Automated order picking system for picking medical goods for operating areas of a medical facility

Abstract

Automated order picking system (100) for picking medical goods for operating areas (210) of a medical facility, comprising: - a picking area (110), - a gripper robot (120) arranged in the picking area (110), - a racking system (150) arranged in the picking area (110), - a transport robot (160), - a transfer area (310) located in the picking area (110) and - a control device (170) for controlling the gripper robot (120) and the transport robot (160), wherein the racking system (150) is set up for storing medical goods, wherein the gripper robot (120) is configured to remove medical goods stored in the racking system (150) according to a requirements list from the racking system (150) and to hand them over to the transport robot (160) in the transfer area (310) when the transport robot (160) is in a transfer position (311), wherein the transport robot (160) is equipped to take medical goods from the gripper robot (120), transport them to an operating area (210) of the medical facility and make them available in the area of ​​the operating area (210), wherein a pre-picking device (130) is arranged on the gripper robot (120), and wherein the gripping robot (120) is further equipped to temporarily store the medical goods removed from the racking system (150) in the pre-picking device (130) before handing them over to the transport robot (160).

Description

[0001] The invention relates to an automated picking system for picking medical goods for operating areas of a medical facility.

[0002] The healthcare sector is increasingly confronted with rising personnel costs and growing economic pressure, making the use of automated processes to increase efficiency and reduce costs increasingly important.

[0003] Performing operations on human patients in operating areas, particularly in hospital operating rooms, requires the use of a wide variety of medical, especially surgical, supplies. These include, in particular, sterile supplies such as bandages, compresses, swabs and / or dressings, as well as surgical tools and instruments, such as surgical saws, scissors, clamps, scalpels, tweezers, retractors, forceps and / or needle holders.

[0004] The aforementioned medical supplies are typically stored centrally and must be transported to the respective operating room as needed for each medical procedure. The process of assembling the medical supplies likely required for a given procedure is called order picking. Particularly in connection with order picking, there is significant potential for cost reduction, for example, through optimized selection, compilation, and timely provision of the necessary medical supplies.

[0005] Against this background, the present invention aims to provide a system that enables cost-effective, reliable and efficient picking of medical goods for operating areas.

[0006] This problem is solved by an automated order picking system with the features of claim 1. Advantageous further developments and beneficial embodiments of the invention are specified in the dependent claims.

[0007] A first aspect of the invention relates to an automated order picking system for operating areas of a medical facility, in particular a hospital. Medical facilities in which the order picking system can be used include, in addition to hospitals, outpatient surgical centers, specialist practices, medical care centers, day clinics, affiliated clinics, or comparable facilities where surgical medical procedures are performed.

[0008] According to the invention, the order picking system comprises a picking area, a gripper robot arranged in the picking area, a racking system arranged in the picking area, a transport robot, a transfer area arranged in the picking area, and a control unit for controlling the gripper robot and the transport robot. Medical supplies for carrying out a medical procedure can be picked in the picking area.

[0009] The shelving system is designed to store medical supplies. For this purpose, the shelving system can have multiple compartments and / or areas for accommodating different types of medical supplies.

[0010] The gripper robot is configured to retrieve medical supplies stored in the racking system according to a requirements list and transfer them to the transport robot in the transfer area when the transport robot is in a transfer position. Preferably, the transfer of the medical supplies to the transport robot is only released once the control unit has determined that the transport robot is in the designated transfer position. This ensures a safe and precise transfer of the medical supplies.

[0011] The removal of medical supplies from the shelving system by the gripper robot occurs in response to a corresponding command from the control unit. The gripper robot performs handling tasks within its assigned operating area and is configured to handle medical supplies within this area. The medical supplies listed in the requirements list correspond to those expected to be needed for the respective medical procedure.

[0012] The transport robot is designed to take medical supplies from the gripper robot, transport them to an operating area within the medical facility, and make them available there. The transport robot performs these steps in response to a corresponding command from the control unit. When transporting the medical supplies to the operating area, the transport robot leaves the transfer point and thus the picking area. The provided medical supplies can then be used during the corresponding medical procedure.

[0013] According to the invention, a pre-picking device is arranged or attached to the gripper robot. The gripper robot is further configured to temporarily store the medical goods removed from the racking system in the pre-picking device before transferring them to the transport robot. This means that the medical goods to be picked are at least partially collected before being transferred to the transport robot and then transferred to the transport robot together as a batch with a batch size greater than one.

[0014] This offers the advantage that medical supplies can be picked with a high degree of automation, thus requiring less personnel and reducing costs. At the same time, the temporary storage of medical supplies in the pre-picking device enables particularly efficient assembly, as several picked items can be collected and then transferred together to the transport robot. This avoids empty trips by the transport robot and increases the overall throughput of the picking system.

[0015] The temporary storage of medical goods in the pre-picking device using the gripper robot occurs regularly in response to a corresponding control of the gripper robot by the control unit.

[0016] A further advantage arises from the ability to store predefined order lists for specific types or variations of surgery. These lists comprehensively and systematically record the medical supplies required for each procedure. This eliminates the need for medical staff to independently decide on the scope and selection of required supplies. Instead, order picking can be automated based on these predefined lists.

[0017] This reduces the risk of individual medical supplies being forgotten or incomplete. At the same time, it relieves the burden on medical staff, as cognitive strain and time-consuming manual checks are eliminated. This contributes to increased process reliability, improved standardization of procedures, and a reliable and reproducible supply of the medical supplies required for each medical procedure.

[0018] The invention further comprises advantageous developments which may result in additional technical and procedural advantages.

[0019] According to a preferred embodiment of the invention, the pre-picking device comprises a trough in which the medical supplies removed from the racking system can be temporarily stored. The pre-picking device further comprises a tilting mechanism by means of which the trough can be moved from a storage position to an emptying position in order to transfer the medical supplies temporarily stored in the trough to the transport robot.

[0020] This offers the advantage that medical supplies can be transferred to the transport robot particularly quickly and efficiently. Specifically, the medical supplies can be transferred by tilting the tray onto a receiving area of ​​the transport robot. In this way, it is possible to transfer several medical supplies simultaneously, significantly reducing the transfer time compared to a sequential transfer of individual medical supplies that must be grasped separately.

[0021] Preferably, the method of transferring medical goods should depend on their design. In particular, it should be stipulated that only medical goods designed for tipping should be transferred by tilting. Medical goods designed for tipping are those that, due to their material properties and shape, are sufficiently flexible or robust that they are not damaged by impacts occurring during tipping. This includes, in particular, sterile goods such as bandages, compresses, swabs, and / or dressings.

[0022] In contrast, medical supplies designed for placement are at increased risk of damage from tipping movements. This applies particularly to surgical instruments. Therefore, such medical supplies are preferably not tipped, but rather transferred upright and without damage to the transport robot. It is preferred that medical supplies designed for placement are stored and / or temporarily stored in metal trays. The gripper robot is preferably configured to handle such metal trays, so that ultimately a corresponding metal tray containing the medical supplies is provided in the operating area.

[0023] If, in exceptional cases, medical goods designed as cargo are also temporarily stored in the trough, it is preferably provided that these are removed from the trough by means of the gripper robot before the initiation of the tipping process that effects the transfer of the medical goods to the transport robot and are transferred separately and without damage to the transport robot.

[0024] However, it is particularly preferred that medical goods designed as stacked goods be temporarily stored adjacent to the skip, so that only medical goods designed as tipped goods are transferred by tipping. The pre-picking device can have a corresponding storage area for this purpose.

[0025] Alternatively or additionally, the pre-picking device can be designed to have at least one further storage area next to the hopper, on which selected medical supplies can be temporarily stored. This allows different medical supplies, in particular tipping goods and stacked goods, to be pre-picked separately and then transferred to the transport robot in a coordinated manner.

[0026] Furthermore, it can be implemented that parallel transfer processes take place when transferring medical goods to the transport robot. For example, medical goods designed as tipping goods can be transferred by tipping the container, while simultaneously medical goods designed as standing goods are transferred to the transport robot using the gripper robot. This further reduces the transfer time and increases the overall throughput of the picking system.

[0027] Furthermore, it is preferably provided that the trough has a support surface and a side boundary that at least partially surrounds the support surface, with the side boundary being open on one tipping side. This allows, on the one hand, for the safe and orderly temporary storage of the medical goods in the trough and, on the other hand, supports a particularly efficient and targeted transfer of the medical goods to the transport robot.

[0028] The medical supplies are transferred to the transport robot via the tipping side. As a result of the tipping process, the medical supplies exit the hopper and land on a receiving area of ​​the transport robot. Alternatively, instead of the side being open at the tipping side, the hopper can be equipped with a flap located on the side. This flap can be motor-operated and preferably opens in response to the initiation of the tipping process to allow the medical supplies to be tipped out. After the transfer is complete, the flap can be closed again, allowing the hopper to be used once more for the temporary storage of medical supplies.

[0029] According to a further embodiment of the automated picking system, the gripper robot has a traversing device that allows it to move along the racking system while performing a traversing motion. The gripper robot is thus positioned to move relative to the racking system. This offers the advantage that even with large racking systems, such as those required for storing large quantities of medical supplies, the entire racking system can be brought within the gripper robot's working range without requiring a correspondingly large or complex gripper robot. This allows for the use of a comparatively compact and cost-effective gripper robot.

[0030] Preferably, the picking system has a guide rail extending along a travel axis, to which the traversing device for executing the traversing movement is coupled. The gripper robot can thus move along the guide rail relative to the racking system. This design guides and spatially limits the traversing movement, thereby reducing the risk of collisions between the gripper robot, particularly with the racking system. Consequently, safety precautions, such as additional sensors for collision avoidance, can be simplified or reduced in scope.

[0031] Preferably, the traverse axis extends linearly, so that the traverse movement of the gripper robot is also linear. Furthermore, it is preferably provided that the racking system also extends linearly along the guide rail, in particular parallel to it, thereby enabling a particularly simple and clear system geometry.

[0032] The gripper robot can, for example, be designed as a multiaxial robot and have a movement section that preferably comprises at least four axes, more preferably at least five axes, and most preferably six axes. This offers the advantage that the gripper robot can be implemented with a small installation space requirement while still having a large working range within which handling tasks involving medical goods can be performed. If a traversing device is also provided, the gripper robot gains an additional movement option along the traversing axis. If, for example, the gripper robot's movement section has six axes, the gripper robot can be moved along a total of seven axes when the traversing device is taken into account.

[0033] The gripper robot can further comprise a base section, which is attached to the movement section at one end and to the traversing device at the other. The base section separates the movement section from the floor of the picking area, thus preferably positioning the gripper robot in an elevated position. This allows the gripper robot's working range to be increased, particularly in a vertical direction. This, in turn, makes it possible to build a taller racking system, thereby increasing storage capacity for medical supplies.

[0034] The pre-picking device is preferably attached to the base section. In this configuration, the pre-picking device is moved along the traverse axis together with the gripper robot when the gripper robot performs the traverse movement. The pre-picking device is thus always located within the moving working area of ​​the gripper robot, enabling particularly efficient intermediate storage of the picked medical goods.

[0035] Furthermore, the racking system can be designed to have a first racking area for medical goods designed for tipping and a second racking area for medical goods designed for standing. This allows the medical goods to be stored in different racking areas depending on their specific handling requirements, thus making the retrieval, handling, and transfer of the medical goods more efficient overall. Preferably, the second racking area is arranged opposite the first. This allows for a particularly space-saving arrangement, enabling the storage of a large number of medical goods in a limited space.

[0036] The transport robot can further comprise a first receiving section for medical goods designed as tipping loads and a second receiving section for medical goods designed as standing loads. This enables differentiated receiving and provision tailored to the respective medical goods. Preferably, a trough is arranged in the first receiving section and / or a storage area is arranged in the second receiving section, as described above in connection with the pre-picking device. This facilitates a particularly efficient transfer of the medical goods to the transport robot.

[0037] Alternatively or additionally, the picking system can be designed to include a first gripper head, connectable to the gripper robot, for grasping medical goods designed as tipping items, and / or a second gripper head, connectable to the gripper robot, for grasping medical goods designed as stacking items. This offers the advantage that, depending on the specific handling task and the type of medical goods to be grasped, a particularly suitable gripper head can be used. This further increases the efficiency and reliability of the picking process.

[0038] Preferably, the first gripping head is designed as a suction gripper. Medical goods designed for tipping, such as soft compresses, are often dimensionally unstable but sealed in packaging, particularly plastic packaging. A suction gripper can exert suction force on the packaging surface, enabling a secure grip on these medical goods. Such a secure grip is often limited with grippers that exert a clamping force due to their low dimensional stability.

[0039] Furthermore, it is preferably provided that the second gripping head is designed as a vacuum gripping head (negative pressure gripping head) and / or as a mechanical gripping head. Such a gripping head allows for the safe and efficient gripping of often dimensionally stable medical goods designed as loads, such as surgical instruments or instrument trays.

[0040] According to a further embodiment, the picking system also includes a gripper exchange station in which the first gripper head and / or the second gripper head can be stored and at which the first gripper head and / or the second gripper head can be coupled to the gripping robot as needed. This reduces the mass to be moved by the gripping robot, as only the currently required gripper head is coupled to and moved along with the robot. Preferably, the gripper exchange station is located away from the racking system, so that the space available for storing medical supplies within the racking system can be maximized.

[0041] The order picking system can also include a safety enclosure that shields the picking area, at least partially, from its surroundings, particularly from the outside. The safety enclosure has a primary access opening through which the transfer area is opened for the transport robot to move into the transfer position. In other words, the picking area is at least partially enclosed by the safety enclosure.

[0042] This increases the operational reliability of the order picking system, particularly with regard to protecting medical personnel from moving system components such as the gripper robot. The transport robot leaves the picking area via the first access opening to transport the picked medical supplies to an operating area of ​​the medical facility.

[0043] Preferably, the safety enclosure is formed at least partially by the racking system. This allows the safety enclosure to be implemented in a particularly cost-effective and space-saving manner. Preferably, the rear side of the racking system, facing away from the picking area, forms part of the safety enclosure. Furthermore, it is preferably provided that the gripper robot accesses the medical goods stored in the racking system via a front side of the racking system facing the racking system.

[0044] Alternatively or additionally, the safety enclosure can include a safety light curtain directed towards the first access opening. Such a safety light curtain can, for example, have a light barrier comprising a light transmitter and a light receiver aligned with the light transmitter on opposite sides of the first access opening. If an object, particularly a part of a person's body, enters the light path between the light transmitter and the light receiver, it is detected by the safety light curtain, whereupon appropriate safety measures can be initiated. One such safety measure could be to at least temporarily interrupt the operation of the gripper robot.

[0045] Alternatively or additionally, the safety enclosure can be provided with a second access opening, which can be closed by means of a safety door. This allows medical personnel to enter the picking area under predefined safety conditions, for example, to stock the racking system with medical supplies or to carry out maintenance work. Preferably, a door safety switch is provided that is coupled to the safety door, which automatically deactivates safety-relevant functions of the picking system, in particular the operation of the gripper robot, when the safety door is opened. This further increases the safety of the picking system.

[0046] The picking system enables a process for picking medical supplies for operating rooms in a medical facility. The process comprises steps that are each executed in response to a command from the control unit. First, medical supplies stored in the racking system are retrieved from the racking system according to a request list using a gripper robot. The retrieved medical supplies are then transferred by the gripper robot to the transport robot in the transfer area, which is positioned at the transfer point. The transport robot takes the medical supplies from the gripper robot and transports them to an operating room within the medical facility.In the operating area, the transported medical goods are finally provided by the transport robot so that they can be used for the intended medical procedure.

[0047] Preferably, several transport robots are assigned to the picking system and can be loaded with medical supplies in parallel. The control unit can be configured such that different transport orders are assigned to several transport robots, particularly for different operating areas. This allows the picking and provision of medical supplies for multiple operating areas to be carried out in parallel, further increasing the overall throughput of the picking system.

[0048] Preferably, an elevator is used to transport the received medical supplies to the operating area by means of the transport robot. This elevator connects a first floor of the medical facility, where the picking system is located, with a second floor of the medical facility, where the operating area is located. Medical facilities, especially hospitals, are often multi-story buildings, with storage areas typically located on lower floors. The picking system is preferably located on such a lower floor, while operating areas are often located on upper floors.The elevator allows the transport robot to move independently between the building levels, thus automatically transporting the picked medical goods from the picking system to the respective operating area, with the elevator being controlled by the control unit and / or by the transport robot itself.

[0049] Furthermore, it can be provided that the transport robot autonomously returns to the picking system after delivering the medical supplies to the operating area. To do this, the transport robot can be reactivated after unloading the medical supplies, allowing it to return to the picking area and be ready for another picking operation. In this way, a cyclical operation of the picking system can be implemented, in which the transport robot is used multiple times in succession to transport medical supplies.

[0050] Regarding further details and designs of the proposed order picking system, reference is made to the German utility model application with application number 20 2025 101 175.1, the contents of which are hereby incorporated into this utility model application.

[0051] The invention is explained in more detail below with reference to exemplary embodiments and the schematic drawings. Identical or corresponding features are designated with the same reference numerals. The drawings show: Fig. 1. A perspective view of the automated order picking system, Fig. 2 the in Fig. 1. Picking system shown in a top view, Fig. 3 that in the Fig. 1 and Fig. 2 picking systems shown in a side view, Fig. 4 a first detail of the in the Fig. 1 to 3 of the picking systems shown, Fig. 5 a transport robot of the in the Fig. 1 to 3 of the picking systems shown, Fig. 6 a gripper exchange station of the in the Fig. 1 to 3 of the picking systems shown, Fig. 7 a first gripping head designed as a suction gripping head, and Fig. 8 a second detail of a medical facility with a first building level in which the in the Fig. The picking system shown in sections 1 to 3 is located on a second building level.

[0052] The in the Fig. The picking system 100, shown in Figures 1 to 3, includes picking area 110, in which the gripper robot 120 is located. Within picking area 110 is the racking system 150. Picking system 100 also includes the transport robot 160. Transfer area 310 is also provided within picking area 110. Furthermore, picking system 100 includes the control unit 170, by means of which the gripper robot 120 and the transport robot 160 can be controlled.

[0053] The racking system 150 is configured to store medical supplies. The gripper robot 120 is configured to retrieve medical supplies stored in the racking system 150 according to a predefined requirements list and transfer them to the transport robot 160 in the transfer area 310. For this purpose, the transport robot 160 is located in the transfer position 311, which is arranged within the transfer area 310 as an example.

[0054] In the illustrated embodiment, the racking system 150 comprises the first racking area 151 for receiving medical goods designed as tipping goods and the second racking area 152 for receiving medical goods designed as stacked goods. By way of example, the second racking area 152 is arranged opposite the first racking area 151.

[0055] In the illustrated embodiment, the picking system 100 further comprises the safety enclosure 190, which at least partially shields the picking area 110 from its surroundings, particularly from the outside. The safety enclosure 190 has the first access opening 191, through which the transfer area 310 is opened for the transport robot 160, allowing it to reach the transfer position 311. The transport robot 160 leaves the picking area 110 via the first access opening 191 to reach an operating area; it also returns to the picking area 110 via this opening.

[0056] As a further example, the safety enclosure 190 is provided for, at least in part, by the racking system 150. As a further example, the safety enclosure 190 includes the safety light curtain 193, which is directed towards the first access opening 191. Additionally or alternatively, the safety enclosure 190 has the second access opening 192, which can be closed by means of the safety door 194.

[0057] Fig. 4 shows a first detail 401 of the in the Fig. 1 to 3 of the picking system shown 100. The position of the in Fig. The first details shown in section 401 are in Fig. 2 accordingly marked with reference 401.

[0058] The pre-picking device 130 is attached to the gripper robot 120. The gripper robot 120 is configured to temporarily store the medical goods removed from the racking system 150 in the pre-picking device 130 before handing them over to the transport robot 160.

[0059] In the illustrated embodiment, the pre-picking device 130 comprises the trough 131 in which the medical goods removed from the racking system 150 can be temporarily stored. Furthermore, the trough 131 has the support surface 132 and the side boundary 133 surrounding the support surface 132. The side boundary 133 is open at the tipping side 134.

[0060] In the illustrated embodiment, the gripper robot 120 has the traversing device 140, by means of which the gripper robot 120 can be moved along the racking system 150 while performing the traversing movement. Furthermore, the picking system 100 has the guide rail 142 extending along the traversing axis 301. The traversing device 140 is coupled to the guide rail 142 for the execution of the traversing movement. Preferably, the traversing axis 301 extends linearly. Accordingly, the guide rail 142 also extends linearly, so that the traversing device 140 performs a linear traversing movement.

[0061] In the illustrated embodiment, the gripper robot 120 is designed as a multiaxial robot and has the movement section 123.

[0062] The gripper robot 120 has the base section 124; this is attached to the movement section 123 with the first base side 125 and to the traversing device 140 with the second base side 126. The base section 124 separates the movement section 123 from the floor of the picking area 110.

[0063] The pre-picking device 130 is attached to the base section 124; this ensures that the pre-picking device 130 is carried along with the gripper robot 120 when the latter performs the traversing movement.

[0064] Fig. Figure 5 shows the transport robot 160. In the illustrated embodiment, the transport robot 160 comprises the first receiving section 161, which is designed to receive medical supplies configured as tipping goods. Furthermore, the transport robot 160 comprises the second receiving section 162, which is designed to receive medical supplies configured as stacked goods. The second receiving section 162 is configured to receive box-like containers in which the medical supplies configured as stacked goods are located. Such box-like containers are available in Fig. 5 is shown by way of example as a lockable sterile box 153 and as a plastic basket 154 open at the top.

[0065] Fig. Figure 6 shows an embodiment of the gripper exchange station 180, while Fig. Figure 7 shows the first gripping head 121 designed as a suction gripping head. The first gripping head 121 (see Figure 7) Fig. 7) and the second gripper head 122 (see Fig. 6) are each connectable to the gripper robot 120 and designed for gripping medical goods. The second gripper head 122 is designed for gripping medical goods designed as loads, while the first gripper head 121 is designed for gripping medical goods designed as tipping loads. In the illustrated embodiment, the first gripper head 121 comprises, for gripping medical goods designed as tipping loads, the following: Fig. 7 several suction cups 127, for example four suction cups 127.

[0066] In the gripper exchange station 180 (see Fig. 6) The first gripper head 121 and the second gripper head 122 can be stored. The gripper exchange station 180 has, for example, the first gripper mount 181 for receiving the first gripper head 121 and the second gripper mount 182 for receiving the second gripper head 122. The first gripper head 121 and the second gripper head 122 can be coupled to the gripper robot 120 at the gripper exchange station 180 as required. The illustration shows, for example, the Fig. 6 only the second gripper head 122 is stored in the gripper exchange station 180, that is, recorded in the second gripper receptacle 182.

[0067] Fig.Figure 8 shows a schematic building diagram of a medical facility, in this case a hospital. The medical facility has a first building level 201, which houses the order picking system 100. Furthermore, the medical facility has a second building level 202, which contains several operating rooms 210. An elevator 220 of the medical facility, connecting the first building level 201 with the second building level 202, is also shown as an example. It is further illustrated that a large number of transport robots 160 are used in the hospital. At least one of these transport robots 160 is assigned to the order picking system 100, and preferably several of the transport robots 160 are assigned to the order picking system 100.

[0068] In any case, the transport robot 160 assigned to the picking system 100 is configured to take medical goods from the gripper robot 120, transport them to one of the operating areas 210, and make them available in the area of ​​the respective operating area 210. Preferably, all transport robots 160 are configured accordingly.

[0069] It is further preferred that several transport robots 160 can be assigned to a single operating area 210 or provide medical supplies for this operating area. To achieve particularly high efficiency, it is also preferred that several transport robots 160 can be loaded with medical supplies in parallel by means of the picking system 100, wherein the several transport robots 160 provide the medical supplies for several operating areas 210. Reference symbol list 100 order picking systems 110 Picking area 120 gripper robots 121 first gripper head 122 second gripper head 123 Movement section 124 Base section 125 first base side 126 second base side 127 suction cup 130 Pre-picking device 131 Mulde 132 contact area 133 page limit 134 Tipping side 140 Moving device 142 track 150 shelving system 151 first shelf area 152 second shelf area 153 Sterile Box 154 plastic baskets 160 transport robots 161 first recording section 162 second recording section 170 Control unit 180 gripper exchange station 181 first gripper recording 182 second gripper recording 190 Safety Enclosure 191 first access opening 192 second access opening 193 Safety light curtain 194 Security Door 201 first building level 202 second building level 210 Operating area 220 elevator 301 Traverse axis 310 Transfer area 311 Handover position 401 first detail

Claims

[1] Automated order picking system (100) for picking medical goods for operating areas (210) of a medical facility, comprising: - a picking area (110), - a gripper robot (120) arranged in the picking area (110), - a racking system (150) arranged in the picking area (110), - a transport robot (160), - a transfer area (310) located in the picking area (110) and - a control device (170) for controlling the gripper robot (120) and the transport robot (160), wherein the racking system (150) is set up for storing medical goods, wherein the gripper robot (120) is configured to remove medical goods stored in the racking system (150) according to a requirements list from the racking system (150) and to hand them over to the transport robot (160) in the transfer area (310) when the transport robot (160) is in a transfer position (311), wherein the transport robot (160) is equipped to take medical goods from the gripper robot (120), transport them to an operating area (210) of the medical facility and make them available in the area of ​​the operating area (210), wherein a pre-picking device (130) is arranged on the gripper robot (120), and wherein the gripping robot (120) is further equipped to temporarily store the medical goods removed from the racking system (150) in the pre-picking device (130) before handing them over to the transport robot (160). [2] Picking system (100) according to claim 1, characterized by , that the pre-picking device (130) comprises a trough (131) in which the medical goods removed from the racking system (150) can be temporarily stored, wherein the pre-picking device (130) further comprises a tilting device by means of which the trough (131) can be tilted from a storage position to an emptying position in order to transfer medical goods temporarily stored in the trough (131) to the transport robot (160). [3] Picking system (100) according to claim 2, characterized by , that the trough (131) has a support surface (132) and a side boundary (133) surrounding the support surface (132), wherein the side boundary (133) is open on a tipping side (134). [4] Picking system (100) according to one of claims 1 to 3, characterized by, that the gripping robot (120) further comprises a traversing device (140) by means of which the gripping robot (120) can be moved along the racking system (150) while performing a traversing movement. [5] Picking system (100) according to one of claims 1 to 4, characterized by , that the gripper robot (120) further comprises a base section (124), wherein the pre-picking device (130) is attached to the base section (124). [6] Picking system (100) according to one of claims 1 to 5, characterized by , that the racking system (150) has a first racking area (151) designed to accommodate medical goods designed as tipping goods and a second racking area (152) designed to accommodate medical goods designed as stacked goods. [7] Picking system (100) according to claim 6, characterized by, that the transport robot (160) has a first receiving section (161) designed to receive medical goods designed as tipping goods and a second receiving section (162) designed to receive medical goods designed as stacked goods. [8] Picking system (100) according to claim 6 or 7, characterized by , that the picking system (100) further comprises a first gripper head (121) designed to grip medical goods designed as tipping goods and / or a second gripper head (122) designed to grip medical goods designed as stacking goods and which can be coupled to the gripper robot (120). [9] Picking system (100) according to claim 8, characterized by, that the picking system (100) further comprises a gripper exchange station (180) in which the first gripper head (121) and / or the second gripper head (122) can be stored and at which, as required, the first gripper head (121) and / or the second gripper head (122) can be coupled to the gripping robot (120). [10] Picking system (100) according to one of claims 1 to 9, characterized by , that the picking system (100) further comprises a safety enclosure (190) which shields the picking area (110) at least partially from the environment, wherein the safety enclosure (190) has a first access opening (191) which releases the transfer area (310) for the transport robot (160) in such a way that it can enter the transfer position (311). [11] Picking system (100) according to claim 10, characterized by , that the safety enclosure (190) is formed at least partially by the racking system (150). [12] Picking system (100) according to claim 10 or 11, characterized by , that the safety enclosure (190) includes a safety light curtain (193) directed towards the first access opening (191).

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