can then be compared by a control unit to determine the position and / or type and / or configuration of the instrument, etc. This enables rapid and accurate removal of surgical instruments from the instrument container and improves the efficiency of surgical instrument manipulation.

[0023] The method according to the invention further includes the step of: grasping and manipulating at least one instrument located on a first storage section of the storage unit by means of a gripping mechanism. This is particularly advantageous because the gripping mechanism is able to accurately locate, grasp, and manipulate the instrument located on the first storage section of the storage unit after detecting data. The gripping mechanism can then easily place the instrument into a compliant instrument container.

[0024] Therefore, it is advantageous to arrange the first instrument container or another instrument container below the storage section in the output position.

[0025] As used herein, the term "output position" preferably refers to the position in which the surgical instrument is placed in the instrument container by a grasping mechanism.

[0026] The method according to the invention further includes the steps of: passing through a first window of the storage section in an output position using a gripping mechanism and placing the instrument in a first instrument container and / or a further instrument container. This is particularly advantageous because precise and controlled operation of the instrument can be achieved by passing through the first window of the storage section using a gripping mechanism. This step helps to reliably and purposefully transfer the instrument to the first instrument container or the further instrument container, which improves the efficiency of the entire process. Furthermore, the defined output position of the storage section minimizes the risk of damage to the instrument or the storage section itself.

[0027] The method according to the invention further includes the step of removing the gripping mechanism from the first window of the storage section. This is particularly advantageous because removing the gripping mechanism from the first window of the storage section enables orderly and sequential processing of the instruments. This step ensures that the instruments are correctly positioned after retrieval and operation and are provided for the next step in the overall process. Precise control of the gripping mechanism minimizes the risk of mispositioning and potential instrument damage. Furthermore, automation of this process contributes to consistent process quality and reduces the need for manual intervention, which in turn improves work safety and reduces the probability of human error.

[0028] In an advantageous embodiment of the method according to the invention, the entire method and / or individual or multiple steps can be repeated, particularly until all instruments have been removed from the first instrument container and / or all instruments have been removed from the first instrument container and placed back into the first container or another container. This systematic repetition ensures that each instrument is handled correctly and prepared for the subsequent cleaning and sterilization process. Automating this process helps reduce labor costs and time, improves process safety, and ensures compliance with high hygiene standards.

[0029] In other words, the present invention includes automated units and methods for removing surgical instruments from a sieve basket and for sorting and manipulating these instruments. In particular, the units can be used on the impure side of an automated medical product processing unit (AEMP) to automate all processes from the delivery of contaminated instruments in sterile article containers to the sterile article cycle of their cleaning and sterilization.

[0030] In conjunction with the method according to the invention, it should also be noted that the given steps are not necessarily performed in a given order. The given steps can be performed in any other suitable order or simultaneously. When technically reasonable and feasible, simultaneous execution of steps is preferred so that the method can be carried out as quickly and efficiently as possible. In particular, it is also preferred that the table can be used as a timing table. In particular, the instrument can be further transported to the processing station by rotating the table.

[0031] However, the order presented above can be advantageous for certain embodiments of the method according to the invention.

[0032] Furthermore, it is known to those skilled in the art that the features, embodiments, functions, or advantages described herein in conjunction with the device and / or reverse osmosis equipment according to the invention can also be features, embodiments, functions, or advantages of the method according to the invention, or vice versa.

[0033] In this specification and the appended claims, unless the context otherwise requires, the word “umfassen” and its variations (such as “umfasst” and “umfassend”) should be understood to mean including the referred element, integer, or step, or group of elements, integers, or steps, but not excluding other elements, other integers, or other steps, or other groups of elements, integers, or steps. Although in some embodiments, such other elements, integers, or steps, or groups of elements, integers, or steps may be excluded, i.e., the subject matter is limited to including the referred element, integer, or step, or group of elements, integers, or steps.

[0034] The terms “ein,” “eine,” “das,” and similar designations used in describing this invention (especially in the context of the claims) are to be understood to cover both the singular and plural forms unless otherwise stated herein or clearly contradicted by the context. The given ranges of numerical values ​​are used only as a brief reference to refer to each individual value within the range. Unless otherwise stated herein, each individual value is incorporated into the specification as if it were listed individually herein.

[0035] In this application, terms such as “lateral” or “transverse,” “rear,” “front,” “upper,” “lower,” “bottom,” “relative,” “inner,” or “outer” used to describe the position of a first object relative to another object preferably refer to the relative position of the respective component or object when it is fully assembled to perform its intended purpose.

[0036] In a preferred embodiment of the method and / or device according to the invention, a conveyor belt is configured to supply a first instrument container loaded with at least one surgical instrument, wherein the supply is preferably manual, supplied via FTS, preferably supplied by means of a conveyor belt or relative to an interface according to the prior art, such that the instrument container is further preferably located in a defined manner within the sorting system.

[0037] Preferably, the conveyor belt is longer than the nominal diameter of the storage section. This is particularly advantageous because a longer conveyor belt provides greater flexibility in positioning and manipulating the instruments. This enables efficient organization of the work area and facilitates the transfer of instruments between different stations in the process. Furthermore, the longer conveyor belt increases capacity, allowing multiple instrument containers to be processed simultaneously, which increases the system throughput and potentially reduces waiting time for processing. The conveyor belt can be supplemented, in particular, by additional conveyor belts, branch lines, and ejectors, which enable reorientation and / or further separation of instrument containers, especially sieve baskets.

[0038] In another preferred embodiment of the method and / or device according to the invention, the table and / or storage section is constructed in a circular, preferably kreisförmig, shape. According to the invention, the table and / or storage section can also take other shapes, and in particular, be constructed as an ellipse. This is particularly advantageous because the circular or kreisförmig shape, or elliptical shape of the table and / or storage section allows for a uniform distribution of instruments around the axis of rotation. This improves the accessibility and operability of the instruments, as they can be accessed from all sides. Furthermore, the circular shape facilitates the degree of freedom of movement of the gripping mechanism, and thus improves the efficiency of the retrieval and placement process. Integration into existing systems can also be simplified by this design, as it is generally compatible with the spatial arrangement of other machine components.

[0039] In another preferred embodiment of the method and / or device according to the invention, the storage section of the storage unit is formed on the storage unit by means of a raised portion or a separating portion. This is particularly advantageous because the storage section construction scheme achieved by means of the raised portion or separating portion enables a clear division of the storage area.

[0040] In another preferred embodiment of the method and / or device according to the invention, the storage unit includes at least one first window and at least one additional window, and / or at least one additional storage section. This is particularly advantageous because a storage unit with multiple windows and / or storage sections provides greater flexibility and capacity for operating various instruments. The additional storage sections provide more space for placing and sorting instruments, which improves the organization and throughput of the system and provides the possibility of processing multiple instruments in parallel. The storage unit preferably has two, more preferably three, and most preferably four windows.

[0041] In another preferred embodiment of the method and / or device according to the invention, the number of windows (including at least one first window and at least one additional window) corresponds to the number of storage sections (including a first storage section and at least one additional storage section). Preferably, the windows and storage sections are arranged alternately in the storage section. This is particularly advantageous because the consistency of the number of windows and storage sections, and their alternating arrangement in the storage section, enables optimal utilization of the available space. This improves the organization and smooth operation of the retrieval and placement process. Furthermore, the alternating arrangement facilitates the separation and sorting of instruments, which improves system efficiency and reduces processing time. With this configuration, the system can flexibly respond to instruments of different sizes and shapes and ensure precise operation.

[0042] Preferably, the rotatable storage section can be moved, especially rotated, by a corresponding motor having a transmission mechanism and a motor control section.

[0043] In another preferred embodiment of the method and / or device according to the invention, the retrieval mechanism is configured to traverse the three-dimensional scanning area translationally within the sieve basket. More preferably, the retrieval mechanism is capable of moving in an automated and controlled manner with at least three translational degrees of freedom. This is particularly advantageous because the retrieval mechanism configured to traverse the three-dimensional scanning area translationally within the sieve basket enables complete and systematic inspection of all instruments in the sieve basket. This ensures that no instrument is overlooked, and that each individual instrument is accurately grasped and further processed. Three-dimensional scanning contributes to the accuracy of the entire process and improves the reliability of automated retrieval, which in turn enhances the efficiency and safety of the method.

[0044] In another preferred embodiment of the method and / or device according to the invention, the removal mechanism (9) is configured as a magnetic, preferably electromagnetic, removal mechanism. This is particularly advantageous because randomized removal via an electromagnetic removal mechanism provides the possibility of operating multiple instruments without requiring specific selection criteria. This can be especially useful when a large number of instruments need to be processed quickly, or when the precise position of the instrument in the basket is unknown. Random removal can also help ensure uniformity of instrument use, as the same instrument is not always removed first. Furthermore, this method reduces system complexity because complex algorithms are not required for identifying and selecting specific instruments.

[0045] The removal mechanism is preferably mounted on a table.

[0046] Advantageously, the electromagnet is freely supported vertically at the mechanical device, but is positioned at a defined lower stop by its own weight and / or springs, so that it can be placed on the instrument without causing collisions or tilting due to lateral forces of the mechanism in the basket and / or the instrument.

[0047] In one embodiment, the retrieval mechanism may include an additional, non-magnetic gripping and / or receiving mechanism. This additional, non-magnetic gripping and / or receiving mechanism is preferably arranged spatially at less than 90° or 180° relative to the magnetic gripping mechanism. This additional, non-magnetic gripping and / or receiving mechanism is preferably a vacuum-based suction mechanism. This vacuum suction mechanism can advantageously pick up and hold instruments, especially in tray form, on straight and / or flat surfaces, which, due to their material properties, cannot be magnetized or can only be very weakly magnetized. Here, the retrieval mechanism can preferably be constructed as a magnetic, preferably electromagnetic, retrieval mechanism.

[0048] In another preferred embodiment of the method and / or device according to the invention, the optical system is a robot-guided camera. This is particularly advantageous because the robot-guided camera, as an optical system, enables high-precision detection and identification of surgical instruments. The camera can determine the type of instrument, its precise position and orientation in space, and other parameters of the instrument, which is beneficial for proper operation by a robotic arm. This improves the accuracy of the entire automated process, reduces the risk of errors, and increases efficiency and safety in preparing instruments for sterilization. Furthermore, the camera can contribute to process monitoring and quality assurance by ensuring that all instruments are correctly detected and handled.

[0049] Generally, optical systems are preferably configured to identify and detect individual instruments based on instrument parameters by capturing images, and to define their positions in space.

[0050] In another preferred embodiment of the method according to the invention and / or the device according to the invention, the gripping system is secured to a kinematic device, which preferably has J-degrees of freedom, but more preferably 6-degrees of freedom.

[0051] This is particularly advantageous because a gripping system, preferably with J-degrees of freedom or 6-degrees of freedom (DOF), secured to the kinematic device, provides high mobility and flexibility in instrument manipulation. The gripping system can utilize 6-degrees of freedom, especially complex movements, which facilitates gripping, rotating, and positioning instruments from different angles. This enables precise manipulation of the instruments, which is particularly important for proper preparation for cleaning and sterilization. The expanded range of motion contributes to increased process efficiency and reduced processing time, while simultaneously improving safety and accuracy.

[0052] Preferably, the kinematic device comprises a tandem 6-DOF articulated arm robot, wherein, more preferably, the gripping system is connected to the hand joints of the robot. Such a kinematic device, particularly the robot arm, can be secured at its base to the frame of the device according to the invention and / or coaxially with the rotation axis of a preferably rotatable storage portion.

[0053] In another preferred embodiment of the method and / or device according to the invention, the step of: at least temporarily storing the data detected in the step of detecting data is included, and more preferably, the step of: comparing the detected data with a database including device data is included. This is particularly advantageous because at least temporarily storing the detected data and comparing it with the device database enables continuous monitoring of the process and quality assurance. The storage of data allows for the identification and analysis of devices, and the rapid identification of process deviations and the initiation of corrective actions. Furthermore, comparison with the database allows for seamless recording and traceability of devices, which is crucial for compliance with hygiene regulations and patient safety. Additionally, this approach can improve efficiency by supporting automated inventory and demand planning.

[0054] In another preferred embodiment of the method and / or device according to the invention, the method further includes the step of conveying a first instrument container, preferably empty and previously loaded with at least one surgical instrument, to the device into an output position. This is particularly advantageous because conveying the empty first instrument container, previously loaded with surgical instruments, to the device into an output position enables the efficient and orderly return of instruments removed by the retrieval mechanism to the container by means of a gripping mechanism.

[0055] In another preferred embodiment of the method and / or device according to the invention, the method further includes the step of moving the retrieval mechanism to a parking position. This is particularly advantageous because moving the retrieval mechanism to the parking position improves safety within the working environment. In the parking position, the mechanism is outside the active area and therefore does not pose a risk to the operator or to collisions with other movable parts of the device, especially, if necessary, rotating storage sections.

[0056] In another preferred embodiment of the method according to the invention and / or the device according to the invention, the method further includes the step of rotating the storage section at a first predetermined angle.

[0057] This is particularly advantageous because rotating the storage section at a predefined angle allows for precise positioning of the equipment for subsequent process steps. With this predefined rotation, the equipment can precisely reach the location where it should be received by the gripping mechanism or another processing station. This helps optimize the entire workflow by reducing operation time and improving process accuracy. Furthermore, the predefined rotation improves compatibility with other automation systems, making integration into existing production lines easier.

[0058] This step of rotating the storage section at a first predetermined angle is preferably performed before placing the instrument on a first storage section preferably adjacent to the window of the storage section. Here, it is preferable to rotate the storage section, in particular, to the output position of the storage section, in which the first window is arranged above a first instrument container and / or another instrument container provided for outputting the instrument.

[0059] The step of rotating the storage section at a first predetermined angle is preferably performed after the step of removing the retrieval mechanism along with the gripping instrument, and / or after the step of moving the retrieval mechanism to the parking position.

[0060] The objectives described above are also achieved according to the invention by means of a processing unit (AEMP) for medical products according to the invention, which includes devices according to the invention, particularly automated instrument sorting devices, for removing and manipulating surgical instruments from instrument containers.

[0061] In another preferred embodiment of the method according to the invention and / or the device according to the invention, the device includes a frame (Zelle), which is preferably composed of profiles, especially aluminum profiles and PC sheets, and is further preferably provided with at least two perforations for the conveyor belt and / or other conveyor belts.

[0062] This improves equipment safety because the entire proposed mechanical device can be housed within a suitable framework, preventing accidental access by the user. Furthermore, perforations with light curtains and other protective mechanisms can be incorporated to prevent accidents and unauthorized intervention. Attached Figure Description

[0063] The invention will now be explained in more detail with reference to the accompanying drawings, from which further features, embodiments, and advantages will become apparent. In the embodiments shown in the drawings, elements having similar or identical functions are provided with the same reference numerals. It should be noted that these drawings may not be to scale.

[0064] Here: Figure 1A A schematic perspective view of the device according to the present invention, employing the first embodiment, is shown; Figure 1B A schematic diagram of the device according to the invention, employing the first embodiment, is shown from a side-top view; and Figure 1C A schematic diagram of the device according to the invention, employing the first embodiment, is shown as a side view. Detailed Implementation

[0065] Figure 1A , 1BFigure 1C shows a schematic diagram of an apparatus 1 according to a first embodiment of the invention, particularly an automated instrument sorting apparatus 1 for retrieving and manipulating surgical instruments from instrument containers 4, especially sieve baskets 4. A conveyor belt 3 is arranged such that at least one first instrument container 4 containing at least one surgical instrument 10 can be supplied to the conveyor belt 3. In the figure, the first container is in a retrieved position below a storage section 5, and other instrument containers 4, along with other surgical instruments 10, are already in a waiting position on the conveyor belt 3. A table 8 arranged above the conveyor belt 3 includes a storage section 5 having at least one first storage section 6 and at least one first window 7. An optical system 11, also arranged above the storage section 5, is configured to detect data, particularly position data, of at least one instrument 10 in the first instrument container 4 and / or on the first storage section 6 of the storage section 5. A control unit (not shown here) temporarily stores the detected data and compares this data with a database including instrument data. Furthermore, a retrieval mechanism 9 is arranged above the storage section 5. This retrieval mechanism 9 is configured to pass through at least one first window 7 of the storage section 5 in the retrieval position shown here, and to grasp at least one instrument 10 from the first instrument container 4 and place it onto a first storage section 6 adjacent to the window 7 of the storage section 5. The grasping mechanism 12 is capable of grasping and manipulating at least one instrument 10 located on the first storage section 6 of the storage section 5 and placing it into a first or additional instrument container 4 in the discharge position.

[0066] It should be understood that, advantageously, throughout the entire process before (upstream) the containers are supplied to the device according to the invention, the instrument containers are automatically removed from the sterile article containers. Subsequently, these instrument containers are supplied manually, preferably by an unmanned transport system, optimally by means of a conveyor belt, or via an interface 2 relative to the conveyor belt 3 according to the prior art to the device 1 according to the invention, here a stationary instrument sorting system 1, the conveyor belt being a component of the device 1.

[0067] As in Figure 1A , Figure 1B and Figure 1CAs can be seen, the sieve basket 4, loaded with surgical instruments 10, is positioned in a defined manner within the sorting system 1 and is carried by means of the conveyor belt 3 to a defined retrieval position located below the circular, rotatable storage section 5. The storage section 5 has storage sections, here four storage sections, formed by raised sections or separation sections, and has windows 7, here also four windows. Thus, in the present case, these four windows and the four storage areas of the sections 6 exist in the same number and alternately within the rotatable storage section 5. All components are assembled on the table 8. The rotatable storage section 5 is rotated by a corresponding motor (not shown) having a transmission mechanism and a motor control unit. The conveyor belt 3 is preferably longer than the nominal diameter of the rotatable storage section 5 and can be supplemented, especially at the interface 2, by corresponding additional conveyor belts, branch lines, and ejectors, which can achieve changes in the orientation of the sieve basket 4 and / or further separation (not shown).

[0068] An electromagnetic retrieval mechanism 9 is advantageously located above the rotatable storage section 5, which is advantageously capable of moving in an automated and controlled manner with at least three translational degrees of freedom. The retrieval mechanism 9 traverses the three-dimensional scanning area (Raster) within the sieve basket 4 and grasps the magnetizable instrument 10 when it is submerged in the sieve basket 4 by means of at least one electromagnet (here, the retrieval mechanism passes through the window 7 of the rotatable storage section 5). Advantageously, the electromagnet is here vertically supported freely at the mechanical device and is mounted horizontally at a defined lower stop by its own weight and / or springs, so that placement on the instrument can be achieved without causing collisions or tilting due to lateral forces of the mechanism in the sieve basket 4 and / or the instrument 10. After the retrieval mechanism 9 is removed from the sieve basket 4 and passes through the window 7, the retrieval mechanism, along with the grasped instrument 10, is positioned above the rotatable storage section 5. This rotatable storage section 5 continues to rotate a segment 6 at a defined angle, here 45°. The retrieval mechanism 9 can place the instrument 10 in an undefined manner on a section 6 of the following window 7 by moving downwards and disconnecting the electromagnet. The retrieval mechanism 9 moves to a reliable parking position. Subsequently, the rotatable storage section 5 continues to move another section 6, again moving at 45°. Above this area is at least one optical system 11, which is advantageously a robot-guided camera capable of detecting or identifying the individual instruments 10 by capturing images and defining their positions in space. The optical system 11 is preferably mounted at the holding device (in... Figure 1C(Not shown in the diagram), the holding device is advantageous for detecting images of individual instruments, particularly regarding field of view, height, and positioning. The position of instrument 10 relative to the rotatable storage section is stored, and instrument data is compared with a database to enable tracking of instrument 10. Advantageously, at the point when the last instrument is removed from the sieve basket 4, it is possible to determine whether the instrument type and number correspond to a preset storage data for the corresponding sieve basket 4. In the prior art, this is only possible during the packaging process, as this data is not acquired prior to this in the process. Here, it is possible to precisely and timely plan or provide missing instruments many hours before the actual packaging process. If the steps shown are performed, the rotatable storage section 5 continues to move to another section 6, again moving at 45°. The preferred predefined angle is preferably formed by the arrangement of sections and windows, and is particularly preferably derived from the following formula: The predefined angle [°] = 360° / the sum of all segments and windows.

[0069] In this step, the gripping system 12 grips and manipulates the instrument 10. In the context of this invention, "manipulation" preferably means operating the instrument itself, such as opening scissors, pliers, needle holders, etc., or separating individual instrument structural components to achieve a specified state for pre-cleaning.

[0070] The position and orientation of the placed surgical instruments 10 in space have been pre-transmitted by the robot-guided camera 11 and mathematically converted into a new configuration after rotation on the rotatable storage unit using standard coordinate transformations. The gripping system 12 is itself fixed to a kinematic device, preferably having J-degrees of freedom, but more preferably 6-degrees of freedom. Ideally, a series of 6-degree-of-freedom articulated arm robots 1J according to the prior art is used for this purpose. This articulated arm robot can be fixed above the frame of the rotatable storage unit at its base or coaxially with the rotation axis of the rotatable storage unit. With the help of the gripping system 12, the corresponding instruments 10 can be placed in a defined manner and method after operation, and in an additional basket or an empty basket during this period, taking into account optimal support for pre-cleaning.

[0071] List of reference numerals in the attached diagram: 1 Equipment 2. The interface relative to the conveyor belt (for transporting the loaded sieve basket). 3 Conveyor Belt 4. Instrument containers, sieve baskets 5. Rotatable storage section 6 Storage sections for surgical instruments 7 windows 8 tables 9. Retrieval mechanism, preferably comprising an electromagnet, a suction device, and / or a gripper. 10 Surgical Instruments 11 Optical systems for identifying instruments, preferably robot-guided cameras. 12. Grabbing mechanism 13 6-DOF articulated arm robot 14. A frame constructed from aluminum profiles with PC wall elements. 15. Perforated frame (with safety systems such as light gratings)

Claims

1. A device for removing and manipulating surgical instruments from an instrument container (4), particularly a sieve basket (4), especially an automated instrument sorting device (1), said device comprising: - A conveyor belt (3) is arranged such that at least one first instrument container (4) containing at least one surgical instrument (10) can be supplied to the conveyor belt (3). - A table (8) arranged above the conveyor belt (3) has a storage section (5) including at least one first storage section (6) and at least one first window (7), wherein the storage section (5) is preferably rotatable about an axis substantially perpendicular to the conveyor belt; - An optical system (11) arranged above the storage section (5) is adapted to detect data, particularly location and / or type and / or configuration or such data, of at least one instrument (10) in the first instrument container (4) and / or on the first storage section (6) of the storage section (5); - A control unit configured to at least temporarily store the detected data and to compare the detected data with a database including device data; - A retrieval mechanism (9) arranged above the storage section (5), the retrieval mechanism being configured to pass through at least one first window (7) of the storage section (5) in the retrieval position of the storage section (5), and to grab at least one instrument (10) from the first instrument container (4), and to place the at least one instrument on a first storage section (6) of the storage section (5) adjacent to the window (7); - A gripping mechanism (12) adapted and configured to grip and manipulate at least one instrument (10) located on a first storage section (6) of the storage unit (5) and place the at least one instrument (10) in a first instrument container (4) or another instrument container.

2. The device (1) according to claim 1, wherein, The table (8) and / or the storage section (5) are constructed in a circular shape, preferably circular.

3. The device (1) according to any one of claims 1 or 2, wherein, The storage section (6) of the storage section (5) is formed on the storage section (5) by means of a raised section or a separation section.

4. The device (1) according to any one of claims 1 to 3, wherein, The storage section (5) includes at least one first window (7) and at least one additional window, and / or at least one additional storage section (6).

5. The device (1) according to claim 4, wherein, The number of windows, including at least one first window (7) and at least one additional window, corresponds to the number of storage sections, including a first storage section (6) and at least one additional storage section (6), and the windows and storage sections are preferably arranged alternately in the storage section (5).

6. The device (1) according to any one of claims 1 to 5, wherein, The extraction mechanism (9) is configured to traverse the three-dimensional scanning area by translation within the sieve basket (4).

7. The device (1) according to any one of claims 1 to 6, wherein, The extraction mechanism (9) is constructed as a magnetic, preferably electromagnetic extraction mechanism (9).

8. The device (1) according to any one of claims 1 to 7, wherein, The optical system (11) is a robot-guided camera.

9. The device (1) according to any one of claims 1 to 8, wherein, The gripping system (12) is fastened to the kinematic device, which preferably has J-degrees of freedom, but more preferably 6-degrees of freedom.

10. A method for automatically removing, sorting, and manipulating surgical instruments (10) from an instrument container (4), particularly a sieve basket (4), using equipment, especially an automated instrument sorting device (1), preferably the equipment according to any one of claims 1 to 9, said method comprising at least the following steps: - Step a) Supply a first instrument container (4) containing at least one surgical instrument (10) to the device (1) and enter the take-out position of the first instrument container (4); - Step b) Provide a storage section (5) arranged on a table (8), the storage section including at least one first storage section (6) and at least one first window (7), wherein in the retrieval position of the storage section (5), the first window (7) is arranged above the first instrument container (4); - Step c) By means of the retrieval mechanism (9) arranged above the storage section (5), the device passes through the first window (7) of the storage section (5) in the retrieval position of the storage section (5) and grabs at least one device (10) in the first device container (4). - Step d) Remove the extraction mechanism (9) along with the grasped instrument (10); - Step e) Place the instrument (10) on the first storage section (6) of the storage unit (5) adjacent to the window (7); - Step f) Detect data, especially position, and in particular type and / or configuration of at least one instrument (10) located on the first storage section (6) of the storage section (5) by means of an optical system (11) arranged above the storage section (5); - Step g) Using the gripping mechanism (12) to grip and operate at least one device (10) located on the first storage section (6) of the storage unit (5); - Step h) By means of the gripping mechanism (12), the instrument (10) passes through the first window (7) of the storage section (5) in the output position of the storage section (5) and places the instrument (10) in the first instrument container (4) and / or another instrument container; - Step i) Remove the gripping mechanism (12) from the first window (7) of the storage section (5).

11. The method of claim 10, further comprising the steps of: at least temporarily storing the data detected in step d), and preferably further comprising the step of: comparing the detected data with a database including device data.

12. The method according to claim 10 or 11, further comprising the step of: conveying a first instrument container (4), preferably empty and previously loaded with at least one surgical instrument (10), to the device (1) into the output position of the first instrument container (4).

13. The method according to any one of claims 10 to 12, further comprising the step of moving the extraction mechanism (9) to a parking position.

14. The method according to any one of claims 10 to 13, further comprising the step of: rotating the storage section (5) at a first predetermined angle.

15. A processing unit for medical products (AEMP) comprising the equipment according to any one of claims 1 to 9, particularly an automated instrument sorting device (1) for removing and manipulating surgical instruments from an instrument container (4), particularly a sieve basket (4).

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