Autonomous waste collection assembly and medical waste collection system and method

Abstract

To provide an autonomous medical waste collection assembly capable of reducing the time and effort.SOLUTION: An autonomous medical waste collection assembly comprises a base adapted to be positioned near a patient. At least one wheel is powered to move the base along a floor surface. A waste collection unit is coupled to the base for receiving medical waste from the patient. The waste collection unit includes a canister for holding the medical waste. A controller is operable to initiate a waste disposal protocol. The waste disposal protocol includes transmitting a movement signal to the powered wheel for automatically moving the autonomous medical waste collection assembly away from the patient to a disposal station. A user input device is adapted to provide a user input signal in response to being actuated by a user. The controller is configured to initiate the waste disposal protocol in response to receiving the user input signal.SELECTED DRAWING: Figure 1

Description

[Technical Field]

[0001] CROSS-REFERENCE TO RELATED APPLICATIONS This application is a continuation of U.S. Provisional Patent Application No. 62 / 575,808, filed October 23, 2017. Priority and all benefits of this application are claimed to US Pat. No. 6,233,493, the entire contents of which are incorporated herein by reference. and are hereby incorporated by reference into this specification. [Background technology]

[0002] The medical waste collection device may be used in hospitals or other medical settings. The mobile rover collects medical waste such as body fluids, tissue, irrigation fluid, and smoke during medical and surgical procedures. Medical waste is often generated before, during, or after a procedure. Canisters mounted on medical waste collection devices that must be emptied and cleaned afterwards Currently, hospital staff such as nurses and operating room assistants are responsible for the collection of medical waste. Transport or deliver the device or its canister to a disposal station and dispose of the canister. They must suspend their duties to empty and clean the equipment. Before medical waste collection devices can be opened or reopened, hospital staff must the medical waste collection device and wait for the emptying and cleaning procedure to be performed. and transport them to the operating room, re-enter the operating room, and set up the medical waste collection device again. Additionally, medical waste collection devices may require battery power, Therefore, they must be charged before, during, or after the procedure, which can be dangerous for hospital personnel. Therefore, one of the above disadvantages is that What is needed is a waste collection device and system that overcomes one or more of the above problems. Summary of the Invention [Problem to be solved by the invention]

[0003] The autonomous medical waste collection assembly is designed to collect medical waste from medical procedures ( It autonomously collects and disposes of medical waste generated during procedures (e.g., surgical procedures). The waste products include bodily fluids, tissue, irrigation fluids, and / or other fluids that may be generated during various medical procedures. During a medical procedure, the assembly collects medical waste and allows the user to Until the Mumbri is ready to autonomously unload and dispose of medical waste. , accumulate medical waste on board. If the medical waste fills up the assembly or When the user is ready to dispose of the medical waste, the assembly is inserted into the docking station. At the docking station, the medical waste is assembled and transported to the The tube is emptied into a drain or processing area, and the assembly is cleaned for further use. . [Means for solving the problem]

[0004] According to one exemplary embodiment of the present disclosure, an autonomous medical waste collection assembly is provided near a patient. The vehicle includes a base adapted to be placed on the vehicle. Wheels are coupled to the base. At least one of the bases is driven to move along the floor surface. A waste collection unit is coupled to the base for receiving the items. It includes a canister and a suction pump. The canister is intended to hold medical waste. The suction pump is in fluid communication with the canister and configured to draw suction on the canister. The controller is operable to initiate a waste disposal protocol. The waste disposal protocol involves disposing of the autonomous medical waste collection assembly away from the patient. This includes transmitting a movement signal to the drive wheels to automatically move the vehicle to the station. The user input device communicates with the controller. The controller is adapted to provide a user input signal in response to being actuated. The controller is configured to initiate a waste disposal protocol in response to receiving a user input signal. It is composed of:

[0005] In another exemplary embodiment, a medical waste collection system is provided. The disposal station includes a housing and an autonomous medical waste collection assembly. The autonomous medical waste collection apparatus includes a housing and a coupler. The coupler is coupled to the housing. The assembly includes a base, wheels, a waste collection unit, an opposing coupler, and a controller. The base is adapted to be placed near the patient. The wheels are coupled to the base. At least one of the wheels is driven to move the base along a floor surface. A waste collection unit is coupled to the base for receiving medical waste from the waste collection unit. The collection unit includes a canister and a suction pump. The canister holds medical waste. The suction pump is in fluid communication with the canister and provides suction to the canister. The opposing coupler is coupled to a base. The opposing coupler is configured to pull the The controller is adapted to be detachably coupled to the coupler of the waste station. and operable to initiate a waste disposal protocol. automatically moving the medical waste collection assembly away from the patient to a disposal station; This causes the coupler to mate with the opposing coupler, forming an autonomous medical waste collection assembly and disposal station. The method includes transmitting a movement signal to the drive wheels to effect a connection between the drive wheels and the vehicle.

[0006] The present invention will become better understood by reference to the following detailed description when considered in conjunction with the accompanying drawings, in which: With this understanding, the advantages of the present invention will be readily apparent. [Brief explanation of the drawings]

[0007] [Figure 1] FIG. 1 is a perspective view of one embodiment of an autonomous medical waste collection assembly with a schematic representation of select electrical components. [Figure 2] FIG. 1 is a perspective view of one embodiment of a medical waste collection system including an autonomous medical waste collection assembly and a disposal station. [Figure 3] FIG. 1 is a block diagram of one embodiment of a medical waste collection system including an autonomous medical waste collection assembly and a disposal station. [Figure 4] FIG. 1 is a block diagram of one embodiment of a medical waste collection system including an autonomous medical waste collection assembly and a charging station. [Figure 5] FIG. 1 is a block diagram of an embodiment of a medical waste collection system that includes an autonomous medical waste collection assembly and a disposal station, the disposal station including a power source. [Figure 6] FIG. 1 is a block diagram of one embodiment of a medical waste collection system including an autonomous medical waste collection assembly, a disposal station, and a locator network. [Figure 7] 1 is a schematic diagram of an exemplary operating room of a medical facility including an autonomous medical waste collection assembly, multiple disposal stations, a charging station, and a locator network. [Figure 8]FIG. 1 is a block diagram of an embodiment of a medical waste collection system including first and second autonomous medical waste collection assemblies and a locator network. [Figure 9] FIG. 1 is a schematic diagram of another exemplary operating room of a medical facility including first and second autonomous medical waste collection assemblies, multiple disposal stations, a charging station, and a locator network. [Figure 10] 1 is a flow chart of one embodiment of a method of operating a medical waste collection system. DETAILED DESCRIPTION OF THE INVENTION

[0008] Like reference characters indicate like or corresponding parts throughout the several views. With reference to the drawings, aspects of an autonomous medical waste collection assembly 20 are provided. 20 includes a base 22, a plurality of wheels 24, a waste collection unit 26, and a controller 28. The base 22 can be positioned near the patient 30 during a medical procedure. The base 22 supports the waste collection unit 26. FIG. 1 shows the base 22 as being comprised of a lower frame 32, One part of the assembly 20 includes an upper frame 34, a vertical chassis 36, and a handle 38. 1 shows an embodiment. The base 22 can have any suitable shape.

[0009] A plurality of wheels 24 are coupled to base 22 to provide mobility to assembly 20. For example, the assembly 20 may autonomously navigate a healthcare facility and access different healthcare facilities throughout the healthcare facility. It is possible to collect medical waste generated during medical procedures performed at the site. The wheels are attached to the lower frame 32, the vertical chassis 36, or a combination thereof. FIG. 1 shows two of the wheels 24 coupled to the lower frame 32, and the wheels 24 is shown in one embodiment where another two of the radiators 24 are coupled to the vertical chassis 36. In some vehicles, one or more of the plurality of wheels 24 may have the ability to pivot on an axle. In still other embodiments, the plurality of wheels 24 may be a single wheel. Or a combination of multiple fixed wheels and one or more steerable wheels. At least one of the wheels 24 is a drive wheel 40 for facilitating autonomous movement of the assembly 20. FIG. 1 shows an assembly 20 having four wheels 24, one of which is driven. 1 shows an embodiment. The drive wheels 40 are driven by a motor 42, which drives the drive wheels 40. The motor 42 can move the assembly 20 along the floor of a medical facility. Brushed electric motors, brushless electric motors, stepper motors, servo motors, AC motors or any other suitable means for driving the drive wheels 40 to move the assembly 20. The motor 42 is in communication with the controller 28 and can be any suitable type of motor. The controller 28 may selectively drive and / or steer the drive wheels 40. to drive, steer, and / or navigate assembly 20 through a medical facility. For example, in some embodiments, controller 28 may select drive wheels 40. and actuating the assembly 20 to drive, steer, and navigate. In some embodiments, some of the wheels 24 are drive wheels. 40, and each of the drive wheels 40 has a motor 42 attached to it. Each is connected to a controller 28. The controller 28 selectively controls the drive wheels 40. By turning and driving it, the assembly 20 is driven, steered, and navigated. In embodiments where the drive wheels 40 are fixed wheels, the controller 28 , driving one of the drive wheels 40 in the opposite rotational direction of the other of the drive wheels 40, This allows the assembly 20 to be turned, etc., by selectively driving the drive wheels 40. The assembly 20 is configured to be steered by the steering mechanism.

[0010] The controller 28 may initiate a waste disposal protocol or a charging protocol, etc. to execute computer-executable instructions to perform the functions of assembly 20. The controller 28 is configured as a microprocessor, a microcontroller, a flash memory, or the like. Field programmable gate array e array, FPGA), system on a chip , SoC), or any other suitable type of computer for performing the functions of assembly 20. It could be a troll.

[0011] The assembly 20 includes a memory component 56 in communication with the controller 28. The controller 28 may include a controller component 56 that implements computer-executable instructions to be executed by the controller 28. The memory component 56 is configured to store waste disposal protocols and and / or storing computer-executable instructions defining a charging protocol. The element 56 is a random access memory (RA M), flash memory, non-volatile random access memory (non-volatile random access memory (NOVRAM), and / or any Other suitable forms of memory may be included.

[0012] A waste collection unit 26 is coupled to the base 22 and collects medical waste from the patient during the medical procedure. The assembly 20 is configured to receive medical waste by suction during a medical procedure. The medical waste is collected by the waste collection unit 26 and accumulated in the waste collection unit 26. In some cases, the assembly 20 may also be adapted to remove smoke, such as that generated during an electrocautery procedure. In other embodiments, the assembly 20 filters particles from the soot. , and configured to emit filtered air. At least one canister 44 configured to hold medical waste, a suction pump 1, the assembly includes a pump 46, and a vacuum regulator 47. 20 includes two canisters 44. The canisters 44 are attached to the lower frame 32, the upper frame 1 shows a first canister coupled to an upper frame 34, or a combination thereof. a second canister is coupled to the lower frame 32; 1 shows an embodiment in which the canister(s) 44 are substantially cylindrical, frusto-conical in shape. The container may be in the shape of a container or any suitable shape for containing medical waste. The canister 44 may be made of glass or a suitable plastic material, or a combination thereof. The suction pump 46 is in fluid communication with the canister 44. In some embodiments, as shown in FIG. 1, the suction pump 46 is coupled to the vertical chassis 36. The suction pump 46 is used to move medical waste, such as liquid medical waste, into the canister during a medical procedure. The canister 44 is configured to draw suction to draw the liquid into the canister 44. In some embodiments, suction pump 46 is a rotary vane vacuum pump mounted on base 22 . A vacuum regulator 47 is in communication with the suction pump 46 and controls the level of vacuum drawn through the suction line. An exemplary vacuum regulator suitable for assembly 20 is 47 mechanisms are protected by commonly owned U.S. Patent No. 7,622,462, issued November 29, 2009. No. 1,898, the entire contents of which are incorporated herein by reference. This shall be accomplished as follows.

[0013] During a surgical procedure, users such as surgeons, nurses, or operating room assistants may dispose of medical waste. a suction line 4, such as a flexible tube, near or on a portion of the patient 30 where the The suction pump 46 pumps medical waste from the end of the suction line 48 into the suction line. It provides suction to move the waste through the passage 48 into the waste collection unit 26. During the procedure, the end of the suction line 48 may be connected to an endoscope, electrocautery tool, ablation device, or any other type of end effector, such as a surgical end effector or surgical tool. The suction pump 46 pumps medical waste between the end effector and the suction 48 into the waste collection unit 26. The suction level is controlled by the vacuum regulator 47 and / or the power level supplied to the suction pump 46. For example, during a bone resection procedure, fluids such as blood, skin tissue, Medical treatment in the form of tissues such as muscle tissue and connective tissue, as well as bone particles released during resection Additionally, the area of ​​the patient's body where the procedure is being performed may produce waste products such as body fluids, tissue, The area is often irrigated with saline to wash away debris and particles from the area being ablated. Medical waste also contains saline solution. Surgeons use cutting tools to remove bones. The end of the tool can be coupled to a cutting tool. As the procedure is completed, medical waste is collected from the surgical instruments for disposal during or after the procedure is completed. The canister 4 of the waste collection unit 26 is drawn through a suction line 48 coupled to the suction line 48. 4.

[0014] The assembly 20 includes a manifold receiver 58 coupled to the canister 44, and a base 22 and in communication with the controller 28. Manifold receiver 58 is a tubular casing 500 according to commonly owned U.S. Pat. No. 6,499,449, issued Nov. 10, 2009. Disposable manifolds (not shown), such as those described in Patent No. 7,615,037 , the entire contents of which are incorporated herein by reference. The disposable manifold is used to transfer medical fluid from the patient 30 during a medical procedure. The medical waste is directed through suction line 48 into canister 44. , between medical procedures, between uses on different patients, and / or at a disposal station 50 In some embodiments, indicator 60 is disposed of prior to disposal of medical waste. Remind the user to remove and dispose of the disposable manifold before beginning the described disposal protocol. The indicator 60 is also configured to alert the user to The indicator 60 is configured to warn of other warnings that may occur. D. Video screen, label, or any visual sign, tactile sign, audible warning, or other suitable It can be any suitable type of indicator.

[0015] The assembly 20 includes a waste sensor 62 in communication with the controller 28. The sensor 62 is configured to sense the amount of medical waste contained within the canister 44. The waste sensor 62 is used to facilitate sensing the amount of medical waste, for example. The canister 44 has a plurality of reflective and floating elements disposed nearby. The assembly 20 may be a sensor rod configured to fit into a plurality of canisters. In embodiments including canisters 44, a separate waste sensor 62 detects the amount of waste in each of the canisters 44. The waste sensor 62 can measure the amount of medical waste contained within the medical waste. a waste sensor controller (not shown) configured to facilitate sensing the amount of waste; In some embodiments, the waste sensor 62 may When the amount of medical waste detected exceeds the waste threshold level, a waste level signal is output. In other embodiments, the waste sensor 62 is configured to provide is configured to periodically or continuously provide a waste level signal to the controller 28. The indicator 60 can display a sign corresponding to the waste level signal. This allows the user to see the indicator 60 and determine whether the waste sensor 62 is working. The waste threshold level is 4 canisters. 4 is full or nearly full and therefore has to be removed before more medical waste can be collected. The canister 44 indicates that the medical waste contained within the canister 44 needs to be disposed of. In some embodiments, the waste threshold may be a medical waste level contained within The level is stored in a memory component 58 in communication with the controller 28. The threshold level is set relative to the total volume of the canister 44 suitable for containing medical waste, e.g. For example, it may be configured to 100% of the volume of the canister 44 or 80% of the volume of the canister 44. Conversely, the waste threshold level may be determined based on the volume of medical waste, e.g., 1.5 liters. 0.8 liters of medical waste. The reject threshold level is configured during fabrication and / or programming of the assembly 20. The waste threshold level may be a preset threshold level, or Additionally, thresholds configurable by hospital staff or users before, during, or after a medical procedure may be set. In some embodiments, the waste threshold level can be a threshold level based on the quality of the medical waste. Depending on the medical procedure, large amounts of harmful blood may be released during the procedure. Other options include collection of fluid and tissue, or collection of a large amount of harmless saline solution. Assembly 20 generates more hazardous or toxic medical waste than conventional medical procedures. , to collect medical waste during procedures where the medical waste is relatively harmless or non-toxic. When used, waste threshold levels should be set higher to maximize the efficiency of waste collection. It may be set to a high volume or higher relative to the volume of the canister 44 . The assembly 20 may be configured to collect medical waste during procedures where the medical waste is relatively hazardous or toxic. When used to collect waste, the waste threshold level is lower, or The waste threshold level can be set lower relative to the volume of the canister 44. or lower relative to the volume of the canister 44, the patient 30 and hospital staff To protect personnel, the risk of toxic medical waste spilling from canister 44 is minimized. Similarly, the waste threshold level can be controlled based on the viscosity of the medical waste, Higher based on temperature or any other suitable characteristics of the medical waste or surgical procedure. The controller 28 may be configured to detect when the waste threshold is reached or exceeded. If this limit is exceeded, a signal is sent to the suction motor 46 to stop suction and collection of medical waste. In some embodiments, the waste sensor 62 may be configured to receive raw waste. configured to transmit a waste level signal to the controller 28, The system is configured to determine when the amount of medical waste reaches a threshold level. The waste level signal is an electrical signal indicating the amount of medical waste contained within the canister 44. The indicator 60 may display a sign corresponding to the raw waste level signal. This allows the user to see the indicator 60 and determine whether the waste sensor 62 is working. The amount of medical waste detected can be determined by the volume, weight, and , or any other suitable metric. The controller 28 also determines the waste threshold level, either automatically or by user input. The setting is configured according to the

[0016] The assembly 20 includes an energy storage device 64 and an energy storage device sensor 6 6. The energy storage device 64 and the energy storage device sensor 66 are The energy storage devices 64 provide power to the controllers 28. 28, drive wheels 40, suction pump 46, vacuum regulator 47, and / or configured to provide power to any other components of assembly 20 that require it. In some embodiments, the assembly 20 includes multiple energy storage devices 64. Each of the energy storage devices 64 provides power to the controller 28, the drive wheels 40, the suction pump pump 46, vacuum regulator 47, and any of the assemblies 20 that require electrical power to function. The controller 28 provides power to one or more of the other components of the The power supply can be regulated and transmitted to other components of the assembly 20 that require power to For example, the energy storage device 64 can provide power to the controller 28. The controller 28 can send a portion of the power to the suction motor. The controller 28 adjusts the amount of energy supplied to the suction motor, thereby The function of the suction motor can be further adjusted by increasing or decreasing the suction power. The energy storage device 64 may be a battery, a capacitor, or any other device that stores power. It can be any other suitable device for

[0017] The energy storage device sensor 66 senses a characteristic of the energy storage device 64. The characteristics of the energy storage device 64 include the charge level, i.e., It can be a measure of the electrical energy stored in the energy storage device 64. The characteristics of the energy storage device 64 are the power level, i.e., 64. The energy storage device sensor may be a measure of the power supplied by the 66 is configured to provide an energy storage device characteristic signal to the controller 28. The controller 28 determines whether the energy storage device characteristics are in accordance with the energy storage device characteristics. When the battery voltage drops below a safety threshold, the device is configured to initiate a charging protocol as described. The energy storage device characteristic threshold may be, for example, the maximum power capacity of the energy storage device 64. For example, it can be configured to 5% of the capacity or 20% of the capacity. The energy storage threshold can be configured according to the expected power usage. Scheduled medical procedures that are expected to use power of 100 Watts or less are considered to be medical procedures that require assembly 20 to: The controller 28 is used to initiate charging or to prompt the user to begin a charging protocol. Energy storage threshold to allow relatively more power usage before prompting The energy storage threshold may need to be lowered depending on the fabrication and and / or may be preset threshold levels configured during programming. The energy accumulation threshold may alternatively or additionally be determined by the severity of the disease before, during, or after a medical procedure. The threshold level can be configurable by hospital staff or the user. The device sensor 66 is configured to facilitate sensing a characteristic of the energy storage device. In some embodiments, the power supply may include an energy storage controller (not shown). The energy storage device sensor 66 senses If the characteristics of the energy storage device 64 satisfy the energy storage device characteristic threshold, When the power supply is turned on, the power supply is configured to provide an energy storage threshold signal to the controller 28. The energy storage device characteristic threshold is set to a value that indicates when the energy storage device 64 is close to an uncharged state. Therefore, the energy storage device 64 is charged before more medical waste is collected. The power level stored in the energy storage device 64 indicates that a force transfer is required. In some embodiments, the energy storage device characteristic threshold can be a memory. In some embodiments, the energy storage device sensor 66 is configured to transmit the raw energy storage device characteristic signal to the controller 28. The controller 28 controls the amount of power stored in the energy storage device 64, the charge Determine when a state, voltage, and / or other suitable electrical parameter reaches a threshold level. The raw energy storage device characteristic signal is configured to determine The amount of power stored in the energy storage device 64 or any other characteristic of the performance of the energy storage device. In some embodiments, the controller 28 The system also allows the energy storage threshold to be set automatically or in response to user input. It is structured as follows:

[0018] As described above, the assembly 20 receives medical waste during a medical procedure and The waste is accumulated in a canister 44. The canister 44 has a fixed volume, the volume being one or become filled with medical waste during or after multiple medical procedures. Sta44 will be preparing to collect more medical waste during future medical procedures. Medical waste must be unloaded and emptied during or after one or more medical procedures. Therefore, the assembly 20 autonomously disposes of the medical waste contained within the canister 44. and executing a waste disposal protocol to dispose of the waste. The protocol autonomously navigates the assembly 20 to the disposal station 50 and establishing fluid communication between the station 50 and the canister 44, and The components of the assembly 20 for emptying and cleaning the canister 44 in the application Therefore, hospital personnel may choose to discard the assembly 20. They then transport or transport the canisters 44 to the station 50 for emptying and cleaning. There is no need to suspend operations. Waste disposal protocols should include additional steps to be explained. may include:

[0019] Additionally, the assembly 20 is portable and the electrical components of the assembly 20 are energy The assembly 2 is at least partially powered by the storage device 64. 0 to prepare for collecting more medical waste during future medical procedures. The power stored in the energy storage device 64 during or after the medical procedure or procedures For example, the following components of assembly 20: controller 28; Drive wheel 40, motor 42, suction pump 46, vacuum regulator 47, memory component 56, The indicator 60, waste sensor 62, and user input device 68 require electricity to function. In addition, some components of the described assembly 20 may require force to function. A finite amount of power is stored in an energy storage device, which generates the Powers during medical procedures to collect waste or navigate to disposal stations The energy storage device 64 is therefore rechargeable. Requires charging.

[0020] Execution of the waste disposal protocol by assembly 20 is dependent on the assembly receiving power. Additionally, in some described embodiments, the assembly 20 may include Autonomously receiving power while executing waste disposal protocols to dispose of waste. In some embodiments, the assembly is configured to execute a charging protocol for The Buri-20 will receive power autonomously, independent of the waste disposal protocol. In some embodiments, the controller is configured to execute a charging protocol. 28 initiates a waste disposal protocol according to signals received from the waste sensor 62 For example, the controller 28 may be configured to detect whether the raw waste level signal is If the amount of medical waste contained within station 44 indicates that it exceeds the waste threshold, Similarly, Controller 2 can be configured to initiate a waste disposal protocol. 8 receives the raw waste level signal and the energy storage device characteristic signal, and calculates the waste level The waste level threshold and the energy storage device characteristic signal are respectively When compared to the energy accumulation threshold, it can be configured to initiate a waste disposal protocol. The controller 28 may also receive, for example, an energy storage device characteristic signal. or comparing the energy storage device characteristic signal with the energy storage threshold to determine the charging process. The protocol can be configured to start the

[0021] The controller 28 receives a user input signal on the user input device 68. and may be configured to initiate one of a waste disposal and a charging protocol in response to A user input device 68 is coupled to the base 22 and is in communication with the controller 28. The user input device 68 may be, for example, a button, a switch, a toggle, a lever, It can be a touchpad, a screen with touch controls, or a combination of these. In certain embodiments, the user input device 68 is carried by the user and Smartphones, tablets, and the like, which may be separable from the assembly In some embodiments, the assembly may be any remote or mobile device. 20 includes a plurality of user input devices 68. In some embodiments, the user input devices 68 is remote from assembly 20 and configured to communicate wirelessly with controller 28. The user input device 68 is configured to provide a user with a command in response to being activated by the user. The controller 28 is configured to provide an input signal to the controller 28. For example, during a surgical procedure Eventually, the amount of medical waste accumulated within the canister 44 may reach a waste level threshold. The indicator 60 may flash or display a light, or may sound a beep. , by displaying a message, vibrating, or any other suitable indication to the user. The user can be alerted that a waste level threshold has been reached. When the assembly is completed, or when another assembly 20 collects medical waste, Activating the user input device 68 when appropriate, such as when available to replace the 44 for emptying and cleaning, respectively. or initiating a disposal or charging procedure for charging the energy storage device 64. In embodiments in which assembly 20 includes multiple user input devices 68, One of the devices 68 can provide a first user input signal to the controller 28. and another of the user input devices 68 sends a second user input signal to the controller 2. 8. The controller 28 may receive the first user input signal. and initiating a waste disposal protocol in response to receiving a second user input signal. It can be configured to initiate a charging protocol.

[0022] 2 and 3, in some embodiments, assembly 20 is a medical waste collection The medical waste collection system 70 is part of the system 70. The medical waste collection system 70 cleans the canisters 44 and Medical waste is removed from the canister 44, thereby sanitizing and emptying the canister 44. The disposal station 50 is configured to dispose of, for example, water, The canister 44 is filled by pouring detergent and / or soap into the canister 44. 4. Specifically, the disposal station 50 creates a closed environment between the canister 44 and the disposal station 50, The canister 44 is configured to be cleaned and emptied, thereby preventing harmful or toxic substances from This reduces the risk of the material coming into contact with hospital personnel or patients 30. The disposal station 50: The canister is opened by receiving medical waste from the canister 44 through a waste conduit 52. The waste conduit 52 is configured to empty the waste conduit 44. The disposal station 50 delivers water, soap, detergent, and toxic agent, a combination thereof, or any other suitable cleaning or disinfecting substance, canister 4 4 to clean the canister 44 of the assembly 20. The disposal station 50 may be located in a convenient location, such as a hallway or closet in a medical facility, away from the operating room. Alternatively, the disposal station 50 may be located inside the operating room. It can be placed.

[0023] 2 and 3, disposal station 50 includes housing 72 and The housing 72 may include a coupler 74. As shown, the coupler 74 is coupled to the housing 72. The assembly 20 includes an opposable coupler 78. The opposable coupler 78 is coupled to the base 22. During the waste disposal protocol, coupler 74 mates with counter coupler 78 and assembles. The waste conduit 52 is then aligned with the waste conduit 52, so that the medical waste is directed through the waste conduit 52. In some embodiments, the disposal station 50 may include multiple The assembly 20 includes a coupler 74 and a plurality of opposing couplers 78. The waste conduit includes a coupler 74 and an opposing coupler 78, the coupler 74 being positioned above the waste conduit 52. The opposing coupler 78 is disposed directly below the canister 44 of the assembly 20. 1 shows an embodiment of a system 70. When coupler 74 and opposable coupler 78 are coupled, Gravity drives the medical waste from the canister 44 via the waste conduit 52 to the disposal station 50. In some embodiments, coupler 74 includes a coupled electromagnet to facilitate transfer of waste materials. The actuator 78 includes an opposing coupling electromagnet in communication with the controller 28. The counter-coupled electromagnet is selectively configured to create an electromagnetic attraction between coupler 74 and counter-coupler 78. Power is supplied to coupler 74 and opposing coupler 78, thereby firmly coupling them together and The assembly 20 and the waste conduit 52 are configured to align. Magnetic coupling is disclosed in commonly owned U.S. Patents 7, 6, 747, 752, 761, 772, 781, 792, 793, 794, 795, 796, 797, 798, 799, 80 ... No. 21,898, the entire contents of which are incorporated herein by reference. In other embodiments, coupler 74 and counter coupler 78 may be configured as follows: or additionally includes a mechanical interlocking mechanism, a permanent magnet, or a combination thereof. It can be done.

[0024] The assembly 20 is configured to autonomously dock with the disposal station 50. To facilitate autonomous docking, in the exemplary embodiment, disposal station 50 The assembly 20 includes markers 80 to facilitate alignment of the coupler 74 and the opposing coupler 78. The assembly 20 includes a marker sensor 82 in communication with the controller 28 for detecting the When navigating to the disposal station 50, the assembly 20 To perform the loop, the opposing coupler 78 must be oriented and aligned with coupler 74. Therefore, the marker 80 can be placed near the coupler 74, and the marker sensor 82 The marker sensor 82 can be placed near the opposing coupler 78. and sends a signal indicating the relative position of the marker sensor 82 with respect to the marker 80 to the controller 2. The controller 28 is configured to transmit the marker sensor 82 to the marker 8 To approximate zero, the heading, orientation, velocity, or any other desired characteristic of the assembly 20 The drive wheels 40 are configured to transmit a signal to adjust the Facilitates coupling of coupler 74 and opposing coupler 78 for protocol execution. 0 may be an infrared marker, an NFC antenna, a light emitter, a colored marker, or any other suitable marker. The marker sensor 82 can be an infrared sensor, an antenna, a light sensor, or or any other suitable marker sensor. , and a marker sensor 82 may be placed on the disposal station 50, and assembly 2 The controller 28 of the disposal station 50 may also be in wireless communication with the controller of the disposal station 50. It is planned.

[0025] In some embodiments, disposal station 50 includes a canister (not shown). The canister of the station 50 is in fluid communication with a waste conduit 52 for assembling medical waste. The canisters in the disposal station 50 are adapted to receive the waste from the When assembly 20 is coupled to disposal station 50, waste is passed through waste conduit 52. The waste collection unit 26 is in fluid communication with the waste collection unit 26. The disposal station 50 includes a canister. In some embodiments, the disposal station 50 may be substantially mobile. infrastructure changes to the hospital, such as plumbing changes or electrical changes The disposal station 50 can be moved between locations within the hospital without requiring In other embodiments, the disposal station 50 includes a drain 84. The drain 84 is used to The waste is received from the assembly 20 and the medical waste is sent to a disposal station, such as a hospital sewer line. The device is adapted to transfer the data outside the device 50.

[0026] Referring to Figure 4, the system 70 includes a charging station 54. 4 may be separate from the disposal station 50 and facilitates charging of the energy storage device 64. The charging station 54 is in electrical communication with a power source. The power source may be, for example, a power outlet. cent, uninterruptible power supply, power conditioning system, DC power system, or any other suitable type The charging station 54 can be any type of power source. When coupled to the power supply 54, the power supply converts electrical energy into an energy storage device. The charging station 54 is configured to transmit to the charging station 64. The charging station 54 may be located within a medical facility, such as within a hallway. The charging station 54 can be located outside the operating room, for example, inside the operating room (see FIG. 7), or any other suitable location. The charging station 54 is located in one or more operating rooms of a medical facility or hospital. The assembly 20 is configured to collect medical waste during a surgical procedure. While being used for It may be configured to charge the storage device 64 .

[0027] The charging station 54 includes a housing and a coupler 75. The coupler 75 In some embodiments, during the charging protocol, Then, coupler 75 of charging station 54 mates with charging coupler 79 of assembly 20, The assembly 20 is adapted to receive power from a charging station 54. 20 with the charging station 54. The coupler of the charging station 54 The charging coupler 79 is substantially similar to the coupler 78 of the energy storage device 50. Circuitry configured to enable electrical communication between the chair 64 and the charging station 54. The charging station 54 may include a charging station coupler 75 and a charging coupler. The power supply 62 is configured to transfer power to the energy storage device 64 via the power supply 79. The electric coupler 79 receives electrical energy from the charging station 54, thereby detachably coupled to coupler 75 of charging station 54 to charge energy storage device 64; For example, the couplers 75 and 79 are configured to be operably coupled to a charging station. 54 and the assembly 20. , plug). In another example, the charging station 54 includes an inductive pad that forms a coupler. The inductive pad wirelessly transfers electrical energy from the power source to the energy storage device 64. It is configured to:

[0028] In some embodiments, the disposal protocol complements the charging protocol. Upon initiating the protocol, the assembly 20 is responsible for disposing of medical waste and for energy conservation. 5, the disposal stage 64 is The station 50 disposes of medical waste and cleans the canister 44 while storing energy storage devices. In an exemplary embodiment, the disposal station 50 is powered by a power source. The disposal station 50 is in electrical communication with the assembly 20. 50, when coupled to the energy storage device 6, 4. During the waste disposal protocol, The coupler 54 is used to provide a connection between the assembly 20 and the charging station 54. The power source may be, for example, a power outlet, an uninterruptible power supply, or a power conditioning system. The power source may be a DC power system, a DC power system, or any other suitable type of power source. The electrically integrated disposal station 50 is configured such that the assembly 20 is coupled to a charging station 54. When coupled, it transfers electrical energy from the power source to the energy storage device 64. In some embodiments, the disposal station 50 is configured to Assembly 20 and configured to charge energy storage device 64. There are.

[0029] For the reasons mentioned above (e.g., waste threshold signal, user input), the waste disposal protocol Upon initiating the run, the controller 28 sends several signals to the components of the assembly 20. The assembly 20 then executes a waste disposal protocol in accordance with the signal, thereby Autonomously emptying the canister 44 of the waste collection unit 26 at station 50 and, in some embodiments, disposal station 50 and / or charging station 5 4 and configured to autonomously charge the energy storage device 64. Although not intended to be limiting, the controller 28 may transmit a waste disposal movement signal to the drive wheels 40. The drive wheel 40 is configured to transmit a waste disposal movement signal to the motor 42. Upon receiving the signal, the assembly 20 is automatically moved away from the patient 30. 0 moves the assembly 20 away from the patient 30 and then places it in a disposal station 50. Automatically navigate to.

[0030] The controller 28 indicates the manifold signal at the start of the waste disposal protocol. Upon receiving the manifold signal, the indicator 6 0, when the manifold signal is received, the user is prompted to insert the disposable manifold into the manifold. The disposable manifold is configured to prompt the user to remove it from the receptacle 58 and dispose of it. The assembly 20 is in communication with the controller 28 and is positioned adjacent to the manifold receiver 58. The manifold sensor may include a disposable manifold sensor located adjacent to the manifold sensor. and configured to detect whether the manifold is in contact with the manifold receiver 58. The controller 28 detects whether the manifold sensor detects whether the disposable manifold is The manifold signal is only transmitted when contact with the hold receiver 58 is detected. The controller 28 will transmit the information to the indicator 60. After being removed and disposed of, the waste disposal device is configured to transmit a waste disposal transfer signal.

[0031] The controller 28 may be configured to prevent initiation of a waste disposal protocol during a medical procedure. More specifically, the controller 28 controls the end effector, the suction tube, While the circuit 48, or other equipment connected to the assembly 20, is in use, the assembly 2 0 and end effector, suction tube, or other equipment connected thereto from the patient 30 To prevent their movement away from one another from disrupting the surgical procedure, the assembly 20 To prevent transfer from patient 30, to prevent initiation of waste disposal protocol The prevention of waste disposal protocol also includes ensuring that the assembly 20 is not removed from the patient 30. It also prevents disruption of the sterile field when moving away, allowing for easier access during medical procedures. maintain sterility and safety in the waste treatment process. For example, In response to receiving information from the sensor 62 or determining that the amount of medical waste has reached a threshold level. If a waste disposal protocol is initiated in response to the decision, Roller 28 may delay providing the waste disposal signal until after the surgical procedure. If so, controller 28 will determine if a waste disposal protocol is initiated as a result of user input. Unless otherwise specified, the waste disposal protocol should be designed to prevent or delay initiation during a medical procedure. For example, the controller 28 may be configured to control whether the suction pump 46 is actively sucking waste material. The waste disposal signal may be configured to be delayed while the waste disposal signal is being generated.

[00020] In some embodiments, a user may activate a user input device to select a waste product. Prevention of initiation of disposal protocols can be disabled.

[0032] Similar to waste disposal protocols, controller 28 may also be configured to, for example, If an energy storage device characteristic signal is received from the waste sensor 62 during the treatment, It can be configured to prevent the initiation of a charging protocol during a medical procedure. Among other things, the controller 28 may control the end effector, the suction line 48, or the assembly. Do not use while other instruments connected to the Bri20 are in use and / or disrupt the sterile field. To avoid this, the assembly 20 is prevented from moving away from the patient 30. Thus, the user can initiate a charging protocol by actuating a user input device. For example, during a medical procedure, you can disable the initiation of a charging protocol. It is undesirable to provide power to the assembly 20 while the For example, if the energy storage characteristics are such that the expected remainder of the medical procedure If the energy consumption of the assembly 20 becomes unnecessarily low over time, In this case, among other functions of the assembly 20, accidental loss of suction from the suction pump 46 is prevented. To avoid loss of power, it may be necessary to provide electrical power to the assembly 20. Thus, in some embodiments, the assembly 20 receives power from an energy source and an energy supply device (not shown) configured to supply the assembly 20 with For example, the energy supply device may be attached to the lower frame 32, the upper frame 34, or It may be a cord extending from any suitable structure of the assembly 20, such as the vertical chassis 36. The base 22 can have any suitable shape. The plug at the end of the cord can be station, e.g., a charging station 54, and / or associated with a wall of the medical facility. Additionally or alternatively, the device is configured to couple to an outlet. The energy storage device 64 may be replaceable with another energy storage device 64. , the energy storage device 64 has the ability to be disconnected from the rest of the assembly 20. The battery and the battery receiver are connected to an external battery (for example, a lithium-ion battery). a replacement battery is placed in the battery receptacle, and complementary contacts between the battery receptacle and the battery are disengaged; Corresponding contacts are engaged to provide supply power to the assembly 20. In such situations, a supply device and / or an exchange energy storage device 64 may be utilized. In this situation, the controller 28 may provide notification to, for example, the hub controller 96. In the manner described, the hub controller 96 can be configured to control additional assemblies. Each of the controllers 28 is associated with a quantity of energy in each of the energy storage devices 64. The hub controller 96 then polls to receive additional assembly information. One of the batteries was used to rescue an assembly 20 that was reported to have deteriorated energy storage characteristics. You can select to navigate to the station you need to reach. The controller 28 may also provide notifications to the user.

[0033] The memory component 56 stores a disposal schedule for scheduling the initiation of a waste disposal protocol. The waste disposal protocol is configured to schedule initiation. The time for the procedure may be, for example, the end of the scheduled operating time for a hospital operating room, or This includes the time before a scheduled surgical time for a hospital or operating theatre. The controller 28 of the application 50 may then execute the scheduled disposition according to the disposition schedule. For example, a hospital may have a waste disposal protocol that is configured to start between 9:00 AM and 5:00 PM. An operating room with several operating rooms staffed for a surgery scheduled for 5 p.m. Waste disposal protocols or charging protocols may be scheduled for medical procedures. Advantageously, the assembly 20 can be configured to automatically insert the canister 44 of the assembly 20 so as not to conflict with the To regularly empty, clean, and / or recharge the energy storage device 64 Therefore, the disposal schedule will be set to waste scheduled at 8:00 AM and 5:30 PM. This may include initiating a disposal protocol, such as between scheduled medical procedures. Any other suitable time for initiation of the waste disposal protocol may be scheduled within the disposal schedule. The controller 28 may synchronize the waste disposal protocol with the disposal schedule. Therefore, if it is started during the scheduled time, it will not be discarded without user input action. In some embodiments, the disposal schedule may be configured to initiate a disposal protocol. Joule is a surgical scheduling system, staff scheduling system, resource scheduling system, data management system, electronic medical records d, EMR), a combination thereof, or any other suitable hospital network system The disposal schedule corresponds to a hospital network system such as the above. The EMR can store patient data, resource information, and other information in memory locations other than the 6. Hospital data, such as data source data, device data, and other types of data related to hospital operations. A computer-based system for the storage and transfer of hospital data. The surgical procedures are stored in the EMR and are then assembled from the EMR via the hospital network. The disposal schedule may be transferred to the memory component 56 of the storage system 20. Before a scheduled surgical procedure begins, after a scheduled surgical procedure is completed, Scheduled to begin between medical procedures, or a combination of these. and the like, can be configured to accommodate scheduled surgical procedures. Therefore, the memory component is updated by the controller 28 as new actions are scheduled. May be dynamically linked to the EMR to appropriately initiate discharge and / or disposal protocols .

[0034] The memory component 56 is configured to store the charging schedule. The module contains one or more times to initiate the charging protocol. The charger 28 is configured to initiate a charging protocol according to a charging schedule. Similar to the disposal schedule, the time or times to initiate charging should be determined after the end of the medical procedure. For example, in some embodiments, the charging schedule may correspond to a medical It can accommodate the medical procedure schedule of the facility's operating room, and the medical procedure schedule can be The charging schedule includes the start time and expected end time for each medical procedure. The Drola 28 initiates a charging protocol at the appropriate time between medical procedures, thereby allowing the energy storage device 64 to be sufficiently charged as needed for a medical procedure. In other embodiments, the charging schedule may be adapted to accommodate the operating room. The charging schedule can be set by the controller 28 initiates charging protocols at or near the end of the operating day for the operating theatre, This ensures that the energy storage device 64 is sufficiently charged before surgery begins the next day. In some embodiments, the disposition schedule may be stored in the EMR. It is compatible with hospital network systems such as:

[0035] At some times, the canister 44 of the assembly 20 may be used for, for example, a scheduled medical appointment. It needs to be quickly emptied and cleaned between or during installation. Rapid emptying and cleaning of the canister 44 of the or bacteria or toxic substances may remain in the canister 44 of the assembly. Sometimes the canister 44 of the assembly 20 is stored the night before or after the end of the day for the surgical ward. etc., need to be emptied and cleaned more thoroughly. The waste disposal protocol includes multiple disposal modes, each of which is performed by an assembly 2. 0 and disposal station 50 removes medical waste from waste collection unit 26. The controller 28 may be in a disposal mode. The controller 28 can be configured to automatically select one of the waste The amount of medical waste in the waste collection unit 26, the amount of medical waste to be removed from the waste collection unit 26 The amount of medical waste, the type of medical procedure the assembly was used in, and the type of medical waste inside the container type, the length of time the medical waste has been stored in the canister 44, or a combination thereof. Based on the combination, one of the disposal modes can be selected. The disposal protocol includes rapid docking mode, normal docking mode, and long-term docking mode. The controller 28 may use a rapid docking mode to When initiating the waste disposal protocol, the assembly 20 is in the disposal state for approximately five minutes. The rapid docking mode can be configured to couple to the medical procedure. It is suitable for emptying and cleaning the canister 44 of the assembly between or during When the controller 28 initiates a waste disposal protocol using the normal docking mode In this example, the assembly 20 is configured to mate with a docking station for approximately 30 minutes. This allows for quicker assembly of canisters than the rapid docking mode. 4. Docking mode is usually used in the morning or evening before a medical procedure. Empty and clean the assembly canister 44 before or after the scheduled day. The controller 28 is suitable for controlling the waste disposal process using the long-term docking mode. When starting the protocol, the assembly 20 is placed in the disposal station 50 for approximately two hours. can be configured to dock faster than rapid or normal docking modes. This also effectively empties and cleans the assembly canister 44. The long-term docking mode is Weekly, biweekly, monthly, quarterly, or semi-annual assembly It is suitable to periodically empty and clean the canister 44. The times specified above are merely examples, and any length of time for each of the modes may be used in this disclosure. This is intended by the indication.

[0036] In some embodiments, the disposal mode also includes waste disposal by the disposal station 50. A different cleaning agent should be used to clean the canister 44 of the assembly during the protocol. The controller may also determine the type or amount of disinfectant or detergent used in the collection of medical waste. , or the amount and / or quantity of disinfectant or detergent based on the type of procedure the assembly was used for. Or the type can be automatically selected; for example, some medical procedures involve large amounts of blood. While other medical procedures collect large amounts of saline, the controller 28 Sensors can be used to determine the type and / or amount of medical waste, such as whether a large amount of blood has been collected. Alternatively, the assembly 20 may be used in a medical procedure where large amounts of blood are typically collected. In response, controller 28 may determine to Use a suitable disinfectant and / or detergent to clean the canister 44 of the assembly. The waste disposal protocol can be initiated using the disposal mode.

[0037] The controller 28 selects one of the disposition modes based on user input or a disposition schedule. The user may be configured to select one of the following options while initiating the disposal procedure: The assembly 20 allows multiple user inputs to be selected from one of the following modes: In embodiments including the above, each user input is processed by controller 28 in one of a plurality of disposition modes. to allow the initiation of waste disposal protocols using different disposal modes. For example, one of the user inputs can be configured to Upon startup, the controller 28 initiates a waste disposal protocol using the rapid disposal mode. Other of the user inputs can be configured to allow the other user Upon activation of the user input, the controller 28 executes the waste disposal protocol using the normal disposal mode. Further user inputs can be configured to allow the user to initiate The item is disposed of using the long-term disposal mode by the controller 28 upon activation of the separate user input. In some embodiments, the device may be configured to allow a material disposal protocol to be initiated. Thus, the user may activate the user input device 68 to select one of the disposal modes or For example, a user may configure one user input device 68. Activate the user input and configure the rapid disposal mode to run for 3 minutes, and Activate another user input in step 68 to initiate the disposal protocol using the rapid disposal mode. The configuration of the disposal mode may be stored in the memory component 56.

[0038] The assembly 20 is designed for autonomous movement, particularly for complex and multi-task applications, to execute the above-mentioned protocols. In many cases, it is necessary to have the ability to perform movements in crowded environments. 6 and 7, in some embodiments, a locator network network 94 is connected to the location of the assembly 20 and the disposal station 50 and / or charging station. The locator network is configured to track the location of the power station 54. 1 is a block diagram of the network 94, the autonomous waste collection assembly 20, and the disposal station 50. The location of the assembly 20 and the disposal station 50 and / or charging station Tracking the location of assembly 54 allows controller 28 to move assembly 20 to a disposal station. facilitating navigation to the vehicle 50 and / or charging station 54. The network 94 transmits signals to the assembly 20 so that the controller 28 can, among other things, It is possible to recognize the location of the assembly 20 within the facility. The data network 94 also allows the controller 28 to access the disposal station 50 and / or the charging station. A signal is also sent to the assembly 20 to enable the location of the power station 54 to be recognized. The controller 28 can receive signals received from the locator network 94. The assembly 20 may be connected to a disposal station 50 and / or a charging station 5 4. The locator network 94 is configured to navigate to the hub controller. The hub controller may include a controller 96, a memory component 95, and a transceiver 97. The controller 96 contains computer executable instructions for performing the functions of the locator network 94. The hub controller 96 is configured to execute instructions. Microcontrollers, Field Programmable Gate Arrays (FPGA), System O A system-on-chip (SoC), or any other suitable system for performing the functions of the locator network 94. The memory configuration of the locator network 94 can be any suitable type of controller. The components 95 communicate with the hub controller 96 and control the functioning of the locator network 94. The locator network 94 is configured to store associated data and instructions. transmits signals to and receives signals from the assembly 20 via the transceiver 97. In some embodiments, assembly 20 is configured to transmit signals to a locator network. 94, and the signal is transmitted to the transceiver 97 of the locator network 94. The transmitter / receiver 99 is configured to receive from

[0039] The medical waste collection system 70 includes a plurality of locations in communication with a locator network 94. The locator sensor 98 may be connected to the locator network 94 by wire or wireless. The locator sensor 98 may be optical, infrared, sonographic, or or any other suitable detection system configured to wirelessly detect a remote device. The locator sensors 98 can be wall and / or sensor based technology within the corridors of the healthcare facility. or ceiling mounted, or located in any other suitable location within the healthcare facility. FIG. 7 shows an exemplary diagram of a locator sensor 98 located within a hospital operating room. The locator sensor 98 is a tracking device coupled to the assembly 20. Additionally, the locator sensor 98 can be configured to detect 50 and / or charging station 54. The tracking device may include, for example, a GPS unit and an RFID chip. The controller 28 can transmit the current location input signal and the disposal location input signal to the medical facility. The current location input signal is configured to receive from a locator network 94 in the The disposal location input signal is based on the current location of the assembly 20. In some embodiments, the controller 28 may route the charging location input signal to a location within the healthcare facility. The charging location input signal is configured to receive the charging location input signal from the locator network 94. Based on the charging location of the charging station 54.

[0040] The controller 28 controls the assembly based on the current location input signal and the disposal location input signal. 20 to the disposal station 50 and / or charging station 54. The controller 28 receives a current location input signal and a disposal location input signal. and / or navigate the assembly 20 according to the charging location input signal. The drive wheels 28 selectively drive the motors 42 of the drive wheels 40 to move the assembly 20 to a disposal site and and / or navigate the assembly 20 by moving and steering it toward a charging location. It is configured to

[0041] In some embodiments, the system 70 may include multiple disposal stations, as shown in FIG. The controller 28 includes a battery 50, one or more charging stations 54, and current location input signal, as well as disposal location input signals for each of the disposal stations 50; and further configured to receive a charging location input signal for each of the charging stations 54. Upon initiation of a waste disposal protocol, controller 28 may Navigating the assembly 20 to one of the disposal stations 50 according to the input signal The controller 28 is configured to calculate distance, time, and the time when the separate assembly 20 The waste disposal protocol has already been carried out at one or more of the disposal stations 50. Navigate to one of the disposal stations 50 based on factors such as whether For example, the system 70 can determine whether the disposal station should The controller 2 may include first and second paths 104, 106 to the processor 50. 8 uses decision logic to determine whether to navigate to the first path 104 or the second path 105. The controller 28 may be configured to determine whether to navigate to the route 106. 2. The longer path between the assembly 20 and the disposal station 50 via the second path 106 The distance between the assembly 20 and the disposal station 50 via the first path 104 is shorter than the distance between the assembly 20 and the disposal station 50 via the first path 104. The distance between the first route 104 and the second route 106 is shorter, so the first route 104 is chosen instead of the second route 106. You can decide to do so.

[0042] Continuing to refer to FIG. 7, in some embodiments, memory component 56 stores a location map The location map is configured to store a layout of at least a portion of the medical facility. The layout is understandable by the controller 28. , the current location input signal and the disposal location input signal and / or charging location for the location map The motor 42 is selectively driven by calculating a trajectory based on the input signal. The controller 28 is configured to selectively drive the motor 42 to follow the trajectory. The controller 28 initiates a waste disposal protocol, which When 28 navigates the assembly 20 to the disposal station 50, the current location input and calculating a trajectory based on the signal and the disposal site input signal. The controller 28 then initiates a charging protocol, which causes the controller 28 to When navigating the assembly 20 to the charging station 54, the current location input signal and and calculating a trajectory based on the charging location input signal.

[0043] In some embodiments, the memory component 56 stores a plurality of prescribed routes 102 within the healthcare facility. The prescribed route 102 is configured to store predefined routes between locations within the healthcare facility. A defined route, for example along one or more corridors in a hospital operating room. The pathway 102 connects the operating room to the disposal station 50 and / or the charging station 54. The controller 28 controls the predetermined path 10. Assembly 20 is attached to disposal station 50 and / or charging station 51 along one of two The controller 28 is configured to navigate to the current location and Disposal location based on the distance between the assembly 20 and the disposal station 50 and / or 102. The charging station 54 is configured to navigate to the charging station 54. For example, the predetermined route 102 The first pathway 104 between the operating room and the first disposal station 50 and the second pathway 105 between the operating room and the first disposal station 50 are shown. The waste disposal plant may include a second pathway 106 between the first and second disposal stations 50. Upon initiating the protocol, the controller 28 determines the location of the assembly based on the current location input signal. Is the 20 located in the first operating room or the second operating room? The controller 28 can determine whether the assembly 20 is in the first path 1. Should the user navigate along route 04 to the first disposal station 50, or should the user navigate along route 04 to the second disposal station 50? 104 to the second disposal station 50. In some embodiments, the defined pathway 102 may connect each of the operating rooms to the disposal station 50 and and / or multiple paths between each of the charging stations 54.

[0044] One or more spatial awareness sensors 112 are provided and in communication with the controller 28. For simplicity of explanation, the assembly 20 including one spatial recognition sensor 112 is An embodiment of the spatial awareness sensor 112 is described herein. 20 along one of the prescribed paths 102, etc., to the disposal station 50 and / or may avoid obstructing the assembly 20 while navigating to the charging station 54. The spatial recognition sensor 112 is configured to sense a capacitance sensor, a capacitance type displacement sensor, Doppler effect sensors, eddy current sensors, induction sensors, magnetic sensors, optical sensors, radar -device, sonar device, lidar device, combination of these, or any other The controller 28 may be configured to detect the presence of a detected obstacle 11. 8, and is configured to direct the assembly 20 to deviate from the path. After the departure from the obstacle 118, the controller 28 controls the assembly 20 to go around the obstacle 118 and Once the assembly 20 navigates around the obstacle 118, it arrives at the destination, i.e., the disposal station. 50 or charging station 54. The controller 28 is unable to navigate around the obstacle 118. In this case, the controller 28 may determine that the disposal station 50 or determines an alternative route to a charging station 54 or to a different disposal station 5 0 or to the charging station 54. The objects 118 may include, for example, doctors, nurses, other hospital staff, patients 30, wheelchairs, hospital beds, It can be a cabinet or any other obstacle 118 that may be present in a medical facility. When an obstacle 118 is detected, the controller 28 moves the assembly 20 However, the disposal station 50 and / or or colliding with a sensed obstacle 118 while navigating to a charging station 54. In order to prevent this, the device is configured to induce deviation. In this case, the spatial awareness sensor 112 also aligns the assembly 20 with the disposal station 50. For example, the spatial awareness sensor 112 is configured to assist in the assembly When assembly 20 is near disposal station 50, The controller 28 then controls the spatial recognition sensor A signal to move the opposing coupler 78 closer to the coupler 74 based on a signal from 112 is sent to the drive wheel. 40 to the motor 42.

[0045] The autonomous movement of assembly 20 and the further automated features of system 70 of the present disclosure are personnel to perform many of the tasks that they were previously tasked with performing. It is easy to see that there are advantageous releases from suspension. However, in certain circumstances It may be desirable to operate the assembly 20 without autonomous movement and / or automated mechanisms. In other words, the user may operate the assembly 20 in what may be considered a manual mode. It may be desirable to "opt out" of autonomous mode in order to operate manually. An exemplary case or situation where the mode may be desirable is inspection of assembly 20, "one time" inspection, "Unintended" or unexpected use, assembly in a healthcare facility, or more specifically, in an operating room. Relocation of assembly lines 20 and the reduction of congestion in the corridors of medical facilities, especially during peak hours. For example, it may be necessary to reposition the assembly 20 within the operating room. The required movement may be programmed and the drive wheels 40 may resist such movement. Simply manually maneuver the assembly 20 to the desired position, as opposed to using a ram or input. The operation of the assembly 20 between the autonomous mode and the manual mode may be , which may include user input device 68 accepting input from a user. For example, the assembly 20 may be moved manually by a user along a floor surface. The clutch mechanism 49 (see FIG. 1) and the drive wheel 40 prevent the vehicle from being pushed (e.g., being pushed). The clutch mechanism 49 may include engaging the controller 28 and the user input. Assembly 20 transitions from autonomous mode to manual mode. When this occurs, the clutch mechanism 49 disengages from the motor 42 and the drive wheels 40 move with the rest of the assembly 20. In another example, the drive wheels 40 may be coupled to the drive wheels 40. and in communication with the controller 28 and the user input device 68. The lift mechanism 51 (see FIG. 1) of the 0 maintains sufficient stability. , input to user input device 68 results in assembly 20 being switched from autonomous mode to manual mode. When the lift mechanism 51 moves the drive wheels 40 away from the floor, the drive wheels 40 If the remaining wheels 24 are non-driven, the assembly 2 Assembly 20 can be freely moved manually along the floor surface. Assembly 20 can be an autonomous model if desired. The user can be repeatedly transitioned between the power-on and manual modes.

[0046] 8 and 9, in some embodiments, assembly 20 comprises a first autonomous medical device. a waste collection assembly 114, and the medical waste collection system 70 is a second autonomous medical waste The second assembly 116 includes a base, a base coupled to the base, and The vehicle is connected to a plurality of wheels including a drive wheel, a base, a canister, and a canister-connected a waste collection unit including a suction pump in fluid communication with the suction pump; The second assembly includes a regulator, an opposable coupler coupled to the base, and a controller. 116 base, a plurality of wheels, a waste collection unit, an opposing coupler 78, and a controller The first assembly 114 includes a base 22, a plurality of wheels 24, a waste collection unit 26, and a pair of wheels 24 and a waste collection unit 26. The second coupler 78, the second coupler 79, and the second controller 28 may be configured similarly. Assembly 116 is substantially similar to first assembly 114 in both structure and function. It is possible.

[0047] The disposal station 50 and charging station 54 are for a limited number of assemblies. It is only possible to simultaneously facilitate the execution of the disposal procedures. Only one of the assemblies 114, 116 can be connected to each of the disposal stations 50 at a time. Thus, for example, the first assembly coupled to the disposal station 50 114, a second assembly 116 is connected to the disposal station to execute the disposal protocol. must be separated from the disposal station 50 before it can be coupled to the While the second assembly 116 is executing the disposal protocol, the first assembly 114 When the controller 28 initiates a disposal protocol, the controller of the first assembly 114 The controller 28 navigates the first assembly 114 to execute the disposal protocol. If the second assembly 116 occupies the disposal station 50 that you are attempting to Similarly, the control of the first and second assemblies 114, 116 may If the controller 28 initiated the disposal protocol at the same time, the first and second assemblies Each of the libraries 114, 116 is used to execute a disposal protocol at the disposal station 50. The first and second assemblies 114, 116 are navigated to the destination. Similar problems can arise with regard to charging stations 54. To resolve this issue, in some embodiments, the first and second assemblies 114, 116 are each adapted to be removably coupled to a charger in an interchangeable manner, thereby This initiates the waste disposal protocols for the first and second assemblies 114, 116, respectively. When simultaneously activated, the first and second assemblies 114, 116 A queue is created to allow one or more of the assemblies 114, 116 to be transported to the disposal stage. Prior to coupling with station 50, the other of assemblies 114, 116 is The queue facilitates waiting for the assembly 114, 116 to finish executing. the memory component 56 of the locator network 94, or a combination thereof. Similarly, in certain embodiments, the first and only one of the second waste assemblies 114, 116 is coupled to the charge at a time. In such an embodiment, the controller of the second assembly 116 may When the assembly 114 is positioned at the charging station 54, it is configured to wait. The second assembly 116 is configured to control the charging protocol of the second assembly 116. Pause and restart or resume the charging protocol of the second assembly 116 before the first assembly 114 completes its charging protocol. The second assembly 116 can wait by waiting at Prior to suspending the waste disposal protocol for Buri 116, Or you can navigate to the immediate vicinity.

[0048] The locator network 94 includes first and second assemblies 114, 116 and any Tracking the location of each of any number of disposal stations 50 and / or charging stations 54 The locator network 94 is configured to locate the first and second assemblies. 114, 116, respectively, the other of the first and second assemblies 114, 116 and transmitting a signal to each of the controllers of the first and second assemblies to recognize the In some embodiments, the controller of the second assembly 116 is configured to: receiving a first location input signal and a second location input signal from a locator network 94; The first location input signal is input to the first location of the first assembly 114. The second location input signal is based on the second location of the second assembly 116. Depending on the configuration, the first and second assemblies may be interchangeably connected to the disposal station 50. Each adapted to be removably coupled, thereby forming a first and second assembly. Waste disposal protocols for BRI 114 and 116 have been initiated and are active simultaneously. In this case, the first and second assemblies 114, 116 form a queue. In this configuration, only one of the first and second waste assemblies 114, 116 is in use at a time. In such an embodiment, the second assembly 11 may be coupled to a disposal station 50. The controller 28 of the sixth embodiment determines whether the first assembly 114 is positioned in the disposal station 50. The second assembly 116 is configured to wait if the second Suspending the waste disposal protocol for assembly 116 and discarding the second assembly 116 Before restarting or resuming the material disposal protocol, the first assembly 114 Assembly 114 is then allowed to complete its waste disposal protocol. The second assembly 116 can be used to dispose of the waste of the second assembly 116. Before suspending the call, navigate to or very close to Disposal Station 50. It is possible.

[0049] When both the first and second assemblies have begun their disposal protocols, the hub control The roller 96 moves one of the first and second assemblies 114, 116 through a disposal procedure. The unselected first and second assemblies may be configured to be selected for execution. The other of the bridges 114, 116 is connected to the selected first and second assemblies 114, 116. The hub controller 96 can wait behind one of the first and second One of the second assemblies 114, 116 is connected to the first and second assemblies 114, 116 to carry out the disposal procedure before the others. The waste collection units of the first and second waste collection assemblies 114, 116 are The first and second assemblies 114, 116 are separated based on the relative amounts of medical waste within the 26. For example, the hub controller 96 may select one of the first and second assemblies. receiving information regarding the amount of medical waste contained within each of the canisters 114, 116; To do this, each of the controllers 28 of the first and second assemblies can be polled. The hub controller 96 then determines whether to collect the medical waste based on the amount of medical waste in the waste collection unit. In this case, one of the first and second assemblies 114, 116 is disposed of in accordance with a waste disposal protocol. The hub controller 96 can select the first and second The other of the assemblies 114, 116 is adapted to navigate to an operating room and remove waste materials during a medical procedure. Similarly, the hub controller 96 can command the first and second and information about the amount of energy in each of the energy storage devices 64 of the second assembly. each of the controllers 28 of the first and second assemblies 114, 116 to receive The hub controller 96 can then poll the first and second addresses. Selecting one of the assemblies 114, 116 to perform a charging protocol. The hub controller 96 is one of the first and second assemblies 114, 116. On the other hand, to navigate to the operating room and order to receive waste during medical procedures. The hub controller 96 also controls the disposal schedule, charging schedule, and Charging protocols or disposal methods based on the type of surgical procedure scheduled, type of medical waste, etc. It may control queues for protocols.

[0050] At times, during a medical procedure and prior to completion of the procedure, the user may It is expected that the government will begin disposal protocols for 114. The first assembly 116 is then moved to the first assembly 114 while the first assembly 114 is performing the disposal protocol. To continue collecting medical waste on behalf of assembly 114, first assembly 114 The location can be configured to navigate to.

[0051] In some embodiments, the controller 28 of the first assembly 114 may be a user input device. configured to provide an alternation signal to the locator network 94 in response to actuation of the device 68. The user input device 68 is configured to input data into the canister of the first assembly 114 during a medical procedure. When the station 44 becomes full, it can be activated by hospital staff. In response, the locator network 94 transmits the first and second location input signals to a second assembly. The controller 28 of the first assembly 114 provides A waste disposal procedure can be initiated and the second assembly 116 autonomously travels to the first location. navigating to the first assembly 114 to receive medical waste during a medical procedure in place of the first assembly 114. The controller of the second assembly 116 can configured to command movement of the second assembly 116 to the first location via the drive wheels of the The controller of the second assembly 116 controls the first assembly at the first location. Command the movement of the second assembly 116 to the first location to replace the bridge 114.

[0052] Referring to FIG. 10, a method 200 of operating the medical waste collection system 70 is shown. In step 202, the waste collection unit 26 collects waste from the patient during the medical procedure. To do this, the assembly 20 is installed in a medical facility, e.g., a surgical center. The control panel can be positioned near the patient in the room (see Figure 7). The controller 28 provides the user with a user input device 68 in communication with the suction controller 28. a suction pump 46 for adjusting the level of suction drawn through the conduit 48, and The medical waste is then pumped into at least one of the canisters 44, which then operate the vacuum regulator 47. It accumulates inside one.

[0053] In one example, raw waste in the canister 44 as detected by the waste sensor 62 The waste level exceeds the waste threshold level (step 204). Additionally or alternatively, The energy storage device, as detected by the energy storage device sensor 66 The energy storage device characteristic of stage 64 is below the energy storage device characteristic threshold (stage Additionally or alternatively, the step as stored in memory component 56 The schedule determines the scheduled performance of the disposal protocol and / or the charging protocol. Additionally or alternatively, the user may provide input (step 208). The controller 28 in communication with the user input device 68 may provide Receive input (step 210). For any one or more of the above The assembly 20 includes a station, i.e., a disposal station 50 (see FIG. 3), a filling station, and a charging station 54 (see FIG. 4), or an integrated disposal-charging station 54 (see FIG. 5) ) and combine with it (step 212). In this case, the controller 28 controls the assembly 20 to move to the disposal station 50. Activate the drive wheels 42 to facilitate the connection of the assembly 50 to the stations 50, 54. Any one or more of the sensors 82, 112 may be utilized to measure the 14). Additionally, a medical facility locator network 94 in communication with the controller 28. navigation of the assembly 20 to the stations 50, 54 as described above. This may be facilitated (step 216).

[0054] In step 218, the assembly 20 is coupled to the disposal station 50. Specifically, the disposal station 50 disposes of medical waste. The disposal station 50 autonomously removes the canister 44 from the waste collection unit 26. A cleaning operation may be performed to clean the surface (step 230). In the case of a disposal-charging station 54 (see FIG. 5), the charging station 54 The protocol is executed autonomously (step 222). to the energy storage device 64 of the assembly 20 (step 223). The disposal station 50 autonomously removes medical waste from the waste collection unit 26. Otherwise, the controller 28 may place the assembly 20 in the charging state. Alternatively, the drive wheels 42 may be actuated to move the vehicle to the section 54. If the device 64 does not require additional power, the controller 28 and actuating the drive wheels 42 to move the vehicle back to the required station or storage location. When the assembly 20 is first mated with the charging station 54, Reversal of steps 218 and 222 is contemplated. Similarly, if energy storage device 64 If the canister 44 does not require emptying after receiving power, the controller 28 drives the assembly 20 to move back to the required station or storage location. The driving wheels 42 may be actuated (step 234).

[0055] In particular embodiments, the user input device 68 selects a disposition mode, e.g., a first disposition mode. and a second disposition mode. Based on the input, the controller 28 in communication with the user input device 68 is removed. Dispose of the medical waste according to a first disposal mode for a first amount of time (step 2 20 and 226), or for a second amount of time according to a second disposition mode (steps The second amount of time may be greater than the first amount of time. The cleaning operation (step 230) may be performed in one or both of the first and second disposal modes. This can be accomplished in

[0056] The assembly 20 may autonomously separate from the stations 50, 54 (step 232). In the above example, the electromagnets can be demagnetized, thereby disengaging the assembly from the stations 50, 54. The controller 28 controls the assembly 20 to move to the required position. The drive wheels 42 may be actuated to move the vehicle back to the vehicle station or storage location (step 2). 34).

[0057] Closure for alternative protection Clause I. An autonomous waste collection assembly comprising a base, at least one Another drive wheel, a controller, a waste level sensor communicating with the controller, an energy storage device sensor in communication with the controller; a waste collection unit coupled to the base; and a medical waste collection assembly including a disposal station. A method of operating a system, comprising: collecting waste from a patient during a medical procedure using a waste collection unit; receiving medical waste from the waste collection unit using a waste level sensor; sensing a waste level in the waste tank; and detecting, using a controller, whether the waste level is in the waste tank. determining whether a waste level threshold has been exceeded; and activating at least one drive wheel to move the vehicle; and using a controller Navigating the autonomous medical waste collection assembly to a disposal station; autonomously coupling the medical waste collection assembly and the disposal station; Disposal Protocol for Removing Medical Waste from Waste Collection Units Using a Station - Patent application and performing the steps of:

[0058] Clause II. The system includes a charging station and an autonomous medical waste collection assembly. autonomously coupling the vehicle and the charging station; and communicating with the charging station. The electrical energy from the power source is transferred to the energy storage device of the autonomous medical waste collection assembly. The method of claim 1 further comprising the step of transmitting the information to a device.

[0059] Clause III. Operating the medical waste collection assembly in a first disposal mode for a first amount of time. and operating the medical waste collection assembly in a second disposal mode at a second time. and operating the first and second amounts of time differently. The method described in Clause I or II.

[0060] Clause IV. (i) Quantity of medical waste in waste collection unit, (ii) Waste collection The amount of medical waste to be transferred from the unit to the disposal station canister, (iii) ) user input; and (iv) one or more time periods during which the waste disposal protocol should be performed. (v) a disposal schedule including the waste collection unit holding the medical waste; and determining whether the first disposition mode and the second disposition mode are based on at least one of: The method of clause III further comprising selecting one of the modes.

[0061] V. The autonomous waste collection assembly includes a user input device, Using a vice, an autonomous waste collection assembly is mounted such that at least one drive wheel is connected to a controller. from an autonomous mode, wherein at least one drive wheel is controllable for autonomous movement using transition to a manual mode that is disabled to allow manual movement of the autonomous waste collection assembly; 4. The method according to claim 1, further comprising the step of receiving an input for causing the How to post.

[0062] Clause VI. An autonomous waste collection assembly coupled to at least one drive wheel. a clutch mechanism, and disabling at least one drive wheel by engaging the clutch mechanism; and releasing the clutch and allowing at least one drive wheel to rotate freely. The method described in ZV.

[0063] Clause VII. An autonomous waste collection assembly comprising a base, a small number of components coupled to the base, At least one drive wheel, a controller, and an energy storage device in communication with the controller. an autonomous waste collection assembly including a waste collection unit coupled to a base; and a charging station in electrical communication with the medical waste collection system. 1. A method for collecting medical waste from a patient during a medical procedure using a waste collection unit. receiving the waste material; and detecting the energy storage device using an energy storage device sensor. sensing an energy level storage characteristic of the device; and using a controller to The state that determines whether the energy level accumulation characteristic is below the energy level accumulation characteristic threshold. and actuating at least one drive wheel to move the autonomous medical waste collection assembly. and connecting the autonomous medical waste collection assembly to the charging station using the controller. and navigating to an autonomous medical waste collection assembly and charging station. and autonomously connecting the vehicle to the charging station. a charging protocol for communicating to an energy storage device of the medical waste collection assembly; and performing the steps of:

[0064] Clause VIII. A disposal station comprising a housing and a waste disposal facility connected to said housing. a disposal station including a coupled coupler; and an autonomous medical waste collection assembly for collecting medical waste from a patient. a base adapted to be positioned near a person; and wheels coupled to the base. At least one of the wheels is driven to move the base along a floor surface. a waste collection unit coupled to said base for receiving medical waste from a patient; a canister for holding medical waste; a waste collection unit including a suction pump configured to draw suction on the canister; a counter coupler coupled to the base, the counter coupler being connected to the disposal station; a contraposition coupler adapted to be detachably coupled to the laser; and a waste disposal protocol. an autonomous medical waste collection assembly including: a controller operable to start a medical waste collection system including: a controller configured to: and the waste disposal protocol is operable to initiate the autonomous medical waste collection. automatically moving the assembly away from the patient to the disposal station, thereby and the coupler couples with the opposing coupler to connect the autonomous medical waste collection assembly and the disposal transmitting a movement signal to said drive wheel to effect a connection between said drive wheel and a distribution station; Mmm, medical waste collection system.

[0065] The present invention has been described herein in an illustrative manner. The terminology used is without limitation. It should be understood that the terms are intended to be descriptive rather than explanatory in nature. Many modifications and variations of the present invention are possible in light of the above teachings. Within the scope of the claims, the present invention may be practiced other than as specifically described.

Claims

1. 1. An autonomous medical waste collection assembly comprising: a base adapted to be placed near the patient; wheels coupled to the base, at least one of the wheels supporting the base; wheels driven to move along a floor surface; a waste collection unit coupled to the base for receiving medical waste from the patient; a canister for holding the medical waste; a suction pump configured to draw suction on the canister The unit and a controller operable to initiate a waste disposal protocol, the waste A disposal protocol disposes of the autonomous medical waste collection assembly away from the patient. transmitting a movement signal to the drive wheel to automatically move it to a station; A controller; a user input device in communication with the controller, the user actuated a user input device adapted to provide a user input signal in response to being pressed Su and Equipped with The controller controls the waste disposal process in response to receiving the user input signal. an autonomous medical waste collection assembly configured to initiate a protocol;

2. a waste sensor in communication with the controller, the waste sensor The amount of medical waste contained in the canister is sensed and a waste level signal is transmitted to the computer. the waste sensor is adapted to provide the waste sensor to the controller. the amount of medical waste sensed by the waste disposal device exceeds a waste threshold.

10. The autonomous medical waste collection app of claim 1, configured to initiate a minute protocol. Gentian.

3. an energy storage device; and an energy storage device in communication with the controller. a sensor, wherein the energy storage device sensor detects the energy storage device. and providing an energy storage device characteristic signal to the controller. and wherein the controller is adapted to determine whether the energy storage device characteristics are energy configured to initiate a charging protocol when the energy storage device characteristic threshold is exceeded. and wherein the charging protocol is configured to charge the autonomous medical waste collection assembly away from the patient. a movement signal to the drive wheels to automatically move to a charging station so as to 3. The autonomous medical waste collection assembly of claim 1 or 2, comprising:

4. The controller selects the charging protocol in response to receiving the user input signal. and the waste disposal protocol.

4. The autonomous medical waste collection assembly of claim 3.

5. a disposal schedule including one or more times for initiating said waste disposal protocol; a memory adapted to store a rule and in communication with the controller; a controller configured to initiate the waste disposal protocol in accordance with the disposal schedule; The autonomous medical waste collection assembly according to any one of claims 1 to 4, Li.

6. At least one of the one or more times is relative to an end time of the medical procedure.

6. The autonomous medical waste collection assembly of claim 5.

7. a charging schedule including one or more times for initiating the charging protocol; and a memory in communication with the controller adapted to store the a controller configured to initiate the charging protocol according to the charging schedule; 4. The autonomous medical waste collection assembly of claim 1, wherein:

8. The controller controls the autonomous medical waste collection assembly to move away from the patient. The controller sends the drive signal to the drive wheels to automatically move them to the disposal station. and an autonomous mode in which the autonomous medical waste collection assembly is transported by a troller, and a manual mode in which the autonomous medical waste collection assembly is transported by a troller. The controller operates in a manual mode in which the controller transmits a disengagement signal to the drive wheels to The autonomous medical waste collection system according to any one of claims 1 to 7, assembly.

9. a clutch mechanism coupled to the drive wheel and in communication with the controller; the clutch mechanism operatively disengages from the drive wheels in response to the disengagement signal.

10. The autonomous medical waste collection assembly of claim 8, configured to:

10. The energy storage device may further include an energy supply device separate from the energy storage device. an energy supply device disposed in electrical communication with said energy source; The autonomous medical waste collection assembly of any one of claims 3 to 9, configured as follows: 。

11. 11. The method according to claim 3, wherein the energy storage device is a replaceable battery.

10. The autonomous medical waste collection assembly of claim 9.

12. a disposal station including a housing and a coupler coupled to the housing; a base adapted to be placed near a patient; and wheels coupled to the base, At least one of the wheels is driven to move the base along a floor surface. a waste collection unit coupled to said base for receiving medical waste from said patient; a canister for holding the medical waste; a suction pump in communication with the canister and configured to draw suction on the canister a material collection unit and a counter coupler coupled to the base, a counter coupler adapted to be detachably coupled to the coupler; and a controller. a user input device in communication with the controller, actuated by a user; a user input device adapted to provide a user input signal in response to Including an autonomous medical waste collection assembly and A medical waste collection system comprising: The controller executes a waste disposal protocol in response to receiving the user input signal. and the waste disposal protocol is operable to initiate a waste disposal protocol for the autonomous medical waste disposal system. automatically moving a collection assembly away from the patient to the disposal station; This causes the coupler to couple with the opposing coupler, forming the autonomous medical waste collection assembly. and transmitting a movement signal to the drive wheel to effect a connection between the drive wheel and the disposal station. , medical waste collection system.

13. The disposal station further comprises a canister adapted to receive the medical waste. and wherein the canister of the disposal station is connected to the autonomous medical waste collection assembly. When the autonomous medical waste collection assembly is coupled to the disposal station, 13. The medical waste collection system of claim 12, wherein the medical waste collection system is in fluid communication with the waste collection unit of the medical waste collection system. Stem.

14. an energy storage device; and an energy storage device in communication with the controller. a sensor, wherein the energy storage device sensor detects the energy storage device. and providing an energy storage device characteristic signal to the controller. and wherein the controller is adapted to determine whether the energy storage device characteristics are energy configured to initiate a charging protocol when the energy storage device characteristic threshold is exceeded.

14. The medical waste collection assembly of claim 12 or 13,

15. The moving signal is a first moving signal, and the moving signal includes a housing and a a charging station including a coupler, wherein the charging protocol is automatically moving the object collection assembly away from the patient to the charging station. , whereby the coupler of the charging station couples with the opposing coupler, and the autonomous a second connector for providing a connection between the medical waste collection assembly and the charging station; transmitting a movement signal to the drive wheels, and the charging station is electrically connected to a power source. and the autonomous medical waste collection assembly is coupled to the charging station. When the power supply is turned on, the power supply is turned on to transfer electrical energy from the power supply to the energy storage device.

15. The medical waste collection system of claim 14 adapted to:

16. the disposal station is in electrical communication with the power source, the disposal station comprising: When the autonomous medical waste collection assembly is coupled to the disposal station, adapted to transfer electrical energy from the power source to the energy storage device. The medical waste collection system according to any one of claims 12 to 15,

17. The waste disposal protocol includes a plurality of disposal modes, each of the disposal modes comprising: An autonomous waste collection assembly and the disposal station collect the medical waste.

17. The method of claim 12, further comprising: combining different amounts of time during removal from the collection unit.

10. A medical waste collection system according to claim 9.

18. The controller determines the amount of medical waste in the waste collection unit and the amount of waste. The amount of medical waste to be removed from a collection unit and the amount of waste collected by the waste collection unit and the amount of time the medical waste has been held.

20. The medical waste collection system of claim 17, adapted to select one of:

19. a disposal schedule including one or more times for initiating said waste disposal protocol; a memory adapted to store a rule and in communication with the controller; a controller configured to initiate the waste disposal protocol in accordance with the disposal schedule; and wherein the controller is configured to:

18. The method of claim 17, wherein the method is adapted to select one of the disposal modes based on 19. The medical waste collection system according to claim 18.

20. The controller converts the current location input signal and the disposal location input signal into a location within the healthcare facility. the current location input signal is configured to be received from a data network, the current location input signal being received by the autonomous medical device. Based on the current location of the medical waste collection assembly, the disposal location input signal is Based on the disposal location of the application, the controller may combine the current location input signal and the disposal location. and navigating the autonomous waste collection assembly to the disposal station based on a central input signal. The medical waste collection system according to any one of claims 12 to 19, system.

21. a medical facility controller adapted to store a plurality of prescribed routes within the medical facility; and a memory for storing the medical waste collection information, the memory being configured to store the medical waste collection information. The predetermined route is determined based on the distance between the current location and the disposal location of the disposal station. and navigating the autonomous medical waste collection assembly to the disposal station along one of the 21. The medical waste collection system of claim 20 adapted to gate.

22. The autonomous medical waste collection assembly navigates between the current location and the disposal location. The controller is configured to sense an object that obstructs the one predetermined path when the controller is being operated. a spatial recognition sensor in communication with the roller, and moving the autonomous medical waste collection assembly in response to the obstacle sensed by the sensor.

22. The medical device of claim 21, adapted to induce deviation from one prescribed path. Medical waste collection system.

23. the autonomous medical waste collection assembly is a first autonomous medical waste collection assembly; The system includes a base and wheels coupled to the base, wherein at least one of the wheels At least one of the bases has wheels that are driven to move the base along a floor surface, and a medical waste disposal device. a waste collection unit coupled to the base for receiving the waste collection unit; in fluid communication with and configured to move the medical waste into the waste collection unit a suction pump and a pair of opposing couplers connected to the base, a counter coupler adapted to be removably coupled with the coupler of the disposal station; a controller operable to initiate a waste disposal protocol, A waste disposal protocol directs the disposal station to leave the autonomous medical waste collection assembly. and automatically moving the coupler to the opposing coupler position, thereby coupling the coupler with the opposing coupler, and Autonomous medical waste collection assembly and connection between the autonomous medical waste collection assembly and the disposal station and a second controller including transmitting a movement signal to the drive wheels to cause the drive wheels to an autonomous medical waste collection assembly; The first and second autonomous medical waste collection assemblies alternately collect medical waste from the disposal stream. the first and second autonomous medical devices are adapted to be removably coupled to a medical station. only one of the medical waste collection assemblies is coupled to the disposal station at a time; The medical waste collection system according to any one of claims 12 to 22.

24. the controller of the second autonomous medical waste collection assembly receiving the first location input signal and and a second location input signal from a locator network within the medical facility. and the first location input signal is a first location input signal of the first autonomous medical waste collection assembly. and wherein the second location input signal is based on a second location of the second autonomous medical waste assembly. Based on the location, the controller of the second autonomous medical waste assembly configured to navigate an autonomous waste collection assembly to the first location input signal; 24. The medical waste collection system of claim 23, wherein

25. The user input is configured to transmit an alternating signal to the medical facility in response to being actuated by a user. and adapted to provide the locator network with the signal received. In response, the locator network detects the first autonomous medical waste at the first location. and placing the second autonomous waste collection assembly in the first location to replace the waste collection assembly. and transmitting the first and second location input signals to the second autonomous medical waste disposal facility.

25. The medical waste of claim 23 or 24, provided to the controller of the collection assembly. Collection system.

26. a handheld in communication with the controller of the first and second autonomous waste collection assemblies; the hub controller further controls the first and second autonomous discarding and attaching one of the waste collection assemblies to the first and second autonomous waste collection assemblies. adapted to select one of the two for carrying out said disposal procedure before the other of the two, The selection of the hub controller is performed by selecting the first and second autonomous waste collection assemblies. Any of claims 23 to 25, based on the relative amount of medical waste in a waste collection unit.

10. A medical waste collection system according to claim 1.

Images