Isolator module for robotic arms

Abstract

An isolator module (1) for a robot arm, comprising: a box-like housing (2) defining a working chamber (3) isolated from an external environment; and means (4) for realizing a contamination-controlled environment in the chamber (3), the box-like housing (2) having at least one opening (7). The module (1) also comprises a glove (8) for accommodating the robot arm, the glove (8) being airtightly attached to the at least one opening (7) so that its outer surface is exposed to the working chamber (3) and its inner surface is in communication with the external environment. The glove (8) also comprises a positioning system (9) for positioning the robot arm within the glove (8), and one or more terminals (10) for interaction between the chamber (3) and the robot arm.

Description

[Technical Field]

[0001] The present invention relates to an isolator module for a robotic arm.

[0002] The present invention has application in the management of the sterile development process.

[0003] It is known to use robots inside isolators. [Background technology]

[0004] The main drawback of this solution is that the isolators must be custom-built, with dimensions much larger than standard ones, to accommodate the robot. In particular, such isolators are about four times larger than standard isolators. This not only increases the complexity of the construction, but also increases costs and the difficulty of maintaining such a large environment in a purified state.

[0005] Therefore, there is a need for an alternative solution that allows a robot to perform tasks inside an isolator. Summary of the Invention

[0006] In this regard, the technical problem underlying the present invention is to provide an isolator module for a robot arm that overcomes the above-mentioned drawbacks of the prior art.

[0007] In particular, it is an object of the present invention to provide an isolator module for a robot arm that allows the robot arm to perform operations in an isolated environment while at the same time being not bulky in size.

[0008] Another object of the present invention is to provide an isolator module for a robotic arm that is versatile.

[0009] The specified technical problem and the specified objectives are a box-like enclosure defining a working chamber isolated from the external environment; generating means for creating a contamination-controlled environment in the chamber; The box-like enclosure is substantially achieved by an isolator module for a robot arm, which has at least one opening.

[0010] The module comprises a glove for housing the robot arm, the glove being hermetically mounted in the at least one opening such that its outer surface is exposed to the working chamber and its inner surface is in communication with the external environment.

[0011] Gloves are a positioning system for positioning the robotic arm inside the glove; - one or more terminals for interaction of the camera with the robot arm.

[0012] Preferably, the positioning system is magnetic or electromagnetic.

[0013] According to one embodiment, the positioning system comprises a number of metal plates distributed along the globe.

[0014] Preferably, the metal plates are mounted on the inner surface of the globe.

[0015] According to one embodiment, the isolator module comprises signalling means for signalling the position of the robot arm relative to the box-like enclosure.

[0016] Preferably, the glove comprises an arm portion and an end portion, and the plurality of metal plates are distributed along the arm portion.

[0017] According to one embodiment, the box-like enclosure comprises support means for a working tool inside the chamber.

[0018] According to one embodiment, the isolator module comprises a recognition system for recognizing the position of the robot arm relative to the support means.

[0019] According to one embodiment, the support means comprises a rack and the isolator module comprises one or more tools mounted on the rack.

[0020] The recognition system includes one or more notches in the rack and / or tool, and a notch detection sensor attached to the glove.

[0021] According to one embodiment, the isolator module comprises at least one attachment for a cooling or heating module or for a drawer incubator.

[0022] Preferably, the attachment is provided on a hatch attached to the rear of the box-like housing.

[0023] According to one embodiment, the isolator module comprises a passageway section provided along the side of the box-like enclosure for the transport of material.

[0024] According to one embodiment, the terminal may comprise isolation means and / or gripping and actuating means and / or observation means and / or cutting means and / or heating means and / or electromagnetic means.

[0025] According to one embodiment, the glove comprises at least one wet channel and at least one dry channel for cleaning purposes.

[0026] According to one embodiment, the glove comprises a piezoelectric element or a load cell.

[0027] According to one embodiment, the glove comprises a material welding device.

[0028] According to one embodiment, the glove includes a mechanical coupling intended for use with medical instruments such as laparoscopic devices. [Brief explanation of the drawings]

[0029] Further features and advantages of the present invention will become more apparent from the following approximate, and therefore non-limiting, description of preferred but non-exclusive embodiments of an isolator module for a robotic arm, as illustrated in the accompanying drawings. [Figure 1] 1 shows a schematic rear view of an isolator module for a robotic arm according to the present invention; [Figure 2] 1 shows a schematic side view of an isolator module. [Figure 3] 3 shows a schematic diagram of a detail (grove) of the isolator module of FIG. 2 with a robotic arm therein. [Figure 4] 3 shows a schematic diagram of a portion of the glove of FIG. 2. [Figure 5] 3 shows a schematic view of the end of the glove of FIG. 2. DETAILED DESCRIPTION OF THE INVENTION

[0030] Referring to the figure, the numeral 1 indicates an isolator module for a robot arm.

[0031] The module 1 comprises a box-like housing 2 which defines a working chamber 3 isolated from the external environment, for example the room in which the module 1 is installed.

[0032] The module 1 comprises means 4 for realising a contamination-controlled environment in the chamber 3. A contamination-controlled environment means a sterile environment. Preferably, the means 4 comprises a sterilisation unit 5. For example, the sterilisation unit 5 comprises a system for dispensing H2O2 or VHP vapours into the chamber 3.

[0033] Preferably, the means 4 comprises a maintenance unit 6 for maintaining predetermined environmental conditions, the maintenance unit 6 comprising humidity control means and an ultraviolet lamp.

[0034] Preferably, at least the disinfection unit 5 is arranged above the box-like housing 2 .

[0035] Preferably, the box-like enclosure 2 comprises at least one opening 7. The module 1 comprises a glove 8 hermetically fitted in the opening 7, the outer surface of the glove 8 being exposed to the working chamber 3 and the inner surface of the glove 8 being in communication with the external environment. In this way, an external operator, such as a robotic arm, can act externally within the working chamber 3 without compromising the established contamination-controlled environment.

[0036] The airtight attachment of the globe 8 to the opening 7 means that there is no exchange of fluid between the external environment and the chamber 3 through the opening 7 .

[0037] In a preferred embodiment, the box-like housing 2 comprises two openings 7 and two corresponding globes 8 .

[0038] Essentially, the glove 8 comprises a positioning system 9 for positioning the robot arm therein. In this way, self-centering of the robot arm inside the glove 8 is ensured.

[0039] Preferably, the positioning system 9 is magnetic or electromagnetic.

[0040] In the embodiment described and illustrated herein, the positioning system 9 comprises a number of metal plates (designated with the same reference number 9) distributed along the glove 8. The robotic arm has corresponding magnetic parts for recognizing its correct position inside the glove 8.

[0041] Preferably, the metal plates 9 are distributed on the inner surface of the globe 8 .

[0042] Preferably, glove 8 comprises an arm 8a and an end 8b. Preferably, end 8b is shaped to accommodate an end effector of a robotic arm. The end effector is a device at the end of a robotic arm that is designed to interact with the environment.

[0043] Preferably, the metal plate 9 acts on the arm 8a.

[0044] Preferably, the glove 8 is equipped with a quick coupling system. Preferably, the glove 8 is equipped with an air decompression system between the glove 8 and the robot arm.

[0045] Essentially, the groove 8 comprises one or more terminals 10 for the interaction of the robot arm with the chamber 3. In particular, the terminals 10 are selected depending on the operations that the robot arm needs to perform inside the chamber 3. Below is an exemplary, non-exhaustive list of terminals 10 that may be employed. Any terminal 10 that allows the robot arm to perform known operations inside the chamber 3 is considered to be implicitly included.

[0046] In the terminal 10 it is possible to identify, for example, isolation means, gripping and actuating means, observation means, cutting means, heating means, electromagnetic means, etc. For example, the glove 8 may be provided with a terminal 10 for gripping a drill.

[0047] Within the terminal 10 there is also preferably glass for the optical device (chamber) of the robot arm.

[0048] Within the terminal 10 there is preferably an infrared probe.

[0049] Within the terminal 10 there are preferably pressure and temperature sensors.

[0050] Preferably, the terminal 10 is mounted inside the globe 8. Preferably, the terminal 10 is welded to the globe 8.

[0051] Preferably, the box-like housing 2 comprises support means 11 for the working tools inside the chamber 3. Preferably, the support means 11 comprises a rack (indicated by the same reference number 11).

[0052] Preferably, the isolator module 1 comprises a recognition system for recognizing the position of the robot arm relative to the support means 11 .

[0053] In one embodiment, the recognition system comprises one or more notches or grooves 12 in the rack 11 and a detection sensor 13 for detecting the grooves 12. The sensor 13 is attached to the groove 8. In this way, the robotic arm knows where the tool is.

[0054] Preferably, the sensor 13 is of the infrared or contact type.

[0055] In one embodiment, the isolator module 1 comprises one or more tools 18 attached to a support means 11. The notches 12 are formed in the tools 18.

[0056] In one embodiment, the notch 12 is formed in both the tool 18 and the rack 11 .

[0057] Advantageously, the isolator module 1 may comprise signalling means 19 for signalling the position of the robot arm relative to the box-like enclosure 2, in particular relative to the opening 7. For example, as shown in Figure 1, the signalling means 19 comprises one or more holes with pre-set dimensions and shapes, which are used for spatial centreing of the robot arm so that it can be mounted on an automated guided vehicle (AGV).

[0058] Preferably, the box-like enclosure 2 comprises at least one attachment 14 for a cooling or heating module or for a drawer-type incubator. In this way, the isolator module 1 can be configured as an isolator, a climate chamber or an incubator, as required.

[0059] Preferably, the attachment 14 is provided on a hatch 15 attached to the rear part (so-called back surface) of the box-shaped housing 2.

[0060] Preferably, the box-like enclosure 2 is provided with a front screen 16 to allow the chamber 3 to be observed from the outside. Preferably, the opening 7 is provided in the front screen 16.

[0061] Preferably, the isolator module 1 comprises a passage section 17 for the transport of material (managed inside the chamber 3) between the modules. The passage section 17 is provided along the side of the box-like housing 2.

[0062] According to one embodiment, the glove 8 comprises at least one wet channel and at least one dry channel for cleaning purposes.

[0063] According to one embodiment, the glove 8 comprises a piezoelectric element or a load cell.

[0064] According to one embodiment, the globe 8 is equipped with a material welding device.

[0065] According to one embodiment, the glove 8 comprises a mechanical coupling intended for use with medical instruments such as laparoscopic devices.

[0066] The isolator module 1 can be assembled with various modules in sequence to create an isolator system that meets production needs.

[0067] The modules that make up this isolator system are arranged side by side and connected laterally.

[0068] Preferably, the material transfer module is connected at the side of the first module in the row (i.e., upstream) and / or at the side of the last module in the row (i.e., downstream). This module is of a known type and will not be described further. In particular, this module comprises biological decontamination means. Its function is, in fact, to allow material to enter and exit the working chamber 3 of the adjacent module 1 without compromising the sterility of the material. In particular, it comprises a vertical sliding door with an inflatable seal, a magnetically assisted closure.

[0069] According to one embodiment, the isolator system comprises four modules 1 connected in series.

[0070] The first module 1 is equipped with a HEPA H14 filter and is kept at a temperature between +80° C. and −100° C. The first module 1 is equipped with a glove 8.

[0071] The second module 1 is kept at a temperature between +80° C. and −100° C. The second module 1 is provided with two globes 8 .

[0072] The third module 1 is kept at a temperature between +50°C and -5°C and CO2 control is performed.

[0073] The fourth module 1 serves as an incubator and is kept at a temperature of +37°C with CO2 control.

[0074] Between adjacent modules 1 there are connection modules or exchange compartments.

[0075] In a preferred embodiment, the isolator system comprises three isolator units, each comprising one or more modules 1 as described above.

[0076] The first unit is used for preparing the work material and preferably comprises two interconnected modules 1 and a material transfer module on the side of the last module 1, i.e. downstream.

[0077] The first module 1 is used to disinfect the material. The second module 1 is used to prepare the material.

[0078] The second unit is used for processing and post-processing of materials and preferably comprises two modules 1 connected to each other and a material transfer module on the side of the last module 1, i.e. downstream.

[0079] In module 1 of the second unit, humidity and temperature control is performed to maintain a temperature range between -100°C and 150°C.

[0080] In particular, the first module 1 of the second unit is connected upstream of the material transfer module of the first unit.

[0081] The first module 1 of the second unit houses a 3D printer or thermoforming tool.

[0082] The second module 1 of the second unit is used to prepare materials for post-development treatment.

[0083] Preferably, within one or more modules 1 of the second unit, one or more automatic arms are provided for operation at extreme temperatures.

[0084] The material transfer module of the second unit is used for loading both post-processing materials and cell culture materials.

[0085] The third unit is used for incubation and cell culture and preferably comprises three interconnected modules 1 and a material transfer module on the side of the last module 1, i.e. downstream.

[0086] In module 1 of the third unit, CO2, O2 and temperature control is carried out to set environmental conditions suitable for cultivation.

[0087] The first module 1 of the third unit is used for medium and cell preparation.

[0088] The second module 1 of the third unit comprises a rack for storing the reagents for growth (to increase the utilization of the available area).

[0089] The third module 1 of the third unit comprises a temperature-controlled microscope for analysis and digital data collection.

[0090] The features of the isolator module for a robot arm according to the invention, as well as its advantages, are apparent from the description.

[0091] In particular, the glove is provided with a positioning system for positioning the robot arm inside the glove and one or more terminals for the interaction of the robot arm with the chamber, so that the robot arm can be used without introducing the robot arm inside the isolator module, which allows the dimensions of the isolator to be kept small and, as a result, allows the surface to be sterilized.

[0092] Furthermore, the ability to connect thermal modules (heating or refrigeration) or drawer-type incubators makes the isolator module versatile and it can function as an isolator, climate control chamber or incubator. The attachments for these modules / incubators on the back of the box-shaped enclosure make it possible to transfer functionality to surfaces that are not used in known solutions.

Claims

1. An isolator module (1) for a robot arm, comprising: a box-like enclosure (2) defining a working chamber (3) isolated from the external environment; and means (4) for providing a contamination-controlled environment in said chamber (3), The box-shaped housing (2) has at least one opening (7), the module (1) comprises a glove (8) for accommodating the robot arm, the glove (8) being airtightly attached to the at least one opening (7) such that its outer surface is exposed to the working chamber (3) and its inner surface is in communication with the external environment; The glove (8) a positioning system (9) for positioning said robot arm inside said glove (8); an isolator module (1) comprising said chamber (3) and one or more terminals (10) for the interaction of said robot arm;

2. 2. The isolator module (1) according to claim 1, wherein the positioning system (9) is magnetic or electromagnetic.

3. 3. The isolator module (1) according to claim 2, wherein the positioning system (9) comprises a plurality of metal plates (9) distributed along the groove (8).

4. 4. The isolator module (1) according to claim 3, wherein the plurality of metal plates (9) are installed on the inner surface of the globe (8).

5. 5. The isolator module (1) according to any one of claims 1 to 4, comprising signalling means (19) for signalling the position of the robot arm relative to the box-like enclosure (2).

6. 6. The isolator module (1) of claim 3, 4 or 5, wherein the globe (8) has an arm (8a) and an end (8b), and the plurality of metal plates (9) are distributed along the arm (8a).

7. 7. A module (1) according to any one of the preceding claims, wherein the box-like housing (2) comprises support means (11) for a working tool (18) inside the chamber (3).

8. 8. An isolator module (1) according to claim 7, comprising a recognition system (12, 13) for recognizing the position of the robot arm relative to the support means (11).

9. 9. The isolator module (1) of claim 8, wherein the support means (11) comprises a rack (11), the isolator module (1) comprises one or more tools (18) attached to the rack (11), and the recognition system (12, 13) comprises one or more notches (12) provided on the rack (11) and / or the tools (18) and a detection sensor (13) for detecting the notches (12), the sensor (13) being attached to the glove (8).

10. 10. An isolator module (1) according to any one of claims 1 to 9, comprising at least one attachment (14) for a cooling or heating module or for a drawer-type incubator.

11. 11. The isolator module (1) of claim 10, wherein the at least one attachment (14) is provided on a hatch (15) attached to the rear of the box-like enclosure (2).

12. 12. An isolator module (1) according to any one of claims 1 to 11, comprising a passage section (17) provided along the side of the box-like housing (2) for the transport of materials.

13. 13. The isolator module (1) according to any one of claims 1 to 12, wherein the terminal (10) may be provided with isolation means and / or gripping and actuating means and / or observation means and / or cutting means and / or heating means and / or electromagnetic means.

14. 14. The isolator module (1) of any one of claims 1 to 13, wherein the at least one glove (8) comprises at least one wet channel and at least one dry channel for cleaning purposes, or it comprises a piezoelectric element or a load cell, or it comprises a material welding device.

15. 15. The isolator module (1) of any one of claims 1 to 14, wherein the at least one glove (8) comprises a mechanical coupling intended for use with medical instruments such as laparoscopic devices.

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