HANDLING TOOL FOR MEDICAL EQUIPMENT

Description

Technical area

[0001] The present disclosure relates to a handling tool for handling a medical device / medical product / medical object, in particular a medical container, and a system comprising the handling tool and the medical container. Background of the present disclosure

[0002] Medical containers such as sterile goods containers, mesh baskets with soft packaging, and the like are already being handled automatically. This type of handling is carried out using parallel or serial robots with appropriate manipulators, industrial trucks, AGVs (Automated Guided Vehicles), conveyor tracks and belts, elevator systems, and other conveyor technologies widely used in logistics.

[0003] In many cases, highly automated RUMEDs (medical device reprocessing units) use a carrying device in the form of a tablet, on which the object or product to be moved is placed. This enables safe handling regardless of the object's or product's geometry. However, the disadvantage is that the tablets represent additional costs, cleaning, and logistical effort.

[0004] If objects in the form of sterile goods containers are handled directly, this is currently done with a shovel-like tool that moves under the base of the object. The disadvantage here is that an additional mechanism for lifting the object is required in order to place the shovel-like tool underneath the object. Gripping from a tabletop and / or from a shelf and / or a container transport trolley is not possible with this tool, as the object can be displaced by the shovel-like tool before it rests on the shovel surface. Furthermore, the maximum travel / handling speed at which slipping of the object can be ruled out is limited with the shovel-like tool.

[0005] In general logistics applications, forklift trucks or lifting devices with flat forks have become established for such applications. These are spaced parallel and thus span a theoretical support plane. The disadvantage of such flat forks, however, is that lifting openings must be formed in the base of the object to be transported to accommodate the forks, which reduces the usable internal volume of the object. Alternatively, the object to be lifted would have to be placed on a pallet, which would have to be profiled to allow the forks to pass underneath. Furthermore, the fixation of the object to the forks is based solely on frictional connection, which limits the maximum travel / handling speed at which slipping of the object can be prevented, unless the object is additionally secured against slipping, which would again be complex.

[0006] US 2020 / 016 770 A1 discloses a handling device for containers with fork tines, wherein receiving projections are formed on an upper side of the fork tines. Corresponding handling devices for containers with fork tines and receiving geometries are also known from WO 2021 / 018 649 A1, GB 2 591 071 A, and US 2016 / 151 123 A1. Brief description of the revelation

[0007] The object of the present disclosure is therefore to eliminate or at least reduce the disadvantages of the prior art. Specifically, the object of the present disclosure is to provide a handling tool for objects to be handled, in particular medical devices, which enables gripping or picking up the object from any surface or independently of the object's positioning, as well as high handling speed of the object, particularly during automated handling.

[0008] The term "gripping" is to be understood in a very general way at this point and is not only limited to a pincer-like grip with which an object is clamped between two jaws, but also any type of grip, including the simple (loose) gripping underneath of an object, in which only a force is applied to the object in the lifting direction, or the engagement in corresponding receptacles on the object, in which only a lifting force is applied to the object, but at the same time lateral slipping of the object can be prevented by appropriate guides.

[0009] The above object is therefore achieved by a preferably medical handling tool according to claim 1 and by a system according to claim 11. Advantageous further developments are disclosed in the subclaims, the contents of which can be claimed separately and independently if necessary.

[0010] Specifically, the object is achieved by the preferably medical handling tool, which is provided and designed for gripping and / or handling a medical device / a medical object / product / item, preferably a medical container, more preferably a sterilization container, with a fork carrier and two fork tines extending in a longitudinal direction at right angles away from the fork carrier, spaced apart in parallel, each of which has a container support / grasping side on which a number of longitudinally spaced receiving projections are formed or arranged, which extend in a (positive) height direction (i.e. upwards) to the container support / grasping side.

[0011] In other words, the handling tool includes the fork carriage, which extends substantially symmetrically, starting from a central position, in a positive and a negative width direction. At respective end sections of the fork carriage in the width direction, a fork tine is formed, which extends away from the fork carriage in the positive longitudinal direction. In still other words, the fork carriage and the two fork tines essentially form a U-shape, wherein the medical device to be handled is essentially received in a receiving space formed between the fork tines.

[0012] The fork tines include the receiving projections, which extend away from the fork tines in the vertical direction. The vertical direction is understood to be a direction that is oriented substantially normal to a plane spanned by the longitudinal direction and the width direction. The receiving projections are separated from one another by recesses. Preferably, at least two receiving projections are formed per fork tine. Preferably, in a global coordinate system, an extension of the fork carrier in the vertical direction is greater than in the longitudinal direction. Furthermore, preferably, in the global coordinate system, an extension of the fork tine in the vertical direction is greater than in the width direction.

[0013] The core of the disclosure is therefore the handling tool, consisting of the fork carrier and the two fork tines, wherein the fork tines are each formed with the (upwardly extending) receiving projections.

[0014] By designing the fork tines with the receiving projections, a positive holding / locking of the medical device to be handled on the fork tines can be achieved, which can increase handling speed while simultaneously increasing handling safety.

[0015] In a first aspect, the receiving projections of the fork tines can be tapered, in particular wedge-shaped, in such a way that a height extension of the receiving projections in the height direction on mutually facing sides of the fork tines is greater than a height extension of the receiving projections in the height direction on mutually facing sides of the fork tines.

[0016] In other words, the receiving projections of the fork tines can taper towards each other in the height direction, in particular with respect to an extension in a width direction which corresponds to an extension direction of the fork carrier.

[0017] In other words, the receiving projections can have a ramp geometry whose height increases toward the receiving space formed between the fork tines. The ramp geometry can preferably have a substantially linear contour. Alternatively, the ramp geometry can have a (partially) parabolic contour.

[0018] Such a design of the fork prongs' receiving projections can improve the engagement of the fork prongs with the medical device to be handled by the handling tool. Furthermore, such a design can compensate for manufacturing tolerances, positioning tolerances, and / or distortion of the medical device to be handled. In addition, such a geometry can achieve a self-locking (locking) connection between the receiving projections and the medical device to be handled.

[0019] In a further aspect, the fork tines include an underside facing away from the container support / detection side, on which underside manipulation projections are formed or arranged, which extend in a depth direction / negative height direction to the underside and which are preferably tapered, in particular wedge-shaped, such that a height extension of the manipulation projections in the height direction on the mutually facing sides of the fork tines is smaller than a height extension of the manipulation projections in the height direction on the mutually facing sides of the fork tines.

[0020] In other words, the fork tines include the underside facing away from the container support / detection side, on which the manipulation projections are formed or arranged, which extend in a depth direction to the underside and which preferably taper away from each other in a negative height direction, in particular with respect to an extension in the width direction.

[0021] In other words, the fork tines can include manipulation projections that extend in a negative height direction away from the fork tines. The manipulation projections can preferably have a ramp geometry whose extension in a negative height direction decreases toward the receiving space formed between the fork tines. The ramp geometry can preferably have a substantially linear contour. Alternatively, the ramp geometry can have a (partially) parabolic contour.

[0022] The manipulation projections allow the position of the medical device to be manipulated or pushed or pulled when the medical device is not between the forks.

[0023] In a further aspect, manipulation projections can be formed rotationally symmetrically, in particular rotationally symmetrically by 180°, to the receiving projections, relative to a central axis of the fork tines extending in the longitudinal direction of the fork tines.

[0024] In other words, the contour of the manipulation projections may correspond to the contour of the receiving projections in a state rotated by 180°.

[0025] By designing the manipulation protrusions in this way, the manipulation protrusions can hook / lock into the medical device to be handled in a manner similar to the receiving protrusions, in order to push or pull the medical device. Specifically, such manipulation protrusions enable hooking / locking in such a way that only one of the fork tines is engaged with the corresponding manipulation protrusions when the handling tool is rotated 180° from an original position.

[0026] In a further aspect, the handling tool may include a sensor receptacle, preferably in / on the fork carriage.

[0027] In other words, a recess or the like can be formed on the handling tool, which is designed to accommodate a sensor. The sensor can be an optical and / or radio-based and / or ultrasound-based sensor, which is suitable for detecting the objects to be handled, in particular medical devices, for example, based on a tag / marking.

[0028] Alternatively or additionally, the handling tool may include the sensor holder on at least one fork tine.

[0029] Such a design of the handling tool allows the above-mentioned sensor to be accommodated in / on the handling tool. Such a sensor assists in detecting a particular relative position of the medical device with respect to the handling tool, thereby enabling an automated and computer-aided movement of the handling tool.

[0030] In a further aspect, a distance between the two fork tines can be variable, preferably continuously.

[0031] In other words, the fork tines can be movable relative to the fork carriage in the width direction, i.e., in the extension direction of the fork carriage. Preferably, the fork tines can be movable by means of at least one threaded rod or at least one hydraulic cylinder or at least one pneumatic cylinder.

[0032] By designing the handling tool in this way, the handling tool can be flexibly adapted to a wide variety of medical devices, thereby significantly expanding the range of applications of the handling tool.

[0033] In a further aspect, at least one of the fork tines can include a locking element / locking geometry, preferably a hook, at an end portion facing away from the fork carrier.

[0034] In other words, the handling tool is formed with a locking element on at least one of the fork tines, but advantageously on both fork tines, which enables positive engagement with a preferably cylindrical element. Specifically, the locking element enables positive engagement with a particularly cylindrical object, which is ideally aligned parallel to the fork carrier. The object can be, for example, a handle and / or an interface and / or an eyelet of a (medical) strainer basket, a (medical) wire frame, a box, or the like.

[0035] In a further aspect, at least one of the fork tines can be formed with at least one clamping element, preferably a pneumatic cushion.

[0036] In other words, the clamping element can be formed on at least one of the fork tines, but preferably on both fork tines, in the direction of the receiving space formed between the fork tines, which is designed to create a frictional connection with the medical device being handled. Preferably, the clamping element can be designed as a pneumatic or hydraulic cushion, which expands when pressure is applied and exerts a clamping force on the products to be gripped.

[0037] By equipping the fork tines with at least one clamping element, slipping of the products to be gripped, preferably in the form of medical devices, can be prevented. This is particularly advantageous for heavy products to be gripped, such as heavily loaded sterile goods containers, in order to securely fix the products to be gripped in / on the handling tool when the direction of the handling tool changes.

[0038] In a further aspect, the forks may have a truss structure (lightweight structure).

[0039] In other words, the fork tines and / or the fork carriage can be designed with a load-adapted geometry with weight-reducing recesses, whereby unloaded areas can be designed without material or with reduced wall thickness.

[0040] By designing the forks and / or fork carriage in this way, the weight of the handling tool can be reduced. The lower weight and resulting lower inertia of the handling tool can increase handling speed.

[0041] In a further aspect, the fork carriage may include an interface of a robotic system on a portion facing away from the forks.

[0042] In other words, the handling tool can be connected to the robotic system via the fork carriage using the interface, which is designed, for example, in the form of a flange. The interface can be configured on the fork carriage such that it is positioned centrally between the forks in the width direction.

[0043] In a further aspect, the interface may be a rotatable / rotatable interface such that the handling tool can be rotated about a central axis of the interface which is oriented parallel to the longitudinal direction.

[0044] The handling tool can also be made of a fiber- or glass-bead-reinforced plastic. Alternatively, the handling tool can be made of a metallic material.

[0045] In a further aspect, the handling tool can be formed by machining, layering (composite plastic), injection molding or rapid prototyping (additive manufacturing).

[0046] In a further aspect, the fork tines can include a chamfer at an end section facing away from the fork carriage. Such a chamfer facilitates insertion of the fork tines between closely positioned products to be gripped and / or prevents the fork tines from becoming jammed. Furthermore, the chamfer can save material and thus weight, which reduces mechanical stress.

[0047] In a further aspect, the fork tines can each include a stop, preferably in the form of a radius, on a section adjacent to the receiving space formed between the fork tines.

[0048] In a further aspect, the receiving projections can be formed in a crenellated manner on the fork tine.

[0049] In another aspect, the fork carrier can be formed integrally with the forks (integral construction). Alternatively, the forks can be connected to the forks in a form-fitting and / or force-fitting manner (modular construction).

[0050] The object is further achieved by a system comprising the handling tool, preferably according to one of the above aspects, and a medical container, wherein the medical container includes at least one fold and the fork tines are provided and designed to form-fit and / or fix the fold of the medical container via the receiving projections and / or the manipulation projections.

[0051] In other words, the system includes the handling tool and the medical container, preferably in the form of a sterile goods container. The geometry of the receiving projections and / or the manipulation projections is matched to the geometry of the fold of the medical container. In other words, the receiving projections and / or the manipulation projections are designed such that they engage positively with the fold.

[0052] In one aspect, the medical container may have a base area with dimensions A x B and A may be a multiple of 1 / 3 of a length of the fork tine in the longitudinal direction.

[0053] In other words, the length of the fork tine can be adjusted to the dimensions of the medical container in a defined ratio.

[0054] This design of the forks allows the handling tool to handle a wide variety of different medical containers, including medical containers of different sizes. In particular, the handling tool can handle sterile goods containers with a length of 1 / 1, 3 / 4, and 1 / 2.

[0055] In one aspect, the fold may be formed symmetrically on opposite side walls of the medical container.

[0056] In another aspect, the fold may be oriented parallel to a bottom and / or an edge of the medical container.

[0057] In another aspect, the fold may be formed in a portion of the medical container facing an opening of the medical container. In other words, the fold may be formed in a height direction in an upper portion of the medical container.

[0058] In another aspect, the fold may form an edge portion of the opening of the medical container. Short description of the characters

[0059] Fig. 1 is an illustration of a handling tool according to a first embodiment of the present disclosure; Fig. 2 is a representation of a system comprising the handling tool according to the first embodiment and a first sterile goods container; Fig. 3 is a sectional view of section AA from Fig. 2 ; Fig. 4 is a representation of a system comprising the handling tool according to the first embodiment and a half-sized container tray in a first position; Fig. 5 is a representation of the system comprising the handling tool according to the first embodiment and the half-sized container tray in a second position; Fig. 6 is an illustration of the handling tool according to a second embodiment of the present disclosure; Fig. 7 is a representation of a system comprising the handling tool according to the second embodiment and the first sterile goods container; Fig. 8 is a sectional view of section BB from Fig. 7 ; Fig. 9 is a representation of an exemplary shelf with a large number of first sterile goods containers; Fig. 10 is a representation of a shelf compartment of the exemplary shelf and the handling tool according to the second embodiment in a first handling step; and Fig. 11 is a representation of the shelf compartment of the exemplary shelf and the handling tool according to the second embodiment in a second handling step. Description of the embodiments

[0060] Embodiments of the present disclosure are described below based on the accompanying figures. "Top" refers to a higher value in the Z direction / height direction. "Bottom" refers to a lower value in the Z direction / height direction. "Front" refers to a higher value in the X direction / longitudinal direction. "Rear" refers to a lower value in the X direction / longitudinal direction. First embodiment

[0061] Fig. 1 shows a perspective view of a handling tool 1 according to the disclosure in a first exemplary embodiment. The handling tool 1 includes a fork carrier 3, which in the first exemplary embodiment shown here is designed as a double-T-carrier and extends in a width direction Y. At each end section of the fork carrier 3, a fork tine 5 is formed, which extends at right angles away from the fork carrier 3 in a longitudinal direction X. The two fork tines 5 are designed parallel. The fork carrier 3 and the two fork tines 5 essentially form a U-shape. Receiving projections 7 are formed on an upper side or on a container support / gripping side of the fork tines 5. The receiving projections 7 are interrupted by recesses 9 along the longitudinal direction X.In other words, an extension of the fork tines 5 in a height direction Z, which is oriented normal to a plane spanned by the longitudinal direction X and the width direction Y, is increased in regions of the receiving projections 7.

[0062] A sensor 11 is formed in a sensor receptacle 13 on the fork carriage 3 on a side facing away from the fork tines 5. Furthermore, an interface 15 of a robotic system (not shown) is formed on the side of the fork carriage 3 facing away from the fork tines 5. The interface 15 is provided and designed to move the handling tool 1 in space and to rotate it about an axis M. The fork tines 5 include recesses 17 designed to reduce the weight of the handling tool 1. Due to the recesses 17, the fork tines 5 have a load-adapted lattice geometry. Furthermore, the fork tines 5 each include a chamfer 19 on an end section facing away from the fork carriage 3.

[0063] In the first embodiment shown here, the fork carrier 3 and the two fork tines 5 are formed as a single piece. Embodiments in which the fork tines 5 are fixedly or detachably connected to the fork carrier 3 are also conceivable.

[0064] Fig. 2 shows a system comprising the disclosed handling tool 1 according to the first embodiment and a medical container in the form of a sterile goods container 21. The sterile goods container 21 includes a tray 23 and a lid 25. The tray 23 and the lid 25 are detachably connected to one another via the closure 27. In other words, the lid 25 closes the tray 23 of the sterile goods container 21. The handling tool 1 is provided and designed to receive the sterile goods container 21 between the two fork tines 5 and to grip and handle the sterile goods container 21 in an automated manner.

[0065] In the Fig. 2 The sterile goods container 21 shown is a full-size or 1 / 1 sterile goods container 21. The full-size sterile goods container 21 has a length L1 in the longitudinal direction X. The fork tines 5 have a length L3 / 4 in the longitudinal direction X. The length L3 / 4 of the fork tines 5 corresponds to three-quarters of the length L1 of the full-size sterile goods container 21.

[0066] An end stop 29 is formed on an end section of the fork tine 5 facing the fork carrier 3 (see also Fig. 1 ). The end stop 29 is a partially spherical / curved recess, wherein a radius of the end stop 29 essentially corresponds to a corner radius of a corner 31 of the tray 23 of the sterile goods container 21.

[0067] The handling tool 1 engages with the receiving projections 7 in a fold 33 of the tub 23 of the sterile goods container 21, which is subsequently Fig. 3 based on section AA in Fig. 2 is explained in more detail.

[0068] Fig. 3 shows the section AA and thus a partial section through the system, which is Fig. 2 Specifically, Fig. 3 a section through the fork tine 5 with the receiving projections 7 and an edge section of the sterile goods container 21 with the tray 23 and the lid 25. The tray 23 contains the fold 33, which is formed parallel to an opening edge of the tray 23 on at least two opposite side walls 35 of the tray 23. In the first embodiment shown here, the fold 33 is formed integrally with the side wall 35, and the fold 33 and the side wall 35 enclose an acute angle.

[0069] The wall thickness of the side wall 35 and the fold 33 is constant / identical in the embodiment shown here. However, embodiments are conceivable in which the wall thickness of the fold 33 is greater than the wall thickness of the side wall 35. In the first embodiment shown here, the side wall 35 is formed with a stiffening bead / stiffening structure 37 (see also Fig. 2 ).

[0070] The receiving projections 7 are geometries that narrow with increasing height in the height direction Z relative to an extension in the width direction Y. In other words, the receiving projections 7 are ramp-shaped geometries that extend in the direction towards the axis M (cf. Fig. 1 ). In other words, a receptacle for medical containers or the sterile goods container 21 is formed between the two fork tines 5 and the height of the receptacle projections 7 increases in the height direction Z towards the receptacle.

[0071] In the first embodiment shown here, the pitch of the receiving projections 7 is matched to the angle of the fold 33. In other words, the receiving projections 7 of the fork tines 5 contact the fold 33 of the sterile goods container 21 when the sterile goods container 21 is located in the receptacle of the handling tool 1.

[0072] The following describes the functionality of the handling tool 1 in combination with the full-size sterile goods container 21 using Fig. 2 and Fig. 3 described. In order to handle the sterile goods container 21 and perform pick-and-place tasks, the handling tool 1 is moved in the longitudinal direction X by means of a robotic system (not shown), which is connected to the handling tool 1 via the interface 15, until the sterile goods container 21 rests against the end stop 29. The resting of the sterile goods container 21 against the end stop 29 can be checked / validated, for example, using the sensor 11.

[0073] Furthermore, the sensor 11 can read a tag (not shown) attached to the sterile goods container 21. The tag can, for example, contain information about the contents of the sterile goods container 21. Furthermore, the sensor 11 can be provided and configured to read tags that are attached in / on a shelf and / or on a container transport trolley and, for example, contain information about a storage location.

[0074] When the sterile goods container 21 is located at the end stop 29, the movement of the handling tool 1 in the longitudinal direction X is stopped and the handling tool 1 is moved in the positive height direction Z. In this case, the receiving projections 7 of the fork tines 5 are brought into engagement / positive locking with the fold 33 of the sterile goods container 21 and the sterile goods container 21 is lifted. In other words, the sterile goods container 21 is inserted into the handling tool 1 in a vertical, translational movement of the handling tool 1, so that the sterile goods container 21 sits with the fold 33 in an upper area between the fork tines 5 in the receptacle. This ensures a positive, defined fit of the sterile goods container 21 to be transported. Furthermore, the sterile goods container 21 itself stabilizes the fork tines 5 with respect to lateral movement when inserted.

[0075] If the sterile goods container 21 is connected to the handling tool 1 in such a form-fitting manner via the receiving projections 7 of the fork tines 5, the handling tool 1 can be moved by means of the robotic system and the sterile goods container 21 can be repositioned. To set down the sterile goods container 21, the handling tool 1 continues to move in the negative height direction Z as soon as the sterile goods container 21 rests on a surface, and the receiving projections 7 and the fold 33 are disengaged, thus releasing the positively defined fit.

[0076] Fig. 4 and Fig. 5 show the handling tool 1 according to the first embodiment with a medical container in the form of a half-sized container tray 39. A renewed description of the handling tool 1 according to the first embodiment is omitted and only differences in the functioning of the handling tool 1 in combination with the half-sized container tray 39 are described below with reference to Fig. 4 and Fig. 5 described.

[0077] In order to be able to handle the half-format container trough 39 safely, it is necessary to bring the half-format container trough 39 into contact with the end stop 29. Since the length L3 / 4 of the fork tines 5 is longer than a length L1 / 2 of the half-format container trough 39 when handling the half-format container trough 39, this is not easily possible if the half-format container trough 39 is positioned against an obstacle in such a way that the fork tines 5 cannot move far enough in the longitudinal direction X for the half-format container trough 39 to be in contact with the end stop 29.

[0078] Fig. 4 shows a first step in which the half-sized container trough 39 is / is lifted with a front section of the handling tool 1. The corner sections / corner radii of the half-sized container trough 39 are arranged in the recesses 9 in order to prevent a collision between the fork tines 5 and the corner radii of the half-sized container trough 39 and at the same time to form a defined stop in the longitudinal direction X for the half-sized container trough 39 in the fork tines 5. In this first step, the half-sized container trough 39 can be placed away from the obstacle by means of the handling tool 1 in such a way that the fork tines 5 can move in the longitudinal direction X in a second step until the half-sized container trough 39 is in contact with the end stop 29, as shown in Fig. 5 is shown.

[0079] In a specific example, the half-sized container tray 39, which is located in a second row in a shelf and / or container transport trolley, can be lifted with the front section / tip of the handling tool 1 and positioned further forward in the shelf (first step). Subsequently, the half-sized container tray 39 can be lifted again with the rear part of the handling tool 1 when the fork tines 5 extend beyond the half-sized container tray 39 (second step). This has the advantage that the medical container, regardless of its size, can be moved to the interface 15 of the robotic system with the smallest possible lever arm, and the maximum load-bearing capacity of the robotic system can be utilized as effectively as possible. Second embodiment

[0080] Fig. 6 shows a perspective view of a handling tool 1 according to the disclosure in a second exemplary embodiment. A repeated description of features and properties identical to the first exemplary embodiment will be omitted below, and only differences from the first exemplary embodiment will be discussed.

[0081] The handling tool 1 according to the second embodiment includes manipulation projections 41 on the underside of the fork tines 5. The underside is understood to be the side of the fork tine 5 facing away from the top. In other words, the manipulation projections 41 and the receiving projections 7 are formed on opposite sides of the fork tine 5. The manipulation projections 41 are interrupted by the recesses 9 corresponding to the receiving projections 7. In other words, the recesses 9 are arranged identically on the underside and on the top side of the fork tine 5. The exact geometry of the manipulation projections 41 will be explained later with reference to Fig. 8 explained in more detail.

[0082] At the end portion of the fork tines 5 facing away from the fork carriage 3, locking elements in the form of hooks 43 are also formed. The hook 43 is designed to positively engage with eyelets or handles or the like attached to objects and to move the object. Fig. 6 The handling tool 1 is shown in a receiving position. In the receiving position, the receiving projections 7 point upwards or in the positive height direction Z.

[0083] Fig. 7 shows the handling tool 1 of the second embodiment in a manipulation position. Specifically, the handling tool 1 is rotated 180° around the central axis M in the manipulation position, so that the manipulation projections 41 now point upwards or in the positive height direction Z. In other words, the receiving position and the manipulation position differ in a rotation of the handling tool 1 around the central axis by 180°. The rotation of the handling tool 1 is carried out by means of the interface 15 or a rotation unit flanged to the interface 15. One of the fork tines 5 is in engagement with the manipulation projections 41 in the fold 33 of the container tray 39 of the sterile goods container 21. The exact mode of operation will be explained later with reference to Fig. 9 bis Fig. 11 explained in more detail.

[0084] Fig. 8 shows a section BB from Fig. 7 The manipulation projection 41 engages the fold 33 in a form-fitting manner. In the manipulation position shown here, the receiving projection 7 is formed on a section of the fork tine 5 facing away from the fold 33. The manipulation projection 41 and the receiving projection 7 are formed point-symmetrically with respect to a fork tine axis MP, which extends in the longitudinal direction X of the fork tine 5. In other words, the contour of the manipulation projection 41 corresponds to the contour of the receiving projection 7. In yet other words, the manipulation projection 41 differs from the receiving projection 7 essentially in its orientation on the fork tine 5.

[0085] In the following, an exemplary operation of the handling tool 1 of the second embodiment is described with reference to Fig. 9 bis Fig. 11 described.

[0086] Fig. 9 shows an exemplary shelf 45 that is (fully) loaded with a plurality of sterile goods containers. Enlargement A shows that the fold 33 of the sterile goods container 21 is positioned so close to a wall 47 of the shelf 45 that the handling tool 1 cannot engage the fold 33.

[0087] In a first step (not shown), a sterile goods container 21 positioned centrally in the shelf is lifted from its arrangement in the shelf 45 as already described above and handled. After a free space 49 has been created by removing the central sterile goods container 21 in the shelf 45, the handling tool 1 moves into the free space 49 in a second step in the manipulation position, and the manipulation projections 41 are brought into engagement with the fold 33 of the sterile goods container by means of a horizontal and a subsequent vertical movement in a third step (see Fig. 10). With a subsequent further horizontal movement, the sterile goods container 21 hooked onto the handling tool 1 is moved away from the side wall 47 in a fourth step. The handling tool 1 is then rotated into the receiving position, and the sterile goods container 21 is picked up (regularly). List of reference symbols

[0088] 1Handling tool 3Fork carrier 5Fork tines 7Receiving projection 9Recess 11Sensor 13Sensor holder 15Interface 17Recess 19Bevel 21Sterile goods container 23Tub 25Lid 27Closure 29End stop 31Corner 33Fold 35Side wall 37Stiffening bead / stiffening structure 39Container tub 41Manipulation projection 43Hook 45Shelf 47Wall 49Free space XLongitudinal direction YWidth direction ZHeight direction MAxis MPFork tine axis

Claims

1. A handling tool (1), which is provided and configured for gripping and / or handling medical equipment, preferably a container, more preferably a sterilization container (21; 39), having a fork carriage (3) and two parallel-spaced fork tines (5) extending in a longitudinal direction (X) at right angles away from the fork carriage (3), each of which has a container support / capturing side on which a number of longitudinally spaced receiving protrusions (7) are formed or arranged, which extend in a height direction (Z) to the container support / capturing side, characterized in that the fork tines (5) include a lower side which faces away from the container support / capturing side and on which manipulation projections (41) are formed or arranged which extend in a depth direction / negative height direction (Z) to the lower side.

2. The handling tool (1) according to claim 1, wherein the receiving protrusions (7) of the fork tines (5) are tapered, in particular wedge-shaped, in such a way that a height extension of the receiving protrusions (7) in the height direction (Z) on sides of the fork tines (5) facing each other is greater than a height extension of the receiving protrusions (7) in the height direction (Z) on sides of the fork tines (5) facing away from each other.

3. The handling tool (1) according to claim 2, wherein the manipulation projections (41) are tapered, in particular wedge-shaped, in such a way that a height extension of the manipulation projections (41) in the height direction (Z) on the sides of the fork tines (5) facing each other is smaller than a height extension of the manipulation projections (41) in the height direction (Z) on the sides of the fork tines (5) facing away from each other.

4. The handling tool (1) according to claim 3, wherein the manipulation projections (41) are rotationally symmetrical, preferably rotationally symmetrical by 180°, to the receiving protrusions (7), relative to a center axis (MP) of the fork tines (5) extending in the longitudinal direction of the fork tines (5).

5. The handling tool (1) according to one of claims 1 to 4, wherein the handling tool (1) includes, preferably in / on the fork carriage (3), a sensor receptacle (13).

6. The handling tool (1) according to one of claims 1 to 5, wherein a distance between the two fork tines (5) is variable, preferably continuously variable.

7. The handling tool (1) according to one of claims 1 to 6, wherein at least one of the fork tines (5) includes a latching element, preferably a hook (43), at an end portion facing away from the fork carriage (3).

8. The handling tool (1) according to one of claims 1 to 7, wherein at least one of the fork tines (5) is formed with at least one clamping element, preferably a pneumatic or hydraulic cushion.

9. The handling tool (1) according to one of claims 1 to 8, wherein the fork tines (5) have a truss structure.

10. The handling tool (1) according to one of claims 1 to 9, wherein the fork carriage (3) includes an interface (15) of a robotic system on a portion facing away from the fork tines (5).

11. A system comprising the handling tool (1), preferably according to one of claims 1 to 10, and a medical container (21; 39), wherein the medical container (21; 39) contains a fold (33) and the fork tines (5) are provided and configured to contact and / or fix the fold (33) of the medical container (21; 39) in a form-fitting manner via the receiving protrusions (7) and / or to engage in the fold (33).

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