Automated instrument separation system and method

Abstract

Device, in particular automated instrument separation device, for removing and handling surgical instruments from an instrument container, in particular a sieve basket, comprising - a conveyor belt arranged such that at least one first instrument container loaded with at least one surgical instrument can be fed to the conveyor belt; - a table arranged above the conveyor belt with a storage area comprising at least one first storage segment and at least one first window; - an optical system arranged above the tray suitable for detecting data of the at least one instrument, in particular the position, in the first instrument container and / or on the first tray segment of the tray; - a control unit configured to at least temporarily store the recorded data and to compare the recorded data with a database containing instrument data; - a removal mechanism arranged above the shelf, which is configured, in a removal position of the shelf, to pass through the at least one first window of the shelf and to pick up the at least one instrument from the first instrument container and to place it on the first storage segment of the shelf, preferably adjacent to the window; - a gripping mechanism suitable and configured for gripping and handling the at least one instrument on the first storage segment of the storage and for depositing the at least one instrument in the first or in a further instrument container.

Description

Technical area

[0001] The present invention relates to a device, in particular an automated instrument separation device, for removing and handling surgical instruments from an instrument container, in particular a sieve basket, as well as a method for the automated removal, separation and handling of surgical instruments from instrument containers, in particular sieve baskets. background

[0002] The current state of the art in handling sterile supply containers and mesh baskets in the medical field, particularly in medical device reprocessing units (RUME), still relies primarily on manual processes, which can be both tiring and harmful to the health of staff. These include carrying sterile supply containers, lifting, loading, and unloading them onto transport trolleys and shelves, as well as removing mesh baskets from the containers. Especially in medical device reprocessing units (RUME), the manual removal, separation, and handling of surgical instruments from mesh baskets is a labor-intensive step that may pose safety risks.

[0003] The state of the art already includes several solutions for automating the transport, loading, unloading, and handling of sterile supply containers and sieve baskets. In addition, various approaches for detecting and grasping surgical instruments from chaotic situations have been investigated, generally focusing on imaging and image processing.

[0004] Despite these advances, however, the state of the art has several significant limitations. In particular, the automated removal of individual instruments from trays, especially for pre-cleaning, has not been adequately addressed. This is of great importance for automating currently performed manual processes and reducing personnel costs. Furthermore, it serves to protect personnel from contaminated instruments, which can cause injuries and serious illness. Summary of the invention

[0005] It is therefore an object underlying the present invention to overcome these and other deficiencies of the prior art. Furthermore, the invention aims to contribute to the complete automation of the sterile supply cycle, from the delivery of the contaminated instruments in a sterile supply container to the dispensing of the cleaned and disinfected instruments on the clean side by the washer-disinfectors (WDs). In particular, it is an object underlying the present invention to automate the manual processes in the medical device reprocessing unit (RUMP) in the prior art. In particular, it is an object underlying the present invention to provide a device that enables the automated removal of surgical instruments from sieve baskets, as well as the separation and handling of these instruments.Another object underlying the invention is to increase the efficiency of the medical device reprocessing unit (RUMP), thereby alleviating staff shortages and also protecting staff from potential injuries and serious illnesses caused by handling contaminated instruments. The invention is expected to offer significant improvements in efficiency, safety, and cost savings compared to the prior art.

[0006] These and other problems are solved by the subject matter of the appended independent claims.

[0007] Preferred embodiments can be taken from the dependent claims and further from the following description, particularly taking into account various embodiments as dealt with and described in the appended claims.

[0008] The embodiments, features, and combinations of features described here in connection with the invention, as well as the combination of features as specified in the appended claims, but also any combination of features mentioned and described in connection with the embodiments, are deemed to be disclosed herein, or at least derivable by a person skilled in the art. In particular, any feature and any combination of features in the embodiments described here can be claimed, for example, in a different combination, in particular in a different claim category, at least because the person skilled in the art will recognize that each individual combination of the features mentioned here is suitable for contributing to solving the underlying problem.

[0009] Furthermore, each feature and combination of features in the claims and in the description below may be used and claimed separately, independently of the respective claimed subject matter, regardless of claim dependencies and cross-references, and regardless of the claim category in which the feature is claimed. For example, one or more embodiments according to the description below and / or the accompanying drawings may be provided in an arbitrary combination selected from one or more claims.

[0010] The above-described objects are achieved according to the invention by a device according to the present invention. Such a device can, in particular, be an automated instrument separating device suitable for removing and handling surgical instruments from an instrument container, in particular a sieve basket.

[0011] The described device offers several advantages over devices known in the prior art. The automated instrument separation device enables, in particular, safer, faster, and more precise removal of surgical instruments from an instrument container, in particular a mesh basket. The conveyor belt transports the instrument container to the removal mechanism, which picks the instrument from the container and places it on the storage segment. The optical system records the position of the instrument in the container and on the storage and stores the data in a database. The control unit compares the recorded data with the database containing the instrument data. The device is thus capable of quickly and precisely identifying and locating the instruments. This automation saves time and increases efficiency in the handling of surgical instruments.

[0012] A device according to the invention comprises a conveyor belt which is arranged such that at least one first instrument container loaded with at least one surgical instrument can be fed to the conveyor belt. Furthermore, the device according to the present invention comprises a table arranged above the conveyor belt with a shelf which comprises at least one first shelf segment and at least one first window, and an optical system arranged above the shelf which is suitable for recording data of the at least one instrument, in particular the position n and / or type and / or configuration or the like, in the first instrument container and / or on the first shelf segment of the shelf. The shelf is rotatable, preferably about an axis substantially perpendicular to the conveyor belt.The rotatability of the tray is particularly advantageous because a tray that can rotate, preferably about an axis essentially perpendicular to the conveyor belt, allows for a high degree of flexibility in the positioning and forwarding of the instruments. This rotatability allows the tray to serve different processing stations without the instruments having to be laboriously relocated. This simplifies the process flow, reduces handling time, and minimizes the risk of damage to or contamination of the instruments during transfer. The rotatability of the tray is particularly advantageous because the table can function as a cyclic table, preferably in a method according to the invention. In particular, by rotating the table, the instruments can be transported to the next processing station. For example, gripping, identifying, opening the instrument if necessary, placing it in the sieve basket, etc.These and other steps can advantageously be performed serially and / or in parallel. In addition, the rotating tray can reduce the device's footprint and enable more efficient use of available space.

[0013] A control unit provided in the device according to the invention is configured to at least temporarily store the acquired data and to compare it with a database containing instrument data. This allows the identification of the type and / or position and / or number of instruments and thus also tracking of the instruments. Arranged above the tray is a removal mechanism which is configured to move through the at least one first window of the tray when the tray is in a removal position. The removal mechanism can thereby grip and remove the at least one instrument in the instrument container and deposit the first tray segment of the tray, preferably adjacent to the window, preferably in an undefined manner.

[0014] A gripping mechanism of the device according to the invention, in particular a manipulator, which is preferably connected to the wrist of a robot arm, is configured to grip and handle the at least one instrument on the first storage segment of the storage. In particular, the gripping mechanism is intended to deposit the at least one instrument in the first or in a further instrument container.

[0015] The above-described objects are also achieved according to the invention by a method according to the invention for the automated removal, separation, and handling of surgical instruments from instrument containers, in particular sieve baskets, by means of a device, in particular an automated instrument separation device, preferably a device according to the present invention. The method according to the invention comprises at least the following steps: Optionally, a step of placing at least one first instrument container loaded with at least one surgical instrument on a conveyor belt. The method further comprises a step of feeding a first instrument container loaded with at least one surgical instrument to the device into a removal position of the first instrument container. In other words, the conveyor belt moves the container into a removal position.

[0016] The term "removal position" as used herein preferably refers to a position of the container in which a surgical instrument can be removed from the instrument container. In the removal position, the instrument is within reach of the removal mechanism, i.e., the first instrument container is arranged below the tray in such a way that the removal mechanism can pass through the first window of the tray and grasp the at least one instrument in the first instrument container.

[0017] The method according to the invention can, in particular, comprise a step of feeding a first instrument container, in particular a sieve basket, loaded with at least one surgical instrument to the device according to the invention. The device, or the preferably stationary instrument separation system, is positioned and / or configured such that instrument containers can be fed to the conveyor belt manually, via an automated guided vehicle (AGV) system (DTS, in particular AGV or similar), or with the aid of another conveyor belt or another interface. In particular, it is preferred that the method according to the invention comprises a step in which sieve baskets are automatically removed from a sterile goods container and are preferably automatically fed to the conveyor belt.

[0018] The method according to the invention further comprises a step b) of providing a tray arranged on a table, which tray comprises at least one first tray segment and at least one first window, in a removal position of the tray, in which the first window is arranged above the first instrument container;

[0019] The method according to the invention further comprises a step of passing through the first window of the storage area by means of a removal mechanism arranged above the storage area in the removal position of the storage area and gripping the at least one instrument in the first instrument container. In other words, the window allows the removal mechanism to reach through the storage area in order to access the container located below the storage area on the conveyor belt and the instrument contained therein.

[0020] The method according to the invention further comprises a step of extending the removal mechanism with the gripped instrument. This step, in particular, returns the removal mechanism to a position above the tray. If the tray rotates, this advantageously prevents a collision between the window and the tray with the removal mechanism.

[0021] The method according to the invention further comprises a step of placing the instrument on the first storage segment of the storage unit, preferably adjacent to the window. In other words, the instrument is placed on the storage unit in a segment provided for it, with the shortest path, i.e., the storage segment adjacent to the window, preferably being advantageously selected for placement.

[0022] The method according to the invention further comprises a step of detecting data, in particular the position, of the at least one instrument (10) on the first storage segment of the storage, in particular the position, by means of an optical system arranged above the storage. This is particularly advantageous since the optical system is capable of detecting the position of the instrument on the first storage segment of the storage and storing the data in a database. The detected data can then be compared by the control unit in order to determine the position and / or type and / or configuration or the like of the instrument. This enables rapid and precise removal of surgical instruments from the instrument container and increases the efficiency in handling surgical instruments.

[0023] The method according to the invention further comprises a step of gripping and handling the at least one instrument on the first storage segment of the storage unit using a gripping mechanism. This is particularly advantageous because the gripping mechanism is capable of precisely locating, gripping, and handling the instrument on the first storage segment of the storage unit after the data has been acquired. The gripping mechanism can then easily place the instrument in a suitable instrument container.

[0024] For this purpose, the first instrument container or a further instrument container is advantageously arranged under the shelf in a dispensing position.

[0025] The term “dispensing position” as used herein preferably refers to the position in which a surgical instrument is deposited by the gripping mechanism into an instrument container.

[0026] The method according to the invention further comprises a step of moving the gripping mechanism through the first window of the tray in the tray's dispensing position and depositing the instrument in the first and / or the further instrument container. This is particularly advantageous because moving the gripping mechanism through the first window of the tray enables precise and controlled handling of the instruments. This step contributes to transferring the instruments safely and precisely into the first or a further instrument container, which increases the efficiency of the entire process. Furthermore, the defined dispensing position of the tray minimizes the risk of damage to the instruments or the tray itself.

[0027] The method according to the invention further comprises a step of extending the gripping mechanism from the first window of the tray. This is particularly advantageous because extending the gripping mechanism from the first window of the tray enables orderly and sequential processing of the instruments. This step ensures that the instruments are correctly positioned after removal and handling and are ready for the next step in the overall process. Precise control of the gripping mechanism minimizes the risk of mispositioning and potential damage to the instruments. Furthermore, the automation of this process contributes to consistent process quality and can reduce the need for manual intervention, which in turn increases work safety and reduces the likelihood 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, in particular 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 in the first or another container. This systematic repetition ensures that each instrument is handled correctly and prepared for the subsequent cleaning and sterilization processes. The automation of this process contributes to reducing labor and time, improves process reliability, and ensures compliance with high hygiene standards.

[0029] In other words, the present invention comprises an automated unit and method for removing surgical instruments from mesh baskets, as well as for separating and handling these instruments. In particular, the unit can be used on the unclean side of a medical device reprocessing unit (RUMP) to automate all processes within the sterile supply cycle, from the delivery of the contaminated instruments in a sterile supply container to their cleaning and disinfection.

[0030] In connection with the method according to the invention, it should also be noted that the specified steps do not necessarily have to be performed in the specified order. The specified steps can be performed in any other suitable order or even simultaneously. Simultaneous execution of steps is preferred—where technically feasible and possible—in order to make the method run as quickly and efficiently as possible. In particular, it is also preferred that the table can function as a cyclic table. In particular, by rotating the table, the instruments can be transported to the next processing station.

[0031] However, the above-mentioned order may be advantageous for certain embodiments of the method according to the invention.

[0032] It will also be appreciated by a person skilled in the art that a feature, embodiment, effect or advantage as described herein in connection with the inventive device and / or the inventive reverse osmosis system may also be a feature, embodiment, effect or advantage of the inventive method, or vice versa.

[0033] In the present description and the appended claims, unless the context requires otherwise, the word "comprise" and variations such as "comprises" and "comprising" are understood to imply the inclusion of a specified element, integer, or step, or group of elements, integers, or steps, but not the exclusion of any other element, integer, or step, or group 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 the inclusion of a specified element, integer, or step, or group of elements, integers, or steps.

[0034] The terms "a," "an," "the," and similar references used in the context of describing the invention (particularly in the context of the claims) are to be construed to include both the singular and the plural, unless otherwise stated herein or clearly contradicted by the context. The specification of ranges of values ​​is merely a shorthand way to refer individually to each value within the range. Unless otherwise stated herein, each value is included in the specification as if individually recited herein.

[0035] Within the present application, terms such as "side" or "lateral", "rear", "front", "top", "bottom", "bottom", "opposite", "inside", "outside" or the like, which describe the position of a first object relative to another object, preferably refer to the relative position of a respective part or object with respect to its position when fully assembled for its intended use.

[0036] In a preferred embodiment of the method and / or the device according to the invention, the conveyor belt is configured to feed the first instrument container loaded with at least one surgical instrument, wherein the feed can preferably be a manual feed, a feed via an AGV, best with the aid of a conveyor belt or to an interface corresponding to the state of the art, so that more preferably the instrument container is located in a defined manner in the singulation system.

[0037] The conveyor belt is preferably longer than the nominal diameter of the tray. This is particularly advantageous because a conveyor belt that is longer than the nominal diameter of the tray offers greater flexibility in the positioning and handling of the instruments. This enables more efficient organization of the work area and can facilitate the transfer of instruments between different stations in the process. In addition, a longer conveyor belt can increase the capacity to process multiple instrument containers simultaneously, which increases the system throughput rate and potentially reduces waiting times for processing. The conveyor belt can be supplemented with additional conveyor belts, diverters, and ejectors, which enable a change of direction and / or further separation of instrument containers, especially sieve baskets.

[0038] In a further preferred embodiment of the method and / or device according to the invention, the table and / or the storage unit is round, preferably circular. According to the invention, it can also take on other shapes and, in particular, be oval. This is particularly advantageous because a round or circular, or oval, design of the table and / or the storage unit enables an even distribution of the instruments around the axis of rotation. This can improve the accessibility and handling of the instruments, as they can be reached from all sides. Furthermore, a round shape can facilitate the freedom of movement of the gripping mechanism and thus increase the efficiency of the removal and storage process. Integration into existing systems can also be simplified by this design, as it is often compatible with the spatial arrangement of other machine elements.

[0039] In a further preferred embodiment of the method and / or device according to the invention, the storage segment of the storage is formed by elevations or partitions on the storage. This is particularly advantageous because the formation of the storage segment by means of elevations or partitions achieves a clear segmentation of the storage area.

[0040] In a further preferred embodiment of the method and / or device according to the invention, the storage comprises at least a first window and at least one further window, and / or at least one further storage segment. This is particularly advantageous because the storage with multiple windows and / or storage segments offers greater flexibility and capacity for handling different instruments. Additional storage segments offer more space for storing and sorting the instruments, which improves the organization and throughput of the system and offers the possibility of processing multiple instruments in parallel. The storage preferably has two, more preferably three, most preferably four windows.

[0041] In a further preferred embodiment of the method and / or device according to the invention, the number of windows, comprising the at least one first window and at least one further window, corresponds to the number of storage segments, comprising the first storage segment and at least one further storage segment. Preferably, windows and storage segments are each arranged alternately in the storage. This is particularly advantageous because a matching number of windows and storage segments and their alternating arrangement in the storage enables optimal use of the available space. This leads to improved organization and a smooth flow of the removal and storage process. The alternating arrangement also facilitates the separation and sorting of the instruments, which increases the efficiency of the system and shortens processing time.This configuration allows the system to respond flexibly to different sizes and shapes of instruments and ensure precise handling.

[0042] Preferably, the rotatable shelf is movable, in particular rotatable, by a corresponding motor with gear and motor control.

[0043] In a further preferred embodiment of the method and / or device according to the invention, the removal mechanism is configured to translate along a grid in three dimensions within the sieve basket. Further preferably, the removal mechanism is automatically controllably movable in at least three translational degrees of freedom. This is particularly advantageous because the removal mechanism, which is configured to translate along a grid in three dimensions within the sieve basket, enables complete and systematic detection of all instruments in the sieve basket. This ensures that no instrument is overlooked and that each one can be precisely grasped and further processed. The three-dimensional scanning contributes to the accuracy of the entire process and improves the reliability of automated removal, which in turn increases the efficiency and safety of the process.

[0044] In a further preferred embodiment of the method and / or device according to the invention, the removal mechanism (9) is designed as a magnetic, preferably electromagnetic, removal mechanism. This is particularly advantageous since randomized removal by an electromagnetic removal mechanism offers the possibility of handling a large number of instruments without specific selection criteria. This can be particularly useful when rapid processing of a large number of instruments is required or when the exact position of the instruments in the sieve basket is unknown. Random removal can also help ensure uniform wear of the instruments, since the same instruments are not always removed first.Furthermore, this method can reduce the complexity of the system since no complex algorithms are required to identify and select specific instruments.

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

[0046] Advantageously, the electromagnet is freely mounted vertically on the mechanism, but is positioned at a defined lower stop via its own weight and / or a spring in order to enable it to be placed on the instruments without causing a collision or jamming due to transverse forces of the mechanism in the sieve basket and / or the instruments.

[0047] In one embodiment, a removal mechanism can have a further, non-magnetic gripping mechanism and / or receiving mechanism. Such a further, non-magnetic gripping mechanism and / or receiving mechanism is preferably arranged spatially at 90° or 180° to the magnetic gripping mechanism. Such a further, non-magnetic gripping mechanism and / or receiving mechanism is preferably a vacuum-based suction mechanism. Such a vacuum suction mechanism can advantageously suck in and hold instruments, in particular in the form of bowls, on a straight and / or flat surface that are not or only very weakly magnetizable due to their material properties. The removal mechanism can preferably be designed as a magnetic, preferably electromagnetic, removal mechanism.

[0048] In a further preferred embodiment of the method and / or device according to the invention, the optical system is a robot guidance camera. This is particularly advantageous because a robot guidance camera as an optical system enables highly precise detection and identification of the surgical instruments. The camera can determine the type, exact position and orientation of the instruments in space, as well as other parameters of the instruments, which is advantageous for correct handling by the robot arm. This improves the accuracy of the entire automation process, reduces the risk of errors, and increases efficiency and safety when preparing the instruments for sterilization. Furthermore, the camera can contribute to the monitoring and quality assurance of the process by ensuring that all instruments are correctly detected and processed.

[0049] In general, the optical system is preferably designed to detect and record individual instruments based on instrument parameters by taking images, as well as to define their position in space.

[0050] In a further preferred embodiment of the method and / or the device according to the invention, the gripping system is attached to a kinematics which preferably has J-DOF but preferably 6-DOF.

[0051] This is particularly advantageous because a gripping system attached to a kinematic system, preferably with J-DOF or 6-DOF (Degrees of Freedom), offers high mobility and flexibility in handling instruments. With 6-DOF, the gripping system can perform particularly complex movements, which are advantageous for gripping, rotating, and positioning instruments from different angles. This enables precise manipulation of the instruments, which is particularly important for correctly preparing them for cleaning and sterilization. The expanded motion options contribute to increasing process efficiency and reducing processing time, while also increasing safety and accuracy.

[0052] The kinematics preferably comprise a serial 6-DOF articulated-arm robot, with the gripping system more preferably being connected to the wrist of the robot. Such a kinematics, in particular a robot arm, can be attached by its base to a frame of the device according to the invention and / or coaxially to the rotational axis of the preferably rotatable storage unit.

[0053] In a further preferred embodiment of the method and / or device according to the invention, a step of at least temporarily storing data acquired in a step of data acquisition further preferably comprises a step of comparing the acquired data with a database comprising instrument data. This is particularly advantageous because the at least temporary storage of acquired data and the comparison with an instrument database enable continuous monitoring and quality assurance of the process. By storing the data, instruments can be identified and analyzed, and process deviations can be quickly identified and corrective measures initiated. The comparison with a database also allows for seamless documentation and traceability of the instruments, which is of great importance for compliance with hygiene regulations and patient safety.Additionally, this approach can increase efficiency by supporting automated inventory and demand planning.

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

[0055] In a further preferred embodiment of the method and / or device according to the invention, the method further comprises a step of moving the removal mechanism into a parked position. This is particularly advantageous because moving the removal mechanism into a parked position increases safety within the work environment. In the parked position, the mechanism is located outside the active area and thus poses no risk to operating personnel or to collision with other moving parts of the device, in particular a possibly rotatable shelf.

[0056] In a further preferred embodiment of the method according to the invention and / or the device according to the invention, the method further comprises a step of rotating the shelf by a first predefined angle.

[0057] This is particularly advantageous because rotating the tray by a predefined angle enables precise positioning of the instruments for subsequent process steps. The defined rotation allows the instruments to be brought to the exact location where they are to be picked up by the gripping mechanism or another processing station. This contributes to optimizing the entire workflow by reducing handling time and increasing process accuracy. Furthermore, the predefined rotation can improve compatibility with other automated systems, facilitating integration into existing production lines.

[0058] Such a step of rotating the tray by a first predefined angle is preferably performed before placing the one instrument on the first tray segment of the tray, preferably adjacent to the window. In this case, the tray is preferably rotated, in particular, into a dispensing position of the tray in which the first window is arranged above the first and / or a further instrument container provided for dispensing the instruments.

[0059] Such a step of rotating the tray about a first predefined distance is preferably carried out after a step of moving out the removal mechanism with the gripped instrument and / or after a step of moving the removal mechanism into a parking position.

[0060] The objects described above are also achieved according to the invention by a processing unit for medical devices (AEMP) according to the invention comprising a device, in particular an automated instrument separation device for removing and handling surgical instruments from an instrument container according to the present invention.

[0061] In a further preferred embodiment of the method according to the invention and / or the device according to the invention, the device comprises a cell, preferably consisting of profiles, in particular aluminum profiles and PC plates, and further preferably has at least two openings for the and / or further conveyor belts

[0062] This is advantageous for increasing system safety, as the entire proposed mechanism can be housed in a dedicated cell, preventing accidental access to the user. Furthermore, breakouts can be provided with light barriers and other protective mechanisms to prevent accidents and unauthorized interventions. Short description of the characters

[0063] The present invention will be explained in more detail below with reference to the drawings, from which further features, embodiments, and advantages can be seen. In the embodiments shown in the figures, elements that have similar or identical functions are provided with the same reference numerals. Please note that the figures may not be to scale.

[0064] It shows: Fig. 1A is a schematic perspective view of a device according to the present invention in a first embodiment; Fig. 1B is a schematic representation of a device according to the present invention in a first embodiment from the side above; and Fig. 1C is a schematic side view of a device according to the present invention in a first embodiment. Detailed description

[0065] Fig. 1A, Fig. 1B and Fig. 1C shows a schematic representation of a device 1, in particular an automated instrument separation device 1, for removing and handling surgical instruments from an instrument container 4, in particular a sieve basket 4, according to a first embodiment of the present invention. A conveyor belt 3 is arranged such that at least one first instrument container 4 loaded with at least one surgical instrument 10 can be fed to the conveyor belt 3. In the illustration, a first container is in the removal position below the shelf 5, and another instrument container 4 with further surgical instruments 10 is already waiting on the conveyor belt 3. A table 8 arranged above the conveyor belt 3 comprises a shelf 5, which has at least one first shelf segment 6 and at least one first window 7.An optical system 11, also arranged above the shelf 5, is configured to record data of the at least one instrument 10, in particular the position, in the first instrument container 4 and / or on the first storage segment 6 of the shelf 5. A control unit (not shown here) temporarily stores the recorded data and compares it with a database containing instrument data. Furthermore, a removal mechanism 9 is arranged above the shelf 5, which is configured, in a removal position of the shelf 5 (shown here), to move through the at least one first window 7 of the shelf 5 and to pick up the at least one instrument 10 from the first instrument container 4 and to place it on the first storage segment 6 of the shelf 5 adjacent to the window 7.The gripping mechanism 12 can grip and handle the at least one instrument 10 on the first storage segment 6 of the storage 5 and place it in the first or in a further instrument container 4 in the dispensing position.

[0066] It should be understood that, advantageously in the overall process, instrument containers are automatically removed from a sterile goods container before (upstream) feeding the containers into the device according to the invention. They are then fed manually to the device 1 according to the invention, here a stationary instrument separation system 1, preferably via an automated guided vehicle system, ideally using a conveyor belt, or to a prior art interface 2 to a conveyor belt 3, which is part of the device 1.

[0067] As in Fig. 1A, Fig. 1B and Fig. 1C, the sieve basket 4 loaded with surgical instruments 10 is located in the separation system 1 and is moved by the conveyor belt 3 into a defined removal position below the circular, rotating shelf 5. The shelf 5 has - in this case four - storage segments formed by elevations or partitions and - in this case also four - windows 7. In the present case, the four windows and the four storage surfaces of the segments 6 are thus present in the same number and alternately in the rotating shelf 5. All elements are mounted on a table 8. The rotating shelf 5 is rotated by a corresponding motor with gear and motor control (not shown).The conveyor belt 3 is preferably longer than the nominal diameter of the rotatable tray 5 and can be supplemented, in particular at interface 2, with corresponding additional conveyor belts, switches and ejectors, which enable a change of direction and / or further separation of sieve baskets 4 (not shown).

[0068] Above the rotatable shelf 5 there is an advantageously electromagnetic removal mechanism 9, which can advantageously be moved in an automated and controllable manner with at least three translational degrees of freedom. The removal mechanism 9 moves translationally along a grid in three dimensions within the sieve basket 4 and grips magnetizable instruments 10 as they are immersed in the sieve basket 4 with the aid of at least one electromagnet - in doing so it passes through a window 7 of the rotatable shelf 5. The electromagnet is advantageously freely mounted vertically on the mechanism and is attached to a defined lower stop via its own weight and / or a spring in order to enable it to be placed on the instruments without causing a collision or tilting due to transverse forces of the mechanism in the sieve basket 4 and / or the instruments 10.After the removal mechanism 9 has been moved out of the sieve basket 4 and through the window 7, it stands above the rotatable shelf 5 together with the instruments 10 it has gripped. This rotates by a defined angle, here 45°, by one segment 6. The removal mechanism 9 can place the instruments 10 in an undefined manner on one surface of the segment 6 following the window 7 by moving down and switching off the electromagnet. The removal mechanism 9 moves to a safe parking position. The rotatable shelf 5 then moves another segment 6, again by 45°. Above this area there is at least one optical system 11, which advantageously represents a robot guidance camera, which can capture or recognize individual instruments 10 by taking images and define their position in space. The optical system 11 is preferably attached to a holding device (in . Fig.1C not shown), which is advantageous for capturing images of individual instruments, particularly with regard to field of view, height and positioning. The position of the instruments 10 relative to the rotatable shelf is saved and the instrument data is compared with a database in order to enable tracking of the instruments 10. Advantageously, at the time the last instrument is removed from the sieve basket 4, it can be determined whether the instrument type and number correspond to the specifications of the stored data for the respective sieve basket 4. The state of the art is that this is only possible during the packing process, since this data is not collected beforehand in the process. Here, replenishment planning or the provision of missing instruments just in time can be carried out many hours before the actual packing process. Once the steps shown have been completed, the rotatable shelf 5 moves by a further segment 6, again by 45°.The preferred predefined angle preferably results from the arrangement of the segments and windows, and particularly preferably from the formula:. Predefined angle[°]=360° / sum of all segments and windows

[0069] In this step, the instruments 10 are gripped and handled with a gripping system 12. In the context of the present invention, handling preferably means manipulating the instruments themselves, such as opening scissors, forceps, needle holders, etc., or separating individual instrument assemblies to enable the prescribed state for pre-cleaning.

[0070] The position and orientation of the deposited surgical instruments 10 in space were previously transmitted by the robot guidance camera 11 and mathematically converted into the new rotated situation using standard coordinate transformation on the rotating tray. The gripping system 12 itself is attached to a kinematic system that has J-DOF, but preferably 6-DOF. Ideally, a state-of-the-art serial 6-DOF articulated-arm robot 1J is suitable for this purpose. This can be attached with its base above to a frame or coaxially to the rotation axis of the rotating tray. With the help of the gripping system 12, after manipulation, the corresponding instrument 10 can be placed in another sieve basket or in the now empty sieve basket for pre-cleaning in a defined manner and taking optimal storage into account. List of reference symbols 1 device 2 Interface to a conveyor belt (delivery of loaded screen basket) 3 Conveyor belt 4 instrument containers, sieve basket 5 Rotating shelf 6 storage segment of the storage area for surgical instruments 7 windows 8 Table 9 Removal mechanism, preferably with electromagnet, suction cup and / or gripper 10 Surgical instrument 11 optical system, preferably robot guidance camera, for detecting the instruments 12 Gripping mechanism 13 6-DOF articulated-arm robots 14 cell made of aluminum profile with PC wall elements 15 cell breakthrough (with safety systems such as light barriers, etc.)

Claims

[1] Device, in particular automated instrument separation device (1), for removing and handling surgical instruments from an instrument container (4), in particular a sieve basket (4), comprising - a conveyor belt (3) arranged such that at least one first instrument container (4) loaded with at least one surgical instrument (10) can be fed to the conveyor belt (3); - a table (8) arranged above the conveyor belt (3) with a shelf (5) which comprises at least one first shelf segment (6) and at least one first window (7), and wherein the shelf (5) is rotatable, preferably about an axis substantially perpendicular to the conveyor belt; - an optical system (11) arranged above the shelf (5) suitable for detecting data of the at least one instrument (10), in particular the position and / or type and / or configuration or the like, in the first instrument container (4) and / or on the first storage segment (6) of the shelf (5); - a control unit configured to at least temporarily store the recorded data and to compare the recorded data with a database containing instrument data; - a removal mechanism (9) arranged above the shelf (5) which is designed, in a removal position of the shelf (5), to pass through the at least one first window (7) of the shelf (5) and to pick up the at least one instrument (10) from the first instrument container (4) and to place it on the first shelf segment (6) of the shelf (5) adjacent to the window (7); - a gripping mechanism (12) suitable and configured for gripping and handling the at least one instrument (10) on the first storage segment (6) of the storage (5) and for depositing the at least one instrument (10) in the first or in a further instrument container (4). [2] Device (1) according to claim 1, wherein the table (8) and / or the shelf (5) is round, preferably circular. [3] Device (1) according to one of claims 1 or 2, wherein the storage segment (6) of the storage (5) is formed by elevations or separations on the storage (5). [4] Device (1) according to one of claims 1 to 3, wherein the tray (5) comprises at least one first window (7) and at least one further window, and / or at least one further tray segment (6). [5] Device (1) according to claim 4, wherein the number of windows, comprising the at least one first window (7) and at least one further window, corresponds to the number of storage segments, comprising the first storage segment (6) and at least one further storage segment (6), and, preferably, windows and storage segments are each arranged alternately in the storage (5). [6] Device (1) according to one of claims 1 to 5, wherein the removal mechanism (9) is designed to move translationally along a grid in three dimensions within the sieve basket (4). [7] Device (1) according to one of claims 1 to 6, wherein the removal mechanism (9) is designed as a magnetic, preferably electromagnetic, removal mechanism (9). [8] Device (1) according to one of claims 1 to 7, wherein the optical system (11) is a robot guidance camera. [9] Device (1) according to one of claims 1 to 8, wherein the gripping system (12) is attached to a kinematics which preferably has J-DOF but preferably 6-DOF. [10] Method for the automated removal, separation and handling of surgical instruments (10) from instrument containers (4), in particular sieve baskets (4), by means of a device, in particular an automated instrument separation device (1), preferably a device according to one of claims 1 to 9, comprising at least the following steps: - a step a) of feeding a first instrument container (4) loaded with at least one surgical instrument (10) to the device (1) in a removal position of the first instrument container (4); - a step b) of providing a shelf (5) arranged on a table (8), which shelf comprises at least one first shelf segment (6) and at least one first window (7), in a removal position of the shelf (5), in which the first window (7) is arranged above the first instrument container (4); - a step c) of passing through the first window (7) of the tray (5) by means of a removal mechanism (9) arranged above the tray (5) in the removal position of the tray (5) and of gripping the at least one instrument (10) in the first instrument container (4); - a step d) of extending the removal mechanism (9) with the gripped instrument (10); - a step e) placing the one instrument (10) on the first storage segment (6) of the storage (5) adjacent to the window (7); - a step f) of recording data, in particular the position, of the at least one instrument (10) on the first storage segment (6) of the storage (5), in particular the position and / or type and / or configuration, by an optical system (11) arranged above the storage (5); - a step g) of gripping and handling the at least one instrument (10) on the first storage segment (6) of the storage (5) by means of a gripping mechanism (12); - a step h) of passing through the first window (7) of the tray (5) by means of the gripping mechanism (12) in the delivery position of the tray (5) and depositing the instrument (10) in the first and / or the further instrument container (4); - a step i) of moving the gripping mechanism (12) out of the first window (7) of the tray (5) [11] Method according to claim 10, further comprising a step of at least temporarily storing data acquired in step d) and, more preferably, a step of comparing the acquired data with a database comprising instrument data; [12] Method according to claim 10 or 11, further comprising a step of conveying the preferably empty first instrument container (4), previously loaded with at least one surgical instrument (10), to the device (1) in a delivery position of the first instrument container (4); [13] Method according to one of claims 10 to 12, further comprising a step of moving the removal mechanism (9) into a parking position; [14] Method according to one of claims 10 to 13, further comprising a step of rotating the tray (5) by a first predefined angle [15] A medical device processing unit (AEMP) comprising a device, in particular an automated instrument separating device (1), for removing and handling surgical instruments from an instrument container (4), in particular a sieve basket (4) according to one of claims 1 to 9.

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