Self-disposing waste collection assembly and medical waste collection system and method

Abstract

To provide an autonomous medical waste collection assembly which collects medical wastes within a medical facility.SOLUTION: The autonomous medical waste collection assembly comprises a base adapted to be positioned near a patient. A wheel is powered to move the base along a floor surface. A waste collection unit is coupled to the base for receiving medical waste. 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 in communication with the controller. The 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 claims priority and all benefits thereof to U.S. Provisional Patent Application No. 62 / 575,8 33, filed on October 23, 2017. The entire content of the application is hereby incorporated by reference and made a part of this specification.

Background Art

[0002] Medical waste collection devices can be used in hospitals or other medical environments. For example, mobile rovers are utilized to collect medical waste such as body fluids, body tissues, irrigation fluids, and soot during medical and surgical procedures. Medical waste is often placed, during, or after a procedure, into canisters mounted on medical waste collection devices that must be emptied and cleaned . Currently, hospital staff such as nurses and operating room assistants must temporarily interrupt their tasks to transport the medical waste collection device or its canister to a disposal station, or to carry, empty, and clean the canister . This requires hospital staff to move the medical waste collection device to a disposal station, wait for the emptying and cleaning procedures to be performed, move the medical waste collection device back to the operating room, re - enter the operating room, and re - set up the medical waste collection device before the surgery can be started or resumed . Additionally, the medical waste collection device may require battery power and thus must be charged before, during, or after a procedure, which requires even more time and effort from hospital staff . Therefore, one of the disadvantages described above . is that until the surgery can be started or resumed, hospital staff must move the medical waste collection device to a disposal station, wait for the emptying and cleaning procedures to be performed, move the medical waste collection device back to the operating room, re - enter the operating room, and re - set up the medical waste collection device . Furthermore, the medical waste collection device may require battery power and thus must be charged before, during, or after a procedure, which requires even more time and effort from hospital staff . Therefore, until the surgery can be started or resumed, hospital staff must move the medical waste collection device to a disposal station, wait for the emptying and cleaning procedures to be performed, move the medical waste collection device back to the operating room, re - enter the operating room, and re - set up the medical waste collection device . Furthermore, the medical waste collection device may require battery power and thus must be charged before, during, or after a procedure, which requires even more time and effort from hospital staff . Additionally, the medical waste collection device may require battery power and thus must be charged before, during, or after a procedure, which requires even more time and effort from hospital staff . Thus, hospital staff must charge the device before, during, or after a procedure, which requires even more time and effort from hospital staff . Therefore, one of the disadvantages described above What is needed is a waste collection device and system that overcomes one or more of the problems. Summary of the Invention [Problem to be solved by the invention]

[0003] The autonomous medical waste collection assembly is a system for collecting medical waste from medical procedures ( It autonomously collects and disposes of medical waste generated during medical procedures (e.g. surgical procedures). Waste material may include bodily fluids, tissue, irrigation fluids, and / or other fluids that may be generated during various medical procedures. During the medical procedure, the assembly collects medical waste and allows the user to Until the Mumbuli is ready to autonomously unload and dispose of medical waste. , accumulate medical waste on board. When medical waste fills up the assembly or is When the medical waste is ready to be disposed of, the assembly is inserted into the docking station. At the docking station, the medical waste is assembled and navigated to the The liquid is emptied from the jar 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 body. Wheels are coupled to the base. At least one of the bases is driven to move the base along the floor surface. A waste collection unit is coupled to the base for receiving the items. The waste collection unit It includes a canister and a suction pump. The canister is for holding medical waste. Yes. The suction pump is in fluid communication with the canister and is configured to draw a suction force on the canister. The controller is operable to initiate a waste disposal protocol. The waste disposal protocol includes transmitting a movement signal to the drive wheels to automatically move the autonomous medical waste collection assembly away from the patient to a disposal station. The user input device communicates with the controller. The 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.

[0005] In another exemplary embodiment, a medical waste collection system is provided. The system includes a disposal station and an autonomous medical waste collection assembly. The disposal station includes a housing and a coupler. The coupler is coupled to the housing. The autonomous medical waste collection assembly includes a base, wheels, a waste collection unit, a mating coupler, and a controller. The base is adapted to be positioned near a 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 for receiving medical waste from the patient is coupled to the base. The waste collection unit includes a canister and a suction pump. The canister is for holding medical waste. The suction pump is in fluid communication with the canister and is configured to draw a suction force on the canister. The mating coupler is coupled to the base. The mating coupler is adapted to be removably coupled to the coupler of the disposal station. The controller is configured to initiate a waste disposal protocol in response to receiving a user input signal. ​​​​​​It is operable to initiate a waste disposal protocol. The waste disposal protocol automatically moves the autonomous medical waste collection assembly away from the patient to the disposal station, thereby driving a movement signal to the drive wheels to transmit a connection between the coupler and the opposing coupler, resulting in a connection between the autonomous medical waste collection assembly and the disposal station. This includes transmitting a movement signal to the drive wheels to effect a connection between the autonomous medical waste collection assembly and the disposal station by causing the coupler to engage with the opposing coupler.

[0006] By referring to the following detailed description in conjunction with the accompanying drawings, the advantages of the present invention will be readily understood as the invention will be more deeply understood.

Brief Description of the Drawings

[0007]

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[0008] Like reference numerals refer to like or corresponding parts throughout several figures. Referring to the drawings, aspects of the autonomous medical waste collection assembly 20 are provided. The assembly 20 may include a base 22, a plurality of wheels 24, a waste collection unit 26, and a controller 28. The base 22 can be positioned near a patient 30 during a medical procedure. The base 22 supports the waste collection unit 26. FIG. 1 shows one embodiment of the assembly 20 including a lower frame 32, an upper frame 34, a vertical chassis 36, and a handle 38. The base 22 can have any suitable shape.

[0009] The plurality of wheels 24 are coupled to the base 22 to provide mobility to the assembly 20. For example, the assembly 20 can autonomously move around a medical facility and collect medical waste generated during medical procedures performed at different locations throughout the medical facility. The wheels can be coupled 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 can be rotated to adjust the height of the assembly 20. ​An embodiment is shown in which two more of the 24 are coupled to the vertical chassis 36. Embodiment In some embodiments, one or more of the plurality of wheels 24 are steerable wheels, such as wheels that have the ability to swivel on an axis of the vehicle. In still other embodiments, the plurality of wheels 24 includes a combination of one or more 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 one embodiment of an assembly 20 having four wheels 24, one of which is driven The drive wheel 40 is driven by a motor 42, whereby the drive wheel 4 0 can move the assembly 20 along the floor of a medical facility. The motor 42 is a brushed electric motor, a brushless electric motor, a stepper motor, a servo motor, an AC motor or any other suitable type of motor for driving the drive wheel 40 to move the assembly 20 The motor 42 is in communication with the controller 28 The controller 28 can selectively drive and / or steer the drive wheel 40 to drive, steer, and / or navigate the assembly 20 through a medical facility For example, in some embodiments, the controller 28 is configured to drive, steer, and navigate the assembly 20 by selectively pivoting the drive wheel 40 and driving it In some embodiments, several of the wheels 24 are drive wheels 40, and each of the drive wheels 40 has a motor 42 attached thereto. Each of the motors is connected to the controller 28. The controller 28 can selectively pivot the drive wheels 40 and drive them to drive, steer, and navigate the assembly 20 and drive them to drive, steer, and navigate the assembly 20 by selectively pivoting the drive wheels 40 and driving them can be. In various embodiments where the drive wheels 40 are fixed wheels, the controller 28 drives one of the drive wheels 40 in a rotational direction opposite to that of the other of the drive wheels 40, and thereby selectively drives the drive wheels 40, such as by changing the orientation of the assembly 20, to steer the assembly 20.

[0010] The controller 28 is configured to execute computer-executable instructions for performing functions of the assembly 20, such as starting a waste disposal protocol or a charging protocol. The controller 28 can be a microprocessor, a microcontroller, a field programmable gate array (FPGA), a system on a chip (SoC), or any other suitable type of controller for performing the functions of the assembly 20. e array, FPGA), a system on a chip (system on a chip e array, FPGA), a system on a chip (system on a chip , SoC), or any other suitable type of controller for performing the functions of the assembly 20. troller.

[0011] The assembly 20 includes a memory component 56 that communicates with the controller 28. The memory component 56 is configured to store computer-executable instructions to be executed by the controller 28. The memory component 56 stores computer-executable instructions that define a waste disposal protocol and / or a charging protocol. The memory component 56 / or may include random access memory (random access memory, RA M), flash memory, non-volatile random access memory (non-volatile random access memory, NOVRAM), and / or any other suitable form of memory. other suitable form of memory.

[0012] The waste collection unit 26 is coupled to the base 22 and is configured to receive medical waste from a patient during a medical procedure. The assembly 20 collects medical waste by suction during a medical procedure and accumulates the medical waste within the waste collection unit 26. In some embodiments, the assembly 20 also collects soot, such as soot generated during an electrosurgical procedure. In other embodiments, the assembly 20 is configured to filter particles from the soot and discharge the filtered air. The waste collection unit 26 includes at least one canister 44 configured to hold medical waste, a suction pump 46, and a vacuum regulator 47. In the exemplary embodiment shown in FIG. 1, the assembly 20 includes two canisters 44. The canister 44 can be coupled to the lower frame 32, the upper frame 34, or a combination thereof. FIG. 1 shows an embodiment in which the first canister is coupled to the upper frame 34 and the second canister is coupled to the lower frame 32. The canister(s) 44 can be substantially cylindrical, frustoconical in shape, or any suitable shape for containing medical waste. The canister 44 can be formed 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 configured to draw a suction force on the canister 44 to draw medical waste, such as liquid medical waste, into the canister 44 during a medical procedure. In an embodiment, By suction during the medical procedure, the medical waste is collected and accumulated in the waste collection unit 26. In some embodiments, the assembly 20 also collects soot generated during the electrosurgical procedure, such as soot. In other embodiments, the assembly 20 is configured to filter particles from the soot and discharge the filtered air. The waste collection unit 26 includes at least one canister 44 configured to hold medical waste, a suction pump 46, and a vacuum regulator 47. In the exemplary embodiment shown in FIG. 1, the assembly 20 includes two canisters 44. The canister 44 can be coupled to the lower frame 32, the upper frame 34, or a combination thereof. FIG. 1 shows an embodiment in which the first canister is coupled to the upper frame 34 and the second canister is coupled to the lower frame 32. The canister(s) 44 can be substantially cylindrical, frustoconical in shape, or any suitable shape for containing medical waste. The canister 44 can be formed 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 configured to draw a suction force on the canister 44 to draw medical waste, such as liquid medical waste, into the canister 44 during a medical procedure. 20 includes two canisters 44. The canister 44 can be coupled to the lower frame 32, the upper frame 34, or a combination thereof. FIG. 1 shows an embodiment in which the first canister is coupled to the upper frame 34 and the second canister is coupled to the lower frame 32. The canister(s) 44 can be substantially cylindrical, frustoconical in shape, or any suitable shape for containing medical waste. The canister 44 can be coupled to the lower frame 32, the upper frame 34, or a combination thereof. FIG. 1 shows an embodiment in which the first canister is coupled to the upper frame 34 and the second canister is coupled to the lower frame 32. The canister(s) 44 can be substantially cylindrical, frustoconical in shape, or any suitable shape for containing medical waste. The first canister is coupled to the upper frame 34 and the second canister is coupled to the lower frame 32. The canister(s) 44 can be substantially cylindrical, frustoconical in shape, or any suitable shape for containing medical waste. The canister(s) 44 can be substantially cylindrical, frustoconical in shape, or any suitable shape for containing medical waste. The canister 44 can be formed 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 configured to draw a suction force on the canister 44 to draw medical waste, such as liquid medical waste, into the canister 44 during a medical procedure. The suction pump 46 is configured to draw a suction force on the canister 44 to draw medical waste, such as liquid medical waste, into the canister 44 during a medical procedure. Depending on the form, the suction pump 46 is a rotary vane vacuum pump mounted on the base 22. The vacuum regulator 47 communicates with the suction pump 46 and is configured to regulate the level of vacuum drawn through the suction line. An exemplary vacuum regulator 47 mechanism suitable for the assembly 20 is disclosed in U.S. Patent No. 7,62 1,898, issued November 29, 2009, to the same owner. The entire content of the patent is hereby incorporated by reference as part of this specification.

[0013] During a surgical procedure, a user such as a surgeon, nurse, or operating room technician holds the end of the suction line 4 8, such as a flexible tube, near or on a portion of the patient 30 where medical waste is present. The suction pump 46 provides a suction force to move medical waste from the end of the suction line 48 through the suction line 48 into the waste collection unit 26. During some procedures, the end of the suction line 48 is connected to an end effector such as an endoscope, an electrosurgical tool, an ablation device, or any other type of surgical end effector or surgical tool. The suction pump 46 provides a suction force to move medical waste through both the end effector and the suction line 48 into the waste collection unit 26. The suction level is regulated by the vacuum regulator 47 and / or the power level supplied to the suction pump 46. For example, during a bone resection procedure, medical waste in the form of body fluids such as blood, skin tissue, muscle tissue, and connective tissue, as well as bone particles released during resection, is generated. Further, the area of the patient's body where the procedure is being performed is often perfused with saline to wash away body fluids, tissues, and particles from the area being resected. The suction pump 46 provides a suction force to move medical waste through both the end effector and the suction line 48 into the waste collection unit 26. The suction level is regulated by the vacuum regulator 47 and / or the power level supplied to the suction pump 46. For example, during a bone resection procedure, medical waste in the form of body fluids such as blood, skin tissue, muscle tissue, and connective tissue, as well as bone particles released during resection, is generated. Further, the area of the patient's body where the procedure is being performed is often perfused with saline to wash away body fluids, tissues, and particles from the area being resected. and particles from the area being resected. Often, the area of the patient's body where the procedure is being performed is perfused with saline to wash away body fluids, tissues, It is obtained. Medical waste includes physiological saline. The surgeon can use an excision tool for excising bone and can couple the end of the tool to the excision tool. As the excision tool cuts the bone, the medical waste can be suctioned into the canister 44 of the waste collection unit 26 through the suction line 48 coupled to the suction line 48 for disposal during or after the completion of the excision procedure. The assembly 20 can include a manifold receptacle 58 coupled to the canister 44 and an indicator 60 coupled to the base 22 and in communication with the controller 28. As the excision tool cuts the bone, the medical waste can be suctioned into the canister 44 of the waste collection unit 26 through the suction line 48 coupled to the suction line 48 for disposal during or after the completion of the excision procedure. The assembly 20 can include a manifold receptacle 58 coupled to the canister 44 and an indicator 60 coupled to the base 22 and in communication with the controller 28. It can be suctioned into the canister 44 of the waste collection unit 26 through the suction line 48 coupled to the suction line 48 for disposal during or after the completion of the excision procedure.

[0014] The assembly 20 can include a manifold receptacle 58 coupled to the canister 44 and an indicator 60 coupled to the base 22 and in communication with the controller 28. The manifold receptacle 58 is configured to receive a disposable manifold (not shown), such as that described in U.S. Patent No. 7,615,037, issued November 10, 2009, to the same owner. The entire content of the patent is hereby incorporated by reference to form a part of this specification. The disposable manifold guides medical waste from the patient 30 into the canister 44 through the suction line 48 during the medical procedure. The disposable manifold is disposed of between medical procedures, between uses on different patients, and / or before disposal of the medical waste at the disposal station 50. In some embodiments, the indicator 60 is configured to warn the user to remove and dispose of the disposable manifold before starting the described disposal protocol. The indicator 60 is also configured to warn the user about other warnings described. The indicator 60 can be, for example, an LED, a video screen, a label, or any visual, tactile, audible warning, or other suitable type of indicator. The manifold receptacle 58 is configured to receive a disposable manifold (not shown), such as that described in U.S. Patent No. 7,615,037, issued November 10, 2009, to the same owner. The entire content of the patent is hereby incorporated by reference to form a part of this specification. The disposable manifold guides medical waste from the patient 30 into the canister 44 through the suction line 48 during the medical procedure. The disposable manifold is disposed of between medical procedures, between uses on different patients, and / or before disposal of the medical waste at the disposal station 50. In some embodiments, the indicator 60 is configured to warn the user to remove and dispose of the disposable manifold before starting the described disposal protocol. The indicator 60 is also configured to warn the user about other warnings described. The indicator 60 can be, for example, an LED, a video screen, a label, or any visual, tactile, audible warning, or other suitable type of indicator. The manifold receptacle 58 is configured to receive a disposable manifold (not shown), such as that described in U.S. Patent No. 7,615,037, issued November 10, 2009, to the same owner. The entire content of the patent is hereby incorporated by reference to form a part of this specification. The disposable manifold guides medical waste from the patient 30 into the canister 44 through the suction line 48 during the medical procedure. The disposable manifold is disposed of between medical procedures, between uses on different patients, and / or before disposal of the medical waste at the disposal station 50. In some embodiments, the indicator 60 is configured to warn the user to remove and dispose of the disposable manifold before starting the described disposal protocol. The indicator 60 is also configured to warn the user about other warnings described. The indicator 60 can be, for example, an LED, a video screen, a label, or any visual, tactile, audible warning, or other suitable type of indicator. The entire content of the patent is hereby incorporated by reference to form a part of this specification. The disposable manifold guides medical waste from the patient 30 into the canister 44 through the suction line 48 during the medical procedure. The disposable manifold is disposed of between medical procedures, between uses on different patients, and / or before disposal of the medical waste at the disposal station 50. In some embodiments, the indicator 60 is configured to warn the user to remove and dispose of the disposable manifold before starting the described disposal protocol. The indicator 60 is also configured to warn the user about other warnings described. The indicator 60 can be, for example, an LED, a video screen, a label, or any visual, tactile, audible warning, or other suitable type of indicator. The disposable manifold guides medical waste from the patient 30 into the canister 44 through the suction line 48 during the medical procedure. The disposable manifold is disposed of between medical procedures, between uses on different patients, and / or before disposal of the medical waste at the disposal station 50. In some embodiments, the indicator 60 is configured to warn the user to remove and dispose of the disposable manifold before starting the described disposal protocol. The indicator 60 is also configured to warn the user about other warnings described. The indicator 60 can be, for example, an LED, a video screen, a label, or any visual, tactile, audible warning, or other suitable type of indicator. The disposable manifold guides medical waste from the patient 30 into the canister 44 through the suction line 48 during the medical procedure. The disposable manifold is disposed of between medical procedures, between uses on different patients, and / or before disposal of the medical waste at the disposal station 50. In some embodiments, the indicator 60 is configured to warn the user to remove and dispose of the disposable manifold before starting the described disposal protocol. The indicator 60 is also configured to warn the user about other warnings described. The indicator 60 can be, for example, an LED, a video screen, a label, or any visual, tactile, audible warning, or other suitable type of indicator. The disposable manifold is disposed of between medical procedures, between uses on different patients, and / or before disposal of the medical waste at the disposal station 50. In some embodiments, the indicator 60 is configured to warn the user to remove and dispose of the disposable manifold before starting the described disposal protocol. The indicator 60 is also configured to warn the user about other warnings described. The indicator 60 can be, for example, an LED, a video screen, a label, or any visual, tactile, audible warning, or other suitable type of indicator. In some embodiments, the indicator 60 is configured to warn the user to remove and dispose of the disposable manifold before starting the described disposal protocol. The indicator 60 is also configured to warn the user about other warnings described. The indicator 60 can be, for example, an LED, a video screen, a label, or any visual, tactile, audible warning, or other suitable type of indicator. In some embodiments, the indicator 60 is configured to warn the user to remove and dispose of the disposable manifold before starting the described disposal protocol. The indicator 60 is also configured to warn the user about other warnings described. The indicator 60 can be, for example, an LED, a video screen, a label, or any visual, tactile, audible warning, or other suitable type of indicator. The indicator 60 is also configured to warn the user about other warnings described. The indicator 60 can be, for example, an LED, a video screen, a label, or any visual, tactile, audible warning, or other suitable type of indicator. The indicator 60 is also configured to warn the user about other warnings described. The indicator 60 can be, for example, an LED, a video screen, a label, or any visual, tactile, audible warning, or other suitable type of indicator. The indicator 60 can be, for example, an LED, a video screen, a label, or any visual, tactile, audible warning, or other suitable type of indicator. The indicator 60 can be, for example, an LED, a video screen, a label, or any visual, tactile, audible warning, or other suitable type of indicator.

[0015] Assembly 20 includes a waste sensor 62 that communicates with a controller 28. The waste sensor 62 is configured to sense the amount of medical waste contained within the canister 44 The waste sensor 62 may, for example, have a sensor rod configured to extend through a canister 44 having a plurality of reflective elements and float elements disposed nearby to facilitate sensing the amount of medical waste. In embodiments where the assembly 20 includes a plurality of canisters 44, the amount of medical waste contained within each canister 44 can be measured by a separate waste sensor 62. The waste sensor 62 can include a waste sensor controller (not shown) configured to facilitate sensing the amount of medical waste. In some embodiments, the waste sensor 62 is configured to provide a waste level signal to the controller 28 when the amount of medical waste sensed by the waste sensor 62 exceeds a waste threshold level. In other embodiments, the waste sensor 62 is configured to provide a waste level signal to the controller 28 periodically or continuously. An indicator 60 can display an indication corresponding to the waste level signal, whereby a user can view the indicator 60 to know the amount of medical waste sensed by the waste sensor 62. The waste threshold level can be a medical waste level within the canister 44 that indicates that the canister 44 is full or nearly full and, thus, that disposal of the medical waste contained within the canister 44 is required before more medical waste can be collected. In some embodiments, the waste threshold level The level is stored in a memory component 58 in communication with the controller 28. The threshold level is, for example, 100% relative to the total volume of the canister 44 suitable for containing medical waste. 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. 1000ml of medical waste or 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. Additionally, thresholds configurable by hospital staff or users before, during, or after a medical procedure may be used. In some embodiments, the waste threshold level can be a threshold level based on the nature 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 large amounts of harmless saline solution. The 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 at a lower level 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 is adapted to collect and store medical waste during procedures where the medical waste is relatively hazardous or toxic. When used to collect waste, the waste threshold level is reduced to a lower volume 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 the staff, the risk of spillage of toxic medical waste from the canister 44 can be minimized. Similarly, the waste threshold level can be set higher or lower based on the viscosity of the medical waste, the temperature of the medical waste, or any other suitable characteristic of the medical waste or surgical procedure. The controller 28 can be configured to send a signal to the suction motor 46 to stop the suction and collection of medical waste when the waste threshold is reached or exceeded. In some embodiments, the waste sensor 62 is configured to send a raw waste level signal to the controller 28, and the controller 28 is configured to determine when the amount of medical waste reaches the threshold level. The raw waste level signal is an electrical signal indicating the amount of medical waste contained within the canister 44. The indicator 60 can display a label corresponding to the raw waste level signal, whereby the user can know the amount of medical waste sensed by the waste sensor 62 by looking at the indicator 60. The amount of medical waste can be measured based on volume, weight, or any other suitable measurement criterion. In some embodiments, the controller 28 is also configured to set the waste threshold level automatically or in response to user input. Assembly 20 includes an energy storage device 64 and an energy storage device sensor 66. The energy storage device 64 and the energy storage device sensor 66 are each in communication with the controller 28. The energy storage device 64 stores electrical power for the controller 28.

[0016] Assembly 20 includes an energy storage device 64 and an energy storage device sensor 66. The energy storage device 64 and the energy storage device sensor 66 are each in communication with the controller 28. The energy storage device 64 stores electrical power for the controller 28. La 28, the drive wheel 40, the suction pump 46, the vacuum regulator 47, and / or any other component of the assembly 20 that requires power to function configured to provide power to any other component of the assembly 20 that requires power to function . In some embodiments, the assembly 20 includes a plurality of energy storage devices 64, and each of the energy storage devices 64 provides power to one or more of the controller 28, the drive wheel 40, the suction pump 46, the vacuum regulator 47, and any other component of the assembly 20 that requires power to function. The controller 28 can transmit and regulate power to other components of the assembly 20 that require power to function. For example, the energy storage device 64 can supply power to the controller 28, and the controller 28 can transmit a portion of the power to the suction motor. The controller 28 can further regulate the function of the suction motor by adjusting the amount of energy supplied to the suction motor, thereby increasing or decreasing the suction force of the suction motor The energy storage device 64 can be a battery, a capacitor, or any other suitable device for storing power

[0017] The energy storage device sensor 66 is configured to sense the characteristics of the energy storage device 64. The characteristics of the energy storage device 64 can be the charge level, i.e., a measure of the electrical energy stored in the energy storage device 64. The characteristics of the energy storage device 64 can be the power level, i.e., a measure of the power supplied by the energy storage device 64. The energy storage device sensor ​​​​​​​​​​​​66 is configured to provide an energy storage device characteristic signal to the controller 28 The controller 28 is configured to initiate the charging protocol as described when the energy storage device characteristic falls below an energy storage device characteristic threshold. The energy storage device characteristic threshold can be configured, for example, to 5% or 20% of the maximum power capacity of the energy storage device 64. Additionally, the energy storage threshold can be configured according to the expected power usage. For example, a scheduled medical procedure that is expected to use a relatively large amount of power may require the assembly 20 to lower the energy storage threshold in order to allow for more power usage before the controller 28 uses the energy storage device to initiate charging or prompt the user to initiate the charging protocol. The energy storage threshold can be a preset threshold level configured during the fabrication and / or programming of the assembly 20. The energy storage threshold can alternatively or additionally be a threshold level configurable by hospital staff or the user before, during, or after a medical procedure. The energy storage device sensor 66 can include an energy storage controller (not shown) configured to facilitate sensing of the characteristics of the energy storage device. In some embodiments, the energy storage device sensor 66 is configured to provide an energy storage threshold signal to the controller 28 when the characteristics of the energy storage device 64 sensed by the energy storage device sensor 66 meet the energy storage device characteristic threshold. The energy storage device characteristic threshold is such that the energy storage device 64 is close to an uncharged state The energy storage device sensor 66 can include an energy storage controller (not shown) configured to facilitate sensing of the characteristics of the energy storage device. In some embodiments, the energy storage device sensor 66 is configured to provide an energy storage threshold signal to the controller 28 when the characteristics of the energy storage device 64 sensed by the energy storage device sensor 66 meet the energy storage device characteristic threshold. The energy storage device characteristic threshold is such that the energy storage device 64 is close to an uncharged state When the characteristics of the energy storage device 64 sensed by the energy storage device sensor 66 meet the energy storage device characteristic threshold, the energy storage device sensor 66 is configured to provide an energy storage threshold signal to the controller 28. The energy storage device characteristic threshold is such that the energy storage device 64 is close to an uncharged state Therefore, before more medical waste is collected, it is possible to indicate that power transmission to the energy storage device 64 is required. The power level stored within the energy storage device 64 can be such. According to embodiments, the energy storage device characteristic threshold is stored within the memory component 56. According to embodiments, the energy storage device sensor 66 is configured to transmit a raw energy storage device characteristic signal to the controller 28, and the controller 28 determines when the amount of power stored within the energy storage device 64, the charge state, the voltage, and / or other suitable electrical parameters reach a threshold level. The raw energy storage device characteristic signal is an electrical signal indicating the amount of power stored within the energy storage device 64 or some other indicator of the performance of the energy storage device. According to embodiments, the controller 28 is also configured to set the energy storage threshold automatically or in response to user input. as described above, the assembly 20 receives medical waste during a medical procedure, and the medical waste is stored within the canister 44. The canister 44 has a fixed volume, and the volume fills with medical waste during one or more medical procedures or afterwards. Therefore, the canister 44 needs to be emptied of medical waste during one or more medical procedures or afterwards in order to prepare to collect additional medical waste during a future medical procedure. Therefore, the assembly 20 is configured to execute a waste disposal protocol for autonomously disposing of the medical waste contained within the canister 44.

[0018] ​​​​​​​​​​​​​​​​​ Tocor autonomously navigates the assembly 20 to the disposal station 50 and establishes fluid communication between the disposal station 50 and the canister 44, and is a series of steps performed by the components of the assembly 20 to empty and clean the canister 44 at the disposal station through the fluid communication. Therefore, hospital staff do not need to interrupt their tasks to transport the assembly 20 to the disposal station 50 or to empty and clean the canister 44. The waste disposal protocol can include the additional steps described.

[0019] Furthermore, the assembly 20 is portable, and the electrical components of the assembly 20 are at least partially powered by the energy storage device 64, and therefore, the assembly 2 0 needs to be recharged with the power stored in the energy storage device 64 during or after one or more medical procedures to prepare to collect additional medical waste during future medical procedures. For example, the following components of the assembly 20, the controller 28, the drive wheels 40, the motor 42, the suction pump 46, the vacuum regulator 47, the memory component 56, the indicator 60, the waste sensor 62, and the user input device 68 may require power to function. In addition, some of the components of the assembly 20 described may require power to function. A finite amount of electrical power is stored in the energy storage device, and the electrical power is discharged during the use of the assembly, such as during the collection of waste during a medical procedure or during navigation to the disposal station. Therefore, the energy storage device 64 needs to be recharged.

[0020] The execution of the waste disposal protocol by the assembly 20 may include the assembly 20 receiving power. In addition, according to some of the described embodiments, the assembly 20 is configured to execute a charging protocol for autonomously receiving power while executing a waste disposal protocol for disposing of medical waste. According to some embodiments, the assembly 20 is configured to execute a charging protocol for autonomously receiving power separately from executing the waste disposal protocol. According to some embodiments, the controller 28 is configured to initiate the waste disposal protocol according to a signal received from the waste sensor 62. For example, the controller 28 can be configured to initiate the waste disposal protocol when the raw waste level signal indicates that the amount of medical waste contained within the canister 44 exceeds a waste threshold. Similarly, the controller 28 can be configured to initiate the waste disposal protocol when receiving the raw waste level signal and the energy storage device characteristic signal and comparing the raw waste level signal and the energy storage device characteristic signal with a waste level threshold and an energy storage threshold, respectively. The controller 28 can also be configured to initiate the charging protocol when, for example, receiving the energy storage device characteristic signal or comparing the energy storage device characteristic signal with an energy storage threshold. The controller 28 can be configured to initiate one of the waste disposal and charging protocols in response to receiving a user input signal on the user input device 68.

[0021] A user input device 68 is coupled to the base 22 and in communication with the controller 28. The user input device 68 may be, for example, a button, a switch, a toggle, a lever, A touchpad, a screen with touch controls, or a combination of both. In certain embodiments, the user input device 68 is carried by a 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 number of user input devices 68. In some embodiments, the user input devices 68 is remote from assembly 20 and configured to wirelessly communicate with controller 28. The user input device 68 is operable by the user to provide a user with a The input signal is configured to provide 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, sound a beep, or , by displaying a message, vibrating, or any other suitable indication to the user. The user can be alerted when a waste level threshold has been reached. When the assembly is assembled, or when another assembly 20 collects medical waste, the assembly Activating user input device 68 at the appropriate time, such as when available to replace 20 3 to empty and clean the canister 44, respectively. or to charge the energy storage device 64. In embodiments in which the assembly 20 includes multiple user input devices 68, the user input devices One of the vises 68 can provide a first user input signal to the controller 28, and the other of the user input devices 68 can provide a second user input signal to the controller 2 8. The controller 28 can be configured to start a waste disposal protocol in response to receiving the first user input signal and to start a charging protocol in response to receiving the second user input signal.

[0022] Referring to FIGS. 2 and 3, in some embodiments, the assembly 20 is part of a medical waste collection system 70. The medical waste collection system 70 includes a disposal station 50 configured to clean the canister 44, remove medical waste from the canister 44, thereby sanitizing and emptying the canister 44. The disposal station includes a cleaning circuit 76 configured to clean the canister 44 by pouring, for example, water, detergent, and / or soap into the canister 44. Specifically, the disposal station 50 is configured to create a closed environment between the canister 44 and the disposal station 50 to clean and empty the canister 44, thereby reducing the risk of harmful or toxic substances coming into contact with hospital staff or patients 30. The disposal station 50 is configured to empty the canister 44 by receiving medical waste from the canister 44 through a waste conduit 52. The waste conduit 52 creates a fluid connection with the assembly 20. The disposal station 50 is configured to introduce, via the waste conduit 52, water, soap, detergent, disinfectant, combinations thereof, or any other suitable cleaning or disinfecting substance into the canister 4 4. 44. ​​​​​​​​configured to wash the canister 44 of the assembly 20 by transferring it into the interior 4 The disposal station 50 can be located outside the operating room, such as in a corridor or closet of a medical facility Alternatively, the disposal station 50 can be located inside the operating room

[0023] Continuing to refer to FIGS. 2 and 3, the disposal station 50 can include a housing 72 and a coupler 74 As shown, the coupler 74 is coupled to the housing 72 The assembly 20 includes a mating coupler 78. The mating coupler 78 is coupled to the base 22 During the waste disposal protocol, the coupler 74 engages the mating coupler 78 and aligns the assembly 20 with the waste conduit 52 so that medical waste can be transferred from the canister 44 through the waste conduit 52 In some embodiments, the disposal station 50 includes a plurality of couplers 74 and the assembly 20 includes a plurality of mating couplers 78. FIG. 2 shows an embodiment of the system 70 including a plurality of couplers 74 and mating couplers 78, with the couplers 74 disposed above the waste conduit 52 and the mating couplers 78 disposed directly below the canister 44 of the assembly 20. When the coupler 74 and the mating coupler 78 are engaged, gravity facilitates the transfer of medical waste from the canister 44 to the disposal station 50 through the waste conduit 52 When the coupler 74 and the mating coupler 78 are engaged gravity facilitates the transfer of medical waste from the canister 44 to the disposal station 50 through the waste conduit 52 In some embodiments, the coupler 74 includes an engaging electromagnet and the mating coupler 78 includes a mating engaging electromagnet in communication with the controller 28. The engaging electromagnet and the mating engaging electromagnet are selectively powered to form an electromagnetic attraction between the coupler 74 and the mating coupler 78, thereby firmly coupling the coupler 74 and the mating coupler 78 ​​​​​​​​Assembly 20 and waste conduit 52 are configured to align with each other. In one preferred magnetic coupling is disclosed in U.S. Patent No. 7,6 21,898, issued November 29, 2009, to the same assignee as above. The entire content of that patent is hereby incorporated by reference as part of this specification. In other embodiments, coupler 74 and opposing coupler 78 may, instead or additionally, include a mechanical interlock mechanism, permanent magnets, or a combination thereof.

[0024] Assembly 20 is configured to autonomously dock with disposal station 50. To facilitate autonomous docking, in an exemplary embodiment, disposal station 50 includes marker 80, and assembly 20 includes marker sensor 82 in communication with controller 28 to facilitate alignment of coupler 74 and opposing coupler 78. As assembly 20 navigates towards disposal station 50, assembly 20 must orient opposing coupler 78 and align it with coupler 74 in order to execute the disposal protocol. Therefore, marker 80 can be placed near coupler 74, and marker sensor 82 can be placed near opposing coupler 78. Marker sensor 82 is configured to sense marker 80 and send a signal to controller 28 indicating the relative position of marker sensor 82 with respect to marker 80. Controller 28 is configured to send a signal to drive wheels 40 to adjust the orientation, azimuth, speed, or any other necessary characteristic of assembly 20 to bring marker sensor 82 closer to marker 80, thereby facilitating the coupling of coupler 74 and opposing coupler 78 for execution of the disposal 0 can 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 any other suitable marker sensor. The marker 80 can be disposed on the assembly 20, the marker sensor 82 can be disposed on the disposal station 50, and it is also contemplated that the controller 28 of the assembly 20 wirelessly communicates with the controller of the disposal station 50. According to some embodiments, the disposal station 50 includes a canister (not shown). The canister of the disposal station 50 is in fluid communication with a waste conduit 52 and is adapted to receive medical waste from the assembly 20. The canister of the disposal station 50 is in fluid communication with the waste collection unit 26 via the waste conduit 52 when the assembly 20 is coupled to the disposal station 50. In embodiments where the disposal station 50 includes a canister, the disposal station 50 can be substantially mobile. That is, the disposal station 50 can be moved between locations within the hospital without requiring changes to the hospital's infrastructure, such as changes to the plumbing system or electrical changes. In other embodiments, the disposal station 50 includes a drain pipe 84. The drain pipe 84 is adapted to receive medical waste from the assembly 20 and transfer the medical waste outside the disposal station 50, such as to the hospital's sewer line. Referring to FIG. 4, the system 70 includes a charging station 54. The charging station 54 can be separate from the disposal station 50 and facilitates charging of the energy storage device 64. The marker 80 can be arranged on the assembly 20, and the marker sensor 82 can be arranged on the disposal station 50. It is also contemplated that the controller 28 of the assembly 20 communicates wirelessly with the controller of the disposal station 50. The marker 80 can be arranged on the assembly 20, the marker sensor 82 can be arranged on the disposal station 50, and it is also contemplated that the controller 28 of the assembly 20 communicates wirelessly with the controller of the disposal station 50. It is also contemplated that the controller 28 of the assembly 20 communicates wirelessly with the controller of the disposal station 50.

[0025] In some embodiments, the disposal station 50 includes a canister (not shown). The canister of the disposal station 50 is in fluid communication with a waste conduit 52 and is adapted to receive medical waste from the assembly 20. The canister of the disposal station 50 is in fluid communication with a waste conduit 52 and is adapted to receive medical waste from the assembly 20. The canister of the disposal station 50 is adapted to receive medical waste from the assembly 20. When the assembly 20 is coupled to the disposal station 50, the canister of the disposal station 50 is in fluid communication with the waste collection unit 26 via the waste conduit 52. When the assembly 20 is coupled to the disposal station 50, the canister of the disposal station 50 is in fluid communication with the waste collection unit 26 via the waste conduit 52. In embodiments where the disposal station 50 includes a canister, the disposal station 50 can be substantially mobile. That is, the disposal station 50 can be moved between locations within the hospital without requiring changes to the hospital's infrastructure, such as changes to the plumbing system or electrical changes. The disposal station 50 can be moved between locations within the hospital without requiring changes to the hospital's infrastructure, such as changes to the plumbing system or electrical changes. In other embodiments, the disposal station 50 includes a drain pipe 84. The drain pipe 84 receives medical waste from the assembly 20 and is adapted to transfer the medical waste outside the disposal station 50, such as to the hospital's sewer line. The drain pipe 84 is adapted to transfer the medical waste outside the disposal station 50, such as to the hospital's sewer line.

[0026] Referring to FIG. 4, the system 70 includes a charging station 54. The charging station 54 can be separate from the disposal station 50 and facilitates charging of the energy storage device 64. It does so. The charging station 54 is electrically connected to a power source. The power source can be, for example, a power conditioner, an uninterruptible power supply, a power regulation system, a DC power system, or any other suitable type of power source. When the assembly 20 is coupled to the charging station 54, the charging station 54 is configured to transmit electrical energy from the power source to the energy storage device 64. The charging station 54 can be disposed in a corridor within a medical facility or outside an operating room. The charging station 54 can be disposed inside an operating room (see FIG. 7) or within any other suitable location. In some embodiments, the charging station 54 is disposed within one or more operating rooms of a medical facility or hospital. The assembly 20 can be configured to inductively receive power from the charging station 54 and charge the energy storage device 64 while the assembly 20 is being used to collect medical waste during a surgical procedure. cent, uninterruptible power supply, power regulation system, DC power system, or any other suitable type of power source. The charging station 54 is configured to transmit electrical energy from the power source to the energy storage device 64 when the assembly 20 is coupled to the charging station 54. The charging station 54 can be disposed in a corridor within a medical facility or outside an operating room. The charging station 54 is configured to transmit electrical energy from the power source to the energy storage device 64 when the assembly 20 is coupled to the charging station 54. The charging station 54 can be disposed in a corridor within a medical facility or outside an operating room. The charging station 54 can be disposed in a corridor within a medical facility or outside an operating room. The charging station 54 can be disposed inside an operating room (see FIG. 7) or within any other suitable location. In some embodiments, the charging station 54 is disposed within one or more operating rooms of a medical facility or hospital. The charging station 54 can be disposed in a corridor within a medical facility or outside an operating room. The charging station 54 can be disposed inside an operating room (see FIG. 7) or within any other suitable location. In some embodiments, the charging station 54 is disposed within one or more operating rooms of a medical facility or hospital. The charging station 54 can be disposed inside an operating room (see FIG. 7) or within any other suitable location. In some embodiments, the charging station 54 is disposed within one or more operating rooms of a medical facility or hospital. The charging station 54 can be disposed inside an operating room (see FIG. 7) or within any other suitable location. In some embodiments, the charging station 54 is disposed within one or more operating rooms of a medical facility or hospital. The charging station 54 can be disposed inside an operating room (see FIG. 7) or within any other suitable location. In some embodiments, the charging station 54 is disposed within one or more operating rooms of a medical facility or hospital. The charging station 54 can be disposed inside an operating room (see FIG. 7) or within any other suitable location. In some embodiments, the charging station 54 is disposed within one or more operating rooms of a medical facility or hospital. The charging station 54 can be disposed inside an operating room (see FIG. 7) or within any other suitable location. In some embodiments, the charging station 54 is disposed within one or more operating rooms of a medical facility or hospital.

[0027] The charging station 54 includes a housing and a coupler 75. The coupler 75 is coupled to the housing of the charging station 54. In some embodiments, during a charging protocol, the coupler 75 of the charging station 54 couples with the charging coupler 79 of the assembly 20 to align the assembly 20 with the charging station 54 so that the assembly 20 can receive power from the charging station 54. The coupler of the charging station 54 is substantially similar to the coupler 78 of the disposal station 50. The charging coupler 79 is configured as a circuit mechanism that enables electrical communication between the energy storage device 64 and the charging station 54. The coupler 75 is coupled to the housing of the charging station 54. In some embodiments, during a charging protocol, the coupler 75 of the charging station 54 couples with the charging coupler 79 of the assembly 20 to align the assembly 20 with the charging station 54 so that the assembly 20 can receive power from the charging station 54. The coupler 75 is coupled to the housing of the charging station 54. In some embodiments, during a charging protocol, the coupler 75 of the charging station 54 couples with the charging coupler 79 of the assembly 20 to align the assembly 20 with the charging station 54 so that the assembly 20 can receive power from the charging station 54. The coupler 75 is coupled to the housing of the charging station 54. In some embodiments, during a charging protocol, the coupler 75 of the charging station 54 couples with the charging coupler 79 of the assembly 20 to align the assembly 20 with the charging station 54 so that the assembly 20 can receive power from the charging station 54. The coupler 75 is coupled to the housing of the charging station 54. In some embodiments, during a charging protocol, the coupler 75 of the charging station 54 couples with the charging coupler 79 of the assembly 20 to align the assembly 20 with the charging station 54 so that the assembly 20 can receive power from the charging station 54. The coupler 75 is coupled to the housing of the charging station 54. In some embodiments, during a charging protocol, the coupler 75 of the charging station 54 couples with the charging coupler 79 of the assembly 20 to align the assembly 20 with the charging station 54 so that the assembly 20 can receive power from the charging station 54. The coupler 75 is coupled to the housing of the charging station 54. In some embodiments, during a charging protocol, the coupler 75 of the charging station 54 couples with the charging coupler 79 of the assembly 20 to align the assembly 20 with the charging station 54 so that the assembly 20 can receive power from the charging station 54. It may include a structure. The charging station 54 is configured to transmit power to the energy storage device 64 via the coupler 75 and the charging coupler 79 of the charging station. The charging coupler 79 is configured to receive electrical energy from the charging station 54 and is detachably coupled to the coupler 75 of the charging station 54 to charge the energy storage device 64. For example, the couplers 75 and 79 may be mechanically engaged (e.g., a plug) to provide an electrical connection between the charging station 54 and the assembly 20. In another example, the charging station 54 includes an induction pad that forms a coupler, and the induction pad is configured to wirelessly transmit electrical energy from a power source to the energy storage device 64. In some embodiments, the disposal protocol complements the charging protocol. In other words, when the disposal protocol is initiated, the assembly 20 performs both disposing of medical waste and charging the energy storage device 64. Referring to FIG. 5, the disposal station 50 promotes disposing of medical waste, cleaning the canister 44, and charging the energy storage device 64. In an exemplary embodiment, the disposal station 50 is in electrical communication with a power source. The disposal station 50 is configured to transmit electrical energy from the power source to the energy storage device 64 when the assembly 20 is coupled to the disposal station 50. During the waste disposal protocol, the coupler of the charging station 54 couples with the charging coupler 79 to provide a connection between the assembly 20 and the charging station 54. The power source may be, for example, an electrical outlet, an uninterruptible power supply, a power conditioner, or a battery. In some embodiments, the disposal protocol complements the charging protocol. That is, when the disposal protocol is initiated, the assembly 20 performs both disposing of medical waste and charging the energy storage device 64. Referring to FIG. 5, the disposal station 50 promotes disposing of medical waste, cleaning the canister 44, and charging the energy storage device 64 while the canister 44 is being cleaned. In an exemplary embodiment, the disposal station 50 is in electrical communication with a power source. The disposal station 50 is configured to transmit electrical energy from the power source to the energy storage device 64 when the assembly 20 is coupled to the disposal station 50. During the waste disposal protocol, the coupler of the charging station 54 couples with the charging coupler 79 to provide a connection between the assembly 20 and the charging station 54. The power source may be, for example, an electrical outlet, an uninterruptible power supply, a power conditioner, or a battery. In some embodiments, the disposal protocol complements the charging protocol. That is, when the disposal protocol is initiated, the assembly 20 performs both disposing of medical waste and charging the energy storage device 64. Referring to FIG. 5, the disposal station 50 promotes disposing of medical waste, cleaning the canister 44, and charging the energy storage device 64 while the canister 44 is being cleaned. In an exemplary embodiment, the disposal station 50 is in electrical communication with a power source. The disposal station 50 is configured to transmit electrical energy from the power source to the energy storage device 64 when the assembly 20 is coupled to the disposal station 50. During the waste disposal protocol, the coupler of the charging station 54 couples with the charging coupler 79 to provide a connection between the assembly 20 and the charging station 54. The power source may be, for example, an electrical outlet, an uninterruptible power supply, a power conditioner, or a battery.

[0028] In some embodiments, the disposal protocol complements the charging protocol. That is, when the disposal protocol is initiated, the assembly 20 performs both disposing of medical waste and charging the energy storage device 64. Referring to FIG. 5, the disposal station 50 promotes disposing of medical waste, cleaning the canister 44, and charging the energy storage device 64 while the canister 44 is being cleaned. In an exemplary embodiment, the disposal station 50 is in electrical communication with a power source. The disposal station 50 is configured to transmit electrical energy from the power source to the energy storage device 64 when the assembly 20 is coupled to the disposal station 50. During the waste disposal protocol, the coupler of the charging station 54 couples with the charging coupler 79 to provide a connection between the assembly 20 and the charging station 54. The power source may be, for example, an electrical outlet, an uninterruptible power supply, a power conditioner, or a battery. In some embodiments, the disposal protocol complements the charging protocol. That is, when the disposal protocol is initiated, the assembly 20 performs both disposing of medical waste and charging the energy storage device 64. Referring to FIG. 5, the disposal station 50 promotes disposing of medical waste, cleaning the canister 44, and charging the energy storage device 64 while the canister 44 is being cleaned. In an exemplary embodiment, the disposal station 50 is in electrical communication with a power source. The disposal station 50 is configured to transmit electrical energy from the power source to the energy storage device 64 when the assembly 20 is coupled to the disposal station 50. During the waste disposal protocol, the coupler of the charging station 54 couples with the charging coupler 79 to provide a connection between the assembly 20 and the charging station 54. The power source may be, for example, an electrical outlet, an uninterruptible power supply, a power conditioner, or a battery. In some embodiments, the disposal protocol complements the charging protocol. That is, when the disposal protocol is initiated, the assembly 20 performs both disposing of medical waste and charging the energy storage device 64. Referring to FIG. 5, the disposal station 50 promotes disposing of medical waste, cleaning the canister 44, and charging the energy storage device 64 while the canister 44 is being cleaned. In an exemplary embodiment, the disposal station 50 is in electrical communication with a power source. The disposal station 50 is configured to transmit electrical energy from the power source to the energy storage device 64 when the assembly 20 is coupled to the disposal station 50. During the waste disposal protocol, the coupler of the charging station 54 couples with the charging coupler 79 to provide a connection between the assembly 20 and the charging station 54. The power source may be, for example, an electrical outlet, an uninterruptible power supply, a power conditioner, or a battery. In some embodiments, the disposal protocol complements the charging protocol. That is, when the disposal protocol is initiated, the assembly 20 performs both disposing of medical waste and charging the energy storage device 64. Referring to FIG. 5, the disposal station 50 promotes disposing of medical waste, cleaning the canister 44, and charging the energy storage device 64 while the canister 44 is being cleaned. In an exemplary embodiment, the disposal station 50 is in electrical communication with a power source. The disposal station 50 is configured to transmit electrical energy from the power source to the energy storage device 64 when the assembly 20 is coupled to the disposal station 50. During the waste disposal protocol, the coupler of the charging station 54 couples with the charging coupler 79 to provide a connection between the assembly 20 and the charging station 54. The power source may be, for example, an electrical outlet, an uninterruptible power supply, a power conditioner, or a battery. During the waste disposal protocol, the coupler of the charging station 54 couples with the charging coupler 79 to provide a connection between the assembly 20 and the charging station 54. The power source may be, for example, an electrical outlet, an uninterruptible power supply, a power conditioner, or a battery. It can be a stem, a DC power system, or any other suitable type of power source. The electrically integrated disposal station 50 is configured to transmit electrical energy from the power source to the energy storage device 64 when the assembly 20 is coupled to the charging station 54. In some embodiments, the disposal station 50 is configured to inductively transmit power to the assembly 20 to charge the energy storage device 64. For the reasons described above (e.g., waste threshold signal, user input), when starting the waste disposal protocol, the controller 28 sends several signals to the components of the assembly 20, and the assembly 20 executes the waste disposal protocol according to the signals, thereby automatically emptying and cleaning the canister 44 of the waste collection unit 26 at the disposal station 50. In some embodiments, it is configured to automatically charge the energy storage device 64 at the disposal station 50 and / or the charging station 54. Without limitation, the controller 28 is configured to send a waste disposal movement signal to the motor 42 connected to the drive wheels 40. When the drive wheels 40 receive the waste disposal movement signal, they automatically move the assembly 20 away from the patient 30. After moving away from the patient 30, the drive wheels 40 automatically navigate the assembly 20 to the disposal station 50. The controller 28 may be configured to send an indicator signal to the indicator 60 at the start of the waste disposal protocol. When receiving the indicator signal, the indicator 6

[0029] When starting the waste disposal protocol for the reasons described above (e.g., waste threshold signal, user input), the controller 28 sends several signals to the components of the assembly 20, and the assembly 20 executes the waste disposal protocol according to the signals, thereby automatically emptying and cleaning the canister 44 of the waste collection unit 26 at the disposal station 50. In some embodiments, it is configured to automatically charge the energy storage device 64 at the disposal station 50 and / or the charging station 54. Without limitation, the controller 28 is configured to send a waste disposal movement signal to the motor 42 connected to the drive wheels 40. When the drive wheels 40 receive the waste disposal movement signal, they automatically move the assembly 20 away from the patient 30. After moving away from the patient 30, the drive wheels 40 automatically navigate the assembly 20 to the disposal station 50. The controller 28 may be configured to send an indicator signal to the indicator 60 at the start of the waste disposal protocol. When receiving the indicator signal, the indicator 6 When starting the waste disposal protocol for the reasons described above (e.g., waste threshold signal, user input), the controller 28 sends several signals to the components of the assembly 20, and the assembly 20 executes the waste disposal protocol according to the signals, thereby automatically emptying and cleaning the canister 44 of the waste collection unit 26 at the disposal station 50. In some embodiments, it is configured to automatically charge the energy storage device 64 at the disposal station 50 and / or the charging station 54. Without limitation, the controller 28 is configured to send a waste disposal movement signal to the motor 42 connected to the drive wheels 40. When the drive wheels 40 receive the waste disposal movement signal, they automatically move the assembly 20 away from the patient 30. After moving away from the patient 30, the drive wheels 40 automatically navigate the assembly 20 to the disposal station 50. The controller 28 may be configured to send an indicator signal to the indicator 60 at the start of the waste disposal protocol. When receiving the indicator signal, the indicator 6 When starting the waste disposal protocol for the reasons described above (e.g., waste threshold signal, user input), the controller 28 sends several signals to the components of the assembly 20, and the assembly 20 executes the waste disposal protocol according to the signals, thereby automatically emptying and cleaning the canister 44 of the waste collection unit 26 at the disposal station 50. In some embodiments, it is configured to automatically charge the energy storage device 64 at the disposal station 50 and / or the charging station 54. Without limitation, the controller 28 is configured to send a waste disposal movement signal to the motor 42 connected to the drive wheels 40. When the drive wheels 40 receive the waste disposal movement signal, they automatically move the assembly 20 away from the patient 30. After moving away from the patient 30, the drive wheels 40 automatically navigate the assembly 20 to the disposal station 50.

[0030] The controller 28 may be configured to send an indicator signal to the indicator 60 at the start of the waste disposal protocol. When receiving the indicator signal, the indicator 6 0 indicates the start of the waste disposal protocol.​​​ Upon receiving the manifold signal, 0 is configured to prompt the user to remove the disposable manifold from the manifold receiver 58 and dispose of the disposable manifold. Assembly 20 communicates with controller 28 and can include a manifold sensor disposed near the manifold receiver 58. The manifold sensor is configured to detect whether the disposable manifold is in contact with the manifold receiver 58. Controller 28 is configured to send the manifold signal to indicator 60 only when the manifold sensor detects that the disposable manifold is in contact with the manifold receiver 58. Controller 28 is configured to send a waste disposal movement signal after the disposable manifold has been removed and disposed of. Controller 28 may be further configured to prevent the start of the waste disposal protocol during a medical procedure. More specifically, controller 28 is configured to prevent the start of the waste disposal protocol to

[0031] prevent assembly 20 from moving away from patient 30 during use of the end effector, suction conduit 48, or other instruments connected to assembly 20, which could interrupt the surgical procedure. Preventing the waste disposal protocol also prevents assembly 20 from breaking the sterile field when moving away from patient 30, thereby preserving sterility and safety during the medical procedure. For example, otherwise, a waste level signal to the waste disposal protocol to prevent assembly 20 from moving away from patient 30. Preventing the waste disposal protocol also prevents assembly 20 from breaking the sterile field when moving away from patient 30, thereby preserving sterility and safety during the medical procedure. For example, otherwise, a waste level signal to the waste In response to receiving from the sensor 62, or in response to determining that the amount of medical waste has reached a threshold level, if the waste disposal protocol is to be initiated, the controller 28 may delay providing a waste disposal signal until after the surgical procedure. In other words, the controller 28 is configured to prevent or delay the initiation of the waste disposal protocol during the medical procedure, unless the waste disposal protocol is initiated as a result of user input. For example, the controller 28 may be configured to delay providing a waste disposal signal while the suction pump 46 is actively suctioning waste. According to some embodiments, the user may be able to disable the prevention of the initiation of the waste disposal protocol by actuating a user input device. Similar to the waste disposal protocol, the controller 28 may be configured to prevent the initiation of a charging protocol during the medical procedure, for example, if the controller 28 receives an energy storage device characteristic signal from the waste sensor 62 during the medical procedure. Among other advantages, the controller 28 prevents the assembly 20 from moving away from the patient 30 while the end effector, the suction line 48, or other instruments connected to the assembly 20 are in use and / or to avoid breaking the sterile field. According to some embodiments, the user may be able to disable the prevention of the initiation of the charging protocol by actuating a user input device. For example, it may be desirable to supply power to the assembly 20 during the medical procedure while the initiation of the charging protocol is still prevented. In response to receiving from the sensor 62, or in response to determining that the amount of medical waste has reached a threshold level, if the waste disposal protocol is to be initiated, the controller 28 may delay providing a waste disposal signal until after the surgical procedure. In other words, the controller 28 is configured to prevent or delay the initiation of the waste disposal protocol during the medical procedure, unless the waste disposal protocol is initiated as a result of user input. For example, the controller 28 may be configured to delay providing a waste disposal signal while the suction pump 46 is actively suctioning waste. In response to receiving from the sensor 62, or in response to determining that the amount of medical waste has reached a threshold level, if the waste disposal protocol is to be initiated, the controller 28 may delay providing a waste disposal signal until after the surgical procedure. In other words, the controller 28 is configured to prevent or delay the initiation of the waste disposal protocol during the medical procedure, unless the waste disposal protocol is initiated as a result of user input. For example, the controller 28 may be configured to delay providing a waste disposal signal while the suction pump 46 is actively suctioning waste. In response to receiving from the sensor 62, or in response to determining that the amount of medical waste has reached a threshold level, if the waste disposal protocol is to be initiated, the controller 28 may delay providing a waste disposal signal until after the surgical procedure. In other words, the controller 28 is configured to prevent or delay the initiation of the waste disposal protocol during the medical procedure, unless the waste disposal protocol is initiated as a result of user input. For example, the controller 28 may be configured to delay providing a waste disposal signal while the suction pump 46 is actively suctioning waste. In response to receiving from the sensor 62, or in response to determining that the amount of medical waste has reached a threshold level, if the waste disposal protocol is to be initiated, the controller 28 may delay providing a waste disposal signal until after the surgical procedure. In other words, the controller 28 is configured to prevent or delay the initiation of the waste disposal protocol during the medical procedure, unless the waste disposal protocol is initiated as a result of user input. For example, the controller 28 may be configured to delay providing a waste disposal signal while the suction pump 46 is actively suctioning waste. According to some embodiments, the user may be able to disable the prevention of the initiation of the waste disposal protocol by actuating a user input device. In response to receiving from the sensor 62, or in response to determining that the amount of medical waste has reached a threshold level, if the waste disposal protocol is to be initiated, the controller 28 may delay providing a waste disposal signal until after the surgical procedure. In other words, the controller 28 is configured to prevent or delay the initiation of the waste disposal protocol during the medical procedure, unless the waste disposal protocol is initiated as a result of user input. For example, the controller 28 may be configured to delay providing a waste disposal signal while the suction pump 46 is actively suctioning waste.

[0032] Similar to the waste disposal protocol, the controller 28 may be configured to prevent the initiation of a charging protocol during the medical procedure, for example, if the controller 28 receives an energy storage device characteristic signal from the waste sensor 62 during the medical procedure. Among other advantages, the controller 28 prevents the assembly 20 from moving away from the patient 30 while the end effector, the suction line 48, or other instruments connected to the assembly 20 are in use and / or to avoid breaking the sterile field. According to some embodiments, the user may be able to disable the prevention of the initiation of the charging protocol by actuating a user input device. For example, it may be desirable to supply power to the assembly 20 during the medical procedure while the initiation of the charging protocol is still prevented. Similar to the waste disposal protocol, the controller 28 may be configured to prevent the initiation of a charging protocol during the medical procedure, for example, if the controller 28 receives an energy storage device characteristic signal from the waste sensor 62 during the medical procedure. Among other advantages, the controller 28 prevents the assembly 20 from moving away from the patient 30 while the end effector, the suction line 48, or other instruments connected to the assembly 20 are in use and / or to avoid breaking the sterile field. According to some embodiments, the user may be able to disable the prevention of the initiation of the charging protocol by actuating a user input device. For example, it may be desirable to supply power to the assembly 20 during the medical procedure while the initiation of the charging protocol is still prevented. Similar to the waste disposal protocol, the controller 28 may be configured to prevent the initiation of a charging protocol during the medical procedure, for example, if the controller 28 receives an energy storage device characteristic signal from the waste sensor 62 during the medical procedure. Among other advantages, the controller 28 prevents the assembly 20 from moving away from the patient 30 while the end effector, the suction line 48, or other instruments connected to the assembly 20 are in use and / or to avoid breaking the sterile field. According to some embodiments, the user may be able to disable the prevention of the initiation of the charging protocol by actuating a user input device. For example, it may be desirable to supply power to the assembly 20 during the medical procedure while the initiation of the charging protocol is still prevented. Similar to the waste disposal protocol, the controller 28 may be configured to prevent the initiation of a charging protocol during the medical procedure, for example, if the controller 28 receives an energy storage device characteristic signal from the waste sensor 62 during the medical procedure. Among other advantages, the controller 28 prevents the assembly 20 from moving away from the patient 30 while the end effector, the suction line 48, or other instruments connected to the assembly 20 are in use and / or to avoid breaking the sterile field. According to some embodiments, the user may be able to disable the prevention of the initiation of the charging protocol by actuating a user input device. For example, it may be desirable to supply power to the assembly 20 during the medical procedure while the initiation of the charging protocol is still prevented. Similar to the waste disposal protocol, the controller 28 may be configured to prevent the initiation of a charging protocol during the medical procedure, for example, if the controller 28 receives an energy storage device characteristic signal from the waste sensor 62 during the medical procedure. Among other advantages, the controller 28 prevents the assembly 20 from moving away from the patient 30 while the end effector, the suction line 48, or other instruments connected to the assembly 20 are in use and / or to avoid breaking the sterile field. According to some embodiments, the user may be able to disable the prevention of the initiation of the charging protocol by actuating a user input device. For example, it may be desirable to supply power to the assembly 20 during the medical procedure while the initiation of the charging protocol is still prevented. Similar to the waste disposal protocol, the controller 28 may be configured to prevent the initiation of a charging protocol during the medical procedure, for example, if the controller 28 receives an energy storage device characteristic signal from the waste sensor 62 during the medical procedure. Among other advantages, the controller 28 prevents the assembly 20 from moving away from the patient 30 while the end effector, the suction line 48, or other instruments connected to the assembly 20 are in use and / or to avoid breaking the sterile field. According to some embodiments, the user may be able to disable the prevention of the initiation of the charging protocol by actuating a user input device. For example, it may be desirable to supply power to the assembly 20 during the medical procedure while the initiation of the charging protocol is still prevented. Similar to the waste disposal protocol, the controller 28 may be configured to prevent the initiation of a charging protocol during the medical procedure, for example, if the controller 28 receives an energy storage device characteristic signal from the waste sensor 62 during the medical procedure. Among other advantages, the controller 28 prevents the assembly 20 from moving away from the patient 30 while the end effector, the suction line 48, or other instruments connected to the assembly 20 are in use and / or to avoid breaking the sterile field. According to some embodiments, the user may be able to disable the prevention of the initiation of the charging protocol by actuating a user input device. For example, it may be desirable to supply power to the assembly 20 during the medical procedure while the initiation of the charging protocol is still prevented. Similar to the waste disposal protocol, the controller 28 may be configured to prevent the initiation of a charging protocol during the medical procedure, for example, if the controller 28 receives an energy storage device characteristic signal from the waste sensor 62 during the medical procedure. Among other advantages, the controller 28 prevents the assembly 20 from moving away from the patient 30 while the end effector, the suction line 48, or other instruments connected to the assembly 20 are in use and / or to avoid breaking the sterile field. According to some embodiments, the user may be able to disable the prevention of the initiation of the charging protocol by actuating a user input device. For example, it may be desirable to supply power to the assembly 20 during the medical procedure while the initiation of the charging protocol is still prevented. Similar to the waste disposal protocol, the controller 28 may be configured to prevent the initiation of a charging protocol during the medical procedure, for example, if the controller 28 receives an energy storage device characteristic signal from the waste sensor 62 during the medical procedure. Among other advantages, the controller 28 prevents the assembly 20 from moving away from the patient 30 while the end effector, the suction line 48, or other instruments connected to the assembly 20 are in use and / or to avoid breaking the sterile field. According to some embodiments, the user may be able to disable the prevention of the initiation of the charging protocol by actuating a user input device. For example, it may be desirable to supply power to the assembly 20 during the medical procedure while the initiation of the charging protocol is still prevented. or may be required. For example, if the energy storage characteristics become unnecessarily low for the remaining predicted time of the medical procedure (and the corresponding energy consumption of the assembly 20), it may be necessary to supply power to the assembly 20, especially to avoid an accidental loss of suction from the suction pump 46 among the functions of the assembly 20. Thus, in some embodiments, the assembly 20 includes an energy supply device (not shown) configured to receive power from an energy source and supply the power to the assembly 20. For example, the energy supply device can be a cord extending from any suitable structure of the assembly 20, such as the lower frame 32, the upper frame 34, or the vertical chassis 36. The base 22 can have any suitable shape. The plug at the end of the cord is configured to couple with a station, such as a charging station 54, and / or an outlet associated with the wall of a medical facility. Additionally, or alternatively, the energy storage device 64 can be replaceable with another energy storage device 64. In one example, the energy storage device 64 is an external battery (e.g., a lithium-ion battery) capable of being detached from the rest of the assembly 20. The complementary contact between the battery and the battery receptacle is disengaged, the replacement battery is placed within the battery receptacle, and the corresponding contacts are engaged to supply power to the assembly 20. In such situations where the energy supply device and / or the replaceable energy storage device 64 is utilized, the controller 28 can be configured to provide a notification, e.g., to the hub controller 96. In the manner described, the hub controller 96 can Poll each of the controllers 28 to receive information regarding the amount of energy within each of the energy storage devices 64. Next, the hub controller 96 can select one of the additional assemblies to navigate to the station necessary to rescue the assembly 20 that is reported to have degraded energy storage characteristics. Further, the controller 28 may also provide a notification to the user.

[0033] The memory component 56 is configured to store a disposal schedule for scheduling the start of a waste disposal protocol. The time for scheduling the start of the waste disposal protocol includes, for example, the end of the scheduled surgery time for the operating wing of a hospital, or the time before the scheduled surgery time for the operating wing of a hospital. The controller 28 of the disposal station 50 is configured to start the waste disposal protocol as scheduled according to the disposal schedule. For example, a hospital may have an operating wing with several operating rooms staffed for surgeries scheduled from 9:00 am to 5:00 pm. The disposal schedule can include the start of the waste disposal protocol scheduled at 8:00 am and 5:30 pm to conveniently avoid conflicts with the scheduled medical procedures, and cause the assembly 20 to automatically empty and clean the canister 44 of the assembly 20 and / or recharge the energy storage device 64. Any other suitable time for the start of the waste disposal protocol, such as during the intervals between the scheduled medical procedures, can be included in the disposal schedule. ​​​​​​​​​​​​​​​​It can be jouled. The controller 28 can be configured to start the waste disposal protocol without user input activation if the waste disposal protocol starts during the scheduled time according to the disposal schedule. According to some embodiments, the joule corresponds to a hospital network system such as a surgical scheduling system, a staff scheduling system, a resource management system, an electronic medical record (EMR), a combination thereof, or any other suitable hospital network system. The disposal schedule can be stored at other memory locations other than the memory component 56. The EMR is a computer-based system for storing and transferring hospital data such as patient data, resource data, device data, and other types of data related to the operation of the hospital. The scheduled surgical procedure is stored in the EMR and can be transferred from the EMR to the memory component 56 of the assembly 20 via the hospital network. The disposal schedule can be configured to correspond to the scheduled surgical procedure by scheduling it to start before the scheduled surgical procedure starts, after the scheduled surgical procedure ends, during the intervals between surgical procedures, or a combination thereof. Therefore, the memory component can be dynamically linked to the EMR so that when a new procedure is scheduled, the controller 28 can charge and / or appropriately start the disposal protocol. Thus, if it starts during the time scheduled according to the schedule, the waste disposal protocol can be started without activation of user input. According to some embodiments, the disposal schedule The joule corresponds to a hospital network system such as a surgical scheduling system, a staff scheduling system, a resource management system, an electronic medical record (EMR), a combination thereof, or any other suitable hospital network system. The disposal schedule can be stored at other memory locations other than the memory component 56. The EMR is a computer-based system for storing and transferring hospital data such as patient data, resource data, device data, and other types of data related to the operation of the hospital. The scheduled surgical procedure is stored in the EMR and can be transferred from the EMR to the memory component 56 of the assembly 20 via the hospital network. The disposal schedule can be configured to correspond to the scheduled surgical procedure by scheduling it to start before the scheduled surgical procedure starts, after the scheduled surgical procedure ends, during the intervals between surgical procedures, or a combination thereof. Therefore, the memory component can be dynamically linked to the EMR so that when a new procedure is scheduled, the controller 28 can charge and / or appropriately start the disposal protocol. The memory component 56 is configured to store a charging schedule. The charging schedule The scheduled surgical procedure is stored in the EMR and can be transferred from the EMR to the memory component 56 of the assembly 20 via the hospital network. The disposal schedule can be configured to correspond to the scheduled surgical procedure by scheduling it to start before the scheduled surgical procedure starts, after the scheduled surgical procedure ends, during the intervals between surgical procedures, or a combination thereof. Before the scheduled surgical procedure starts, after the scheduled surgical procedure ends, during the intervals between surgical procedures, or a combination thereof. It can be scheduled to start, etc., so as to correspond to the scheduled surgical procedure. Therefore, the memory component can be dynamically linked to the EMR so that when a new procedure is scheduled, the controller 28 can charge and / or appropriately start the disposal protocol. and / or appropriately start the disposal protocol. .

[0034] The memory component 56 is configured to store a charging schedule. The charging schedule The module contains one or more times to initiate a 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 may be determined based on the end of the medical procedure. For example, in some embodiments, the charging schedule may correspond to medical The facility can accommodate the medical procedure schedule of its operating theatre, which can be The charging schedule includes a start time and expected end time for each of the medical procedures. The Tractor 28 initiates a charging protocol at the appropriate time between medical procedures, The energy storage device 64 can be sufficiently charged as needed for a medical procedure. In other embodiments, the charging schedule can 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 OR and includes: 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 procedure. It must 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 refilled the night before or after the end of the day for the surgical ward. etc. need to be emptied and cleaned more thoroughly. Therefore, in some embodiments , the waste disposal protocol includes multiple disposal modes. Each of the disposal modes involves a different amount of time during which the assembly 2 0 and the disposal station 50 are coupled while removing medical waste from the waste collection unit 26 . The controller 28 can be configured to automatically select one of the disposal modes . The controller 28 can select one of the disposal modes based on 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 type of medical procedure for which the assembly was used, the type of medical waste inside the container, the length of time the medical waste was stored in the canister 44, or a combination thereof . As a non-limiting example, the waste disposal protocol can include a rapid docking mode, a normal docking mode, and a long-term docking mode. When the controller 28 initiates the waste disposal protocol using the rapid docking mode, the assembly 20 can be configured to couple to the disposal station 50 for approximately 5 minutes . The rapid docking mode is suitable for emptying and cleaning the canister 44 of the assembly during or between medical procedures . When the controller 28 initiates the waste disposal protocol using the normal docking mode , the assembly 20 can be configured to couple to the docking station for approximately 30 minutes, thereby more effectively emptying and cleaning the canister 4 4 of the assembly than in the rapid docking mode . The normal docking mode is suitable for times such as morning or night, during which medical procedures are not being performed . When the controller 28 initiates the waste disposal protocol using the long-term docking mode , the assembly 20 can be configured to couple to the docking station for approximately 60 minutes, thereby most effectively emptying and cleaning the canister 44 of the assembly . The long-term docking mode is suitable for times when the assembly has been used intensively or for a long period of time . The long-term docking mode can be used, for example, at the end of a day or week of medical procedures It is suitable for emptying and cleaning the assembly's canister 44 one day before or after the scheduled day. When the controller 28 starts the waste disposal process using the long-term docking mode, the assembly 20 can be configured to couple to the disposal station 50 for approximately 2 hours, thereby effectively emptying and cleaning the assembly's canister 44 more effectively than the rapid or normal docking mode. The long-term docking mode is suitable for periodically emptying and cleaning the assembly's canister 44, such as once a week, once every two weeks, once a month, once a quarter, or once every six months. The specific times specified above for each mode are merely illustrative, and any duration of time for each mode is contemplated by the present disclosure. According to some embodiments, the disposal mode may also involve different types or amounts of disinfectants or detergents to be used by the disposal station 50 to clean the assembly's canister 44 during the waste disposal protocol. The controller can automatically select the amount and / or type of disinfectant or detergent based on the type of medical waste collected or the type of procedure for which the assembly was used. For example, some medical procedures collect a large amount of blood, while other medical procedures collect a large amount of saline. The controller 28 can use sensors to determine the type and / or amount of medical waste and determine whether a large amount of blood has been collected or the assembly 20 has been used in a medical procedure where a large amount of blood is typically collected. Accordingly, the controller 28 can use a disinfectant and / or detergent suitable for cleaning a large amount of blood from the assembly's canister 44. When the controller 28 starts the waste disposal process using the long-term docking mode, the assembly 20 can be configured to couple to the disposal station 50 for approximately 2 hours, thereby effectively emptying and cleaning the assembly's canister 44 more effectively than the rapid or normal docking mode. This effectively empties and cleans the assembly's canister 44 more than the rapid or normal docking mode. The long-term docking mode is suitable for periodically emptying and cleaning the assembly's canister 44, such as once a week, once every two weeks, once a month, once a quarter, or once every six months. The long-term docking mode is suitable for periodically emptying and cleaning the assembly's canister 44, such as once a week, once every two weeks, once a month, once a quarter, or once every six months. The specific times specified above for each mode are merely illustrative, and any duration of time for each mode is contemplated by the present disclosure. The specific times specified above for each mode are merely illustrative, and any duration of time for each mode is contemplated by the present disclosure.

[0036] In some embodiments, the disposal mode may also involve different types or amounts of disinfectants or detergents to be used by the disposal station 50 to clean the assembly's canister 44 during the waste disposal protocol. The controller can automatically select the amount and / or type of disinfectant or detergent based on the type of medical waste collected or the type of procedure for which the assembly was used. For example, some medical procedures collect a large amount of blood, while other medical procedures collect a large amount of saline. The controller 28 can use sensors to determine the type and / or amount of medical waste and determine whether a large amount of blood has been collected or the assembly 20 has been used in a medical procedure where a large amount of blood is typically collected. Accordingly, the controller 28 can use a disinfectant and / or detergent suitable for cleaning a large amount of blood from the assembly's canister 44. For example, some medical procedures collect a large amount of blood, while other medical procedures collect a large amount of saline. The controller 28 can use sensors to determine the type and / or amount of medical waste and determine whether a large amount of blood has been collected or the assembly 20 has been used in a medical procedure where a large amount of blood is typically collected. Accordingly, the controller 28 can use a disinfectant and / or detergent suitable for cleaning a large amount of blood from the assembly's canister 44. The controller 28 can use sensors to determine the type and / or amount of medical waste and determine whether a large amount of blood has been collected or the assembly 20 has been used in a medical procedure where a large amount of blood is typically collected. Accordingly, the controller 28 can use a disinfectant and / or detergent suitable for cleaning a large amount of blood from the assembly's canister 44. ​The waste disposal protocol can be started using a disposal mode to be performed.

[0037] The controller 28 may be configured to select one of the disposal modes based on user input or a disposal schedule, thereby enabling the user to select one of the disposal modes while starting the disposal procedure. In embodiments where the assembly 20 includes a plurality of user inputs, each of the user inputs can be configured such that the controller 28 can start the waste disposal protocol using different disposal modes among the plurality of disposal modes. For example, one of the user inputs can be configured such that the controller 28 can start the waste disposal protocol using the rapid disposal mode when the one user input is actuated. Another of the user inputs can be configured such that the controller 28 can start the waste disposal protocol using the normal disposal mode when the other user input is actuated. Yet another of the user inputs can be configured such that the controller 28 can start the waste disposal protocol using the long-term disposal mode when the yet another user input is actuated. In some embodiments, the user can activate the user input device 68 to configure one or more of the disposal modes. For example, the user can activate one user input of the user input device 68 to configure the rapid disposal mode to be performed for three minutes, and activate another user input of the user input device 68 to start the disposal protocol using the rapid disposal mode. The configuration of the disposal modes can be stored in the memory component 56.

[0038] ​​​​​​​​​​Assembly 20 must be able to perform autonomous movement, particularly movement in complex and often congested environments, in order to execute the above-described protocol. As can be readily appreciated, in many cases. Referring now to FIGS. 6 and 7, in some embodiments, locator network 94 is configured to track the location of assembly 20 as well as the location of disposal station 50 and / or charging station 54. FIG. 6 shows a block diagram of locator network 94, autonomous waste collection assembly 20, and disposal station 50. Tracking the location of assembly 20 as well as the location of disposal station 50 and / or charging station 54 facilitates the controller 28 to navigate assembly 20 to disposal station 50 and / or charging station 54. Locator network 94 transmits signals to assembly 20, enabling the controller 28 to recognize the location of assembly 20, particularly within a healthcare facility. Locator network 94 can also transmit signals to assembly 20 that enable the controller 28 to recognize the location of disposal station 50 and / or charging station 54. The controller 28 is configured to navigate assembly 20 to disposal station 50 and / or charging station 54 based on signals received from locator network 94. Locator network 94 can include hub controller 96, memory component 95, and transceiver 97. Hub controller 96 is configured to execute computer-executable instructions for performing the functions of locator network 94. Hub controller 96 can be a microprocessor, a microcontroller, or other suitable processing device. Memory component 95 stores data and instructions for locator network 94. Transceiver 97 transmits and receives signals between locator network 94 and assembly 20. In some embodiments, locator network 94 can be a wireless network, such as a Wi-Fi network, a Bluetooth network, or a ZigBee network. In other embodiments, locator network 94 can be a wired network, such as an Ethernet network or a USB network. Locator network 94 can be configured to communicate with assembly 20 using radio frequency (RF) signals, infrared signals, ultrasonic signals, or other suitable communication signals. In some embodiments, locator network 94 can be configured to communicate with multiple assemblies 20 simultaneously. Locator network 94 can also be configured to communicate with other devices or systems within the healthcare facility, such as a central control system or a patient monitoring system. In some embodiments, locator network 94 can be configured to provide real-time location information for assembly 20, disposal station 50, and / or charging station 54. This real-time location information can be used by the controller 28 to optimize the movement of assembly 20 within the healthcare facility. For example, the controller 28 can use the real-time location information to determine the shortest path to the disposal station 50 and / or charging station 54, or to avoid areas of high traffic or congestion within the healthcare facility. In some embodiments, locator network 94 can be configured to provide location-based services for assembly 20, such as triggering alerts or notifications when assembly 20 approaches a certain location or when a certain event occurs. Locator network 94 can include hub controller 96, memory component 95, and transceiver 97. Hub controller 96 is configured to execute computer-executable instructions for performing the functions of locator network 94. Hub controller 96 can be a microprocessor, a microcontroller, or other suitable processing device. Memory component 95 stores data and instructions for locator network 94. Transceiver 97 transmits and receives signals between locator network 94 and assembly 20. microcontroller, or other suitable processing device. Memory component 95 stores data and instructions for locator network 94. Transceiver 97 transmits and receives signals between locator network 94 and assembly 20. An iController, a field programmable gate array (FPGA), a system on chip (SoC), or any other suitable type of controller capable of executing the functions of the locator network 94. The memory components 95 of the locator network 94 communicate with the hub controller 96 and are configured to store data and instructions related to the functions of the locator network 94. The locator network 94 is configured to transmit signals to the assembly 20 via the transceiver 97 and to receive signals from the assembly. In some embodiments, the assembly 20 includes a transceiver 99

[0039] configured to transmit signals to the transceiver 97 of the locator network 94 and to receive signals from the transceiver 97 of the locator network 94. The medical waste collection system 70 includes a plurality of locator sensors 98 that communicate with the locator network 94. The locator sensors 98 can communicate with the locator network 94 either wired or wirelessly. The locator sensors 98 can be any other suitable detection-based technology configured to detect optically, infrared, sonographically, or remotely located configured to detect a tracking device of the disposal station 50 and / or the charging station 54 This can be done. The tracking device can include, for example, a GPS unit and an RFID chip This can be done. The controller 28 is configured to receive a current location input signal and a disposal location input signal from a locator network 94 within the medical facility The current location input signal is based on the current location of the assembly 20. The disposal location input signal is based on the disposal location of the disposal station 50 Based on. In some embodiments, the controller 28 is further configured to receive a charging location input signal from a locator network 94 within the medical facility The charging location input signal is based on the charging location of the charging station 54 Based on.

[0040] Based on the current location input signal and the disposal location input signal, the controller 28 is configured to navigate the assembly 20 to the disposal station 50 and / or the charging station 54 As follows The controller 28 navigates the assembly 20 according to the current location input signal, as well as the disposal location input signal And / or the charging location input signal. The controller 28 selectively drives the motor 42 of the drive wheel 40 to move the assembly 20 towards the disposal location and / Or the charging location, and steers to navigate the assembly 20 As configured.

[0041] In some embodiments, as shown in FIG. 7, the system 70 includes a plurality of disposal stations 50 As well as one or more charging stations 54. The controller 28 is further configured to receive the current location input signal, as well as the disposal location input signal for each of the disposal stations 50 And the charging location input signal for each of the charging stations 54 So as to receive​​ is possible. When starting the waste disposal protocol, the controller 28 navigates the assembly 20 to one of the disposal stations 50 in accordance with the input signal. The controller 28 is configured to navigate the assembly 20 to one of the disposal stations 50. The controller 28 is based on factors such as distance, time, and whether another assembly 20 has already completed the waste disposal protocol at one or more of the disposal stations 50 to determine which of the disposal stations 50 to navigate to. For example, the system 70 can include first and second paths 104, 106 to the disposal station 50. The controller 2 8 can be configured to use decision-making logic to determine whether to navigate to the first path 104 or the second path 106. Since the distance between the assembly 20 via the first path 104 and the disposal station 50 is shorter than the longer distance between the assembly 20 via the second path 106 and the disposal station 50, the controller 28 can decide to navigate to the first path 104 instead of the second path 106. Continuing to refer to FIG. 7, in some embodiments, the memory component 56 is configured to store a location map The location map includes the layout of at least a portion of the medical facility, and the layout is understandable by the controller 28. The controller 28 selectively drives the motor 42 by calculating a trajectory based on the current location input signal, the disposal location input signal, and / or the charging location input signal with respect to the location map. The controller 28 is configured to selectively drive the motor 42 to follow the trajectory.

[0042] Referring still to FIG. 7, in some embodiments, the memory component 56 is configured to store a location map The location map includes the layout of at least a portion of the medical facility, and the layout is understandable by the controller 28. The controller 28 selectively drives the motor 42 by calculating a trajectory based on the current location input signal, the disposal location input signal, and / or the charging location input signal with respect to the location map. The controller 28 selectively drives the motor 42 to follow the trajectory. is configured to selectively drive the motor 42 by calculating a trajectory based on the current location input signal, the disposal location input signal, and / or the charging location input signal with respect to the location map. The controller 28 is configured to selectively drive the motor 42 to follow the trajectory. It is. When the waste disposal protocol is started, the controller 28 navigates the assembly 20 to the disposal station 50, and is configured to calculate a trajectory based on the current location input signal and the disposal location input signal. Alternatively , when the charging protocol is started, the controller 28 navigates the assembly 20 to the charging station 54, and is configured to calculate a trajectory based on the current location input signal and the charging location input signal.

[0043] In some embodiments, the memory component 56 is configured to store a plurality of defined paths 102 within a medical facility. The defined paths 102 are predefined paths between locations within the medical facility, for example, paths along one or more corridors in the surgical building of a hospital. The defined paths 102 can be predefined paths between an operating room and the disposal station 50 and / or the charging station 54. The controller 28 is configured to navigate the assembly 20 to the disposal station 50 and / or the charging station 54 along one of the defined paths 102. The controller 28 is configured to navigate the assembly 20 to the disposal station 50 and / or the charging station 54 based on the distance between the current location and the disposal location. For example, the defined path 102 can include a first path 104 between an operating room and a first disposal station 50, and a second path 106 between the operating room and a second disposal station 50. When the waste disposal protocol is started, the controller 28, based on the current location input signal, navigates the assembly to the disposal station 50 and / or the charging station 54. For example, the defined path 102 can include a first path 104 between an operating room and a first disposal station 50, and a second path 106 between the operating room and a second disposal station 50. When the waste disposal protocol is started, the controller 28, based on the current location input signal, navigates the assembly ​Is 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 along the second route? 104 to the second disposal station 50. In some embodiments, the defined pathway 102 may include a path between each of the operating rooms and 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, an assembly 20 including one spatial recognition sensor 112 is illustrated. 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 obstacles to the assembly 20 while navigating to the charging station 54. The spatial recognition sensor 112 is configured to sense the position of the object. Doppler effect sensor, eddy current sensor, induction sensor, magnetic sensor, optical sensor, radar -devices, sonar devices, lidar devices, any combination of these, or any other The controller 28 may be a sensor of any suitable type. 8 to induce the assembly 20 to deviate from the path. After the obstacle 118 is deviated from the target, the controller 28 controls the assembly 20 to move around the obstacle 118 and Once the assembly 20 has navigated around the obstacle 118, it arrives at the destination, i.e., the disposal stage. configured to navigate towards the disposal station 50 or the charging station 54 and continue to move forward The controller 28 can determine that it is not possible to navigate around the obstacle 118. In this case, the controller 28 can determine an alternative route to the disposal station 50 or the charging station 54, or is configured to navigate to a different disposal station 5 0 or the charging station 54. The sensed obstacle 118 can be, for example, a doctor, a nurse, other hospital staff, the patient 30, a wheelchair, a hospital bed, a cabinet, or any other obstacle 118 that may be present within the medical facility or charging station 54. When the obstacle 118 is sensed, the controller 28 is configured to guide the assembly 20 to deviate in order to prevent it from colliding with the sensed obstacle 118 while the assembly 20 is navigating towards the disposal station 50 and / or or the charging station 54 during the waste disposal protocol or the charging protocol. According to an embodiment, the space recognition sensor 112 is also configured to assist in aligning the assembly 20 with the disposal station 50 For example, the space recognition sensor 112 can detect the location of the disposal station 50 relative to the assembly 20 when the assembly 20 is near the disposal station 50. Then, the controller 28 can send a signal to the motor 42 of the drive wheel 40 to move the counter-coupler 78 closer to the coupler 74 based on the signal from the space recognition sensor 112 The autonomous movement of the assembly 20 and further automatic mechanisms of the system 70 of the present disclosure free hospital staff from many tasks previously imposed on them to perform their duties The sensed obstacle 118 can be, for example, a doctor, a nurse, other hospital staff, the patient 30, a wheelchair, a hospital bed, a cabinet, or any other obstacle 118 that may be present within the medical facility The controller 28 can determine that it is not possible to navigate around the obstacle 118. In this case, the controller 28 can determine an alternative route to the disposal station 50 or the charging station 54, or is configured to navigate to a different disposal station 5 0 or the charging station 54. When the obstacle 118 is sensed, the controller 28 is configured to guide the assembly 20 to deviate in order to prevent it from colliding with the sensed obstacle 118 while the assembly 20 is navigating towards the disposal station 50 and / or or the charging station 54 during the waste disposal protocol or the charging protocol. According to an embodiment, the space recognition sensor 112 is also configured to assist in aligning the assembly 20 with the disposal station 50 For example, the space recognition sensor 112 can detect the location of the disposal station 50 relative to the assembly 20 when the assembly 20 is near the disposal station 50. Then, the controller 28 can send a signal to the motor 42 of the drive wheel 40 to move the counter-coupler 78 closer to the coupler 74 based on the signal from the space recognition sensor 112 The autonomous movement of the assembly 20 and further automatic mechanisms of the system 70 of the present disclosure free hospital staff from many tasks previously imposed on them to perform their duties The sensed obstacle 118 can be, for example, a doctor, a nurse, other hospital staff, the patient 30, a wheelchair, a hospital bed, a cabinet, or any other obstacle 118 that may be present within the medical facility The controller 28 can determine that it is not possible to navigate around the obstacle 118. In this case, the controller 28 can determine an alternative route to the disposal station 50 or the charging station 54, or is configured to navigate to a different disposal station 5 0 or the charging station 54. When the obstacle 118 is sensed, the controller 28 is configured to guide the assembly 20 to deviate in order to prevent it from colliding with the sensed obstacle 118 while the assembly 20 is navigating towards the disposal station 50 and / or or the charging station 54 during the waste disposal protocol or the charging protocol. According to an embodiment, the space recognition sensor 112 is also configured to assist in aligning the assembly 20 with the disposal station 50

[0045] The autonomous movement of the assembly 20 and further automatic mechanisms of the system 70 of the present disclosure free hospital staff from many tasks previously imposed on them to perform their duties The autonomous movement of the assembly 20 and further automatic mechanisms of the system 70 of the present disclosure free hospital staff from many tasks previously imposed on them to perform their duties It can be readily understood that it is advantageously released from being interrupted temporarily. However, in certain situations it may be desirable to operate the assembly 20 excluding autonomous movement and / or automatic mechanisms. In other words, it may be desirable for the user to "opt out" of the autonomous mode in order to operate the assembly 20 in what may be considered a manual mode. Exemplary cases or situations where a manual mode may be desired include inspection of the assembly 20, "one-time" or unexpected use, medical facilities, or more specifically, rearrangement of the assembly 20 within an operating room, and in particular, avoidance of congestion within the corridors of a medical facility during peak hours. For example, it may be necessary to rearrange the assembly 20 within an operating room, and the drive wheels 40 may resist such movement. As opposed to programming or inputting the necessary movement, it may be easier to simply manually maneuver the assembly 20 to the desired position. The operation of the assembly 20 between the autonomous mode and the manual mode may include the user input device 68 receiving an input from the user. In the autonomous mode, for example, the assembly 20 may include an engagement between the clutch mechanism 49 (see FIG. 1) and the motor 42 of the drive wheels 40 that prevents the user from manually moving (e.g., pushing) the assembly 20 along the floor surface. The clutch mechanism 49 communicates with the controller 28 and the user input device 68. When the assembly 20 transitions from the autonomous mode to the manual mode, the clutch mechanism 49 disengages from the motor 42, enabling the drive wheels 40 to move freely with the remaining wheels 24 of the assembly 20. In another example, coupled to the drive wheels 40 are cases where it may be necessary, and the drive wheels 40 may resist such movement. As opposed to programming or inputting the necessary movement, it may be easier to simply manually maneuver the assembly 20 to the desired position. The operation of the assembly 20 between the autonomous mode and the manual mode may include the user input device 68 receiving an input from the user. In the autonomous mode, for example, the assembly 20 may include an engagement between the clutch mechanism 49 (see FIG. 1) and the motor 42 of the drive wheels 40 that prevents the user from manually moving (e.g., pushing) the assembly 20 along the floor surface. The clutch mechanism 49 communicates with the controller 28 and the user input device 68. When the assembly 20 transitions from the autonomous mode to the manual mode, the clutch mechanism 49 disengages from the motor 42, enabling the drive wheels 40 to move freely with the remaining wheels 24 of the assembly 20. In another example, coupled to the drive wheels 40 In the autonomous mode, for example, the assembly 20 may include an engagement between the clutch mechanism 49 (see FIG. 1) and the motor 42 of the drive wheels 40 that prevents the user from manually moving (e.g., pushing) the assembly 20 along the floor surface. The clutch mechanism 49 communicates with the controller 28 and the user input device 68. When the assembly 20 transitions from the autonomous mode to the manual mode, the clutch mechanism 49 disengages from the motor 42, enabling the drive wheels 40 to move freely with the remaining wheels 24 of the assembly 20. In another example, coupled to the drive wheels 40 is When the assembly 20 transitions from the autonomous mode to the manual mode, the clutch mechanism 49 disengages from the motor 42, enabling the drive wheels 40 to move freely with the remaining wheels 24 of the assembly 20. In another example, coupled to the drive wheels 40 Assembly 2, which is in communication with the controller 28 and the user input device 68 Sufficient stability is maintained by the lift mechanism 51 (see FIG. 1) of 0. For example , as a result of an input to the user input device 68, when the assembly 20 transitions from the autonomous mode to the manual mode , the lift mechanism 51 lifts the drive wheels 40 off the floor surface, whereby the drive wheels 40 no longer contact the floor surface. If the remaining wheels 24 are non - drive type, the assembly 2 0 can be manually and freely moved along the floor surface. The assembly 20 can be repeatedly transitioned between the autonomous mode and the manual mode as desired.

[0046] Referring to FIGS. 8 and 9, in some embodiments, the assembly 20 is a first autonomous medical waste collection assembly 114, and the medical waste collection system 70 includes a second autonomous medical waste collection assembly 116. The second assembly 116 includes a base, a plurality of wheels including drive wheels coupled to the base, a canister coupled to the base, and a waste collection unit including a suction pump in fluid communication with the canister, a vacuum regulator in communication with the suction pump, an opposing coupler coupled to the base, and a controller. The base, the plurality of wheels, the waste collection unit, the opposing coupler 78, and the controller of the second assembly 116 can be configured similarly to the base 22, the plurality of wheels 24, the waste collection unit 26, the opposing coupler 78, the charging coupler 79, and the controller 28 of the first assembly 114. The second assembly 116 can be substantially similar to the first assembly 114 both in structure and function . The base, the plurality of wheels, the waste collection unit, the opposing coupler 78, and the controller of the second assembly 116 can be configured similarly to the base 22, the plurality of wheels 24, the waste collection unit 26, the opposing coupler 78, the charging coupler 79, and the controller 28 of the first assembly 114. The second assembly 116 can be substantially similar to the first assembly 114 both in structure and function . The disposal station 50 and the charging station 54 are for a limited number of assemblies

[0047] ​ It is only possible to simultaneously promote the execution of the disposal procedures for each. For example, according to an embodiment only one of the assemblies 114, 116 can be coupled to each of the disposal stations 50 at a time. Therefore, for example, a first assembly 114 coupled to the disposal station 50 must be separated from the disposal station 50 before a second assembly 116 can be coupled to the disposal station 50 to execute the disposal protocol. If the controller 28 of the first assembly 114 starts the disposal protocol while the second assembly 116 is executing the disposal protocol, a conflict may occur where the controller 28 of the first assembly 114 attempts to navigate the first assembly 114 to the disposal station 50 that is occupied by the second assembly 116 for executing the disposal protocol. Similarly, if the controllers 28 of the first and second assemblies 114, 116 start the disposal protocol at a similar time, a conflict may occur where each of the first and second assemblies 114, 116 is navigating the first and second assemblies 114, 116, respectively, to execute the disposal protocol at the disposal station 50. Similar problems may occur with respect to the charging station 54. To solve such conflicts, according to an embodiment, the first and second assemblies 114, 116 are each adapted to be removably coupled to charging in an interchangeable manner, whereby when the waste disposal protocols of the first and second assemblies 114, 116 are each started and are simultaneously active, the first and second assemblies 114, 116 If the controller 28 of the first assembly 114 starts the disposal protocol while the second assembly 116 is executing the disposal protocol, a conflict may occur where the controller 28 of the first assembly 114 attempts to navigate the first assembly 114 to the disposal station 50 that is occupied by the second assembly 116 for executing the disposal protocol. the controller 28 of the first assembly 114 attempts to navigate the first assembly 114 to the disposal station 50 that is occupied by the second assembly 116 for executing the disposal protocol. Similarly, if the controllers 28 of the first and second assemblies 114, 116 start the disposal protocol at a similar time, a conflict may occur where each of the first and second assemblies 114, 116 is navigating the first and second assemblies 114, 116, respectively, to execute the disposal protocol at the disposal station 50. Similar problems may occur with respect to the charging station 54. To solve such conflicts, according to an embodiment, the first and second assemblies 114, 116 are each adapted to be removably coupled to charging in an interchangeable manner, whereby when the waste disposal protocols of the first and second assemblies 114, 116 are each started and are simultaneously active, the first and second assemblies 114, 116 If the controllers 28 of the first and second assemblies 114, 116 start the disposal protocol at a similar time, a conflict may occur where each of the first and second assemblies 114, 116 is navigating the first and second assemblies 114, 116, respectively, to execute the disposal protocol at the disposal station 50. each of the first and second assemblies 114, 116 is navigating the first and second assemblies 114, 116, respectively, to execute the disposal protocol at the disposal station 50. Similar problems may occur with respect to the charging station 54. To solve such conflicts, according to an embodiment, the first and second assemblies 114, 116 are each adapted to be removably coupled to charging in an interchangeable manner, whereby when the waste disposal protocols of the first and second assemblies 114, 116 are each started and are simultaneously active, the first and second assemblies 114, 116 Similar problems may occur with respect to the charging station 54. To solve such conflicts, according to an embodiment, the first and second assemblies 114, 116 are each adapted to be removably coupled to charging in an interchangeable manner, whereby when the waste disposal protocols of the first and second assemblies 114, 116 are each started and are simultaneously active, the first and second assemblies 114, 116 are each adapted to be removably coupled to charging in an interchangeable manner, whereby when the waste disposal protocols of the first and second assemblies 114, 116 are each started and are simultaneously active, the first and second assemblies 114, 116 each of the first and second assemblies 114, 116 is navigating the first and second assemblies 114, 116, respectively, to execute the disposal protocol at the disposal station 50. Similar problems may occur with respect to the charging station 54. To solve such conflicts, according to an embodiment, the first and second assemblies 114, 116 are each adapted to be removably coupled to charging in an interchangeable manner, whereby Create a waiting queue. The waiting queue is such that one or more of assemblies 114, 116 wait until the other of assemblies 114, 116 finishes executing the disposal protocol before coupling with the disposal station 50. The waiting queue can be stored inside one or more of the memory components 56 of assemblies 114, 116, the memory components of the locator network 94, or combinations thereof. Similarly, in certain embodiments, only one of the first and second waste assemblies 114, 116 can be coupled to charging at a time. In such embodiments, the controller of the second assembly 116 is configured to wait if the first assembly 114 is positioned at the charging station 54. The second assembly 116 can wait by pausing the charging protocol of the second assembly 116 and waiting until the first assembly 114 completes the charging protocol of the first assembly 114 before resuming or restarting the charging protocol of the second assembly 116. The second assembly 116 can navigate near or very near the charging station 54 before pausing the waste disposal protocol of the second assembly 116. The locator network 94 is configured to track the location of each of the first and second assemblies 114, 116 and any number of disposal stations 50 and / or charging stations 54. The locator network 94 provides the location of the other of the first and second assemblies 114, 116 to each of the first and second assemblies 114, 116.

[0048] The locator network 94 is configured to track the location of each of the first and second assemblies 114, 116 and any number of disposal stations 50 and / or charging stations 54. The locator network 94 provides the location of the other of the first and second assemblies 114, 116 to each of the first and second assemblies 114, 116. ​​​​​​​​​​​​​​Send signals for recognition to the controllers of each of the first and second assemblies configured as such. In some embodiments, the controller of the second assembly 116 is configured to receive a first location input signal and a second location input signal from the locator network 94 The first location input signal is based on the first location of the first assembly 114 The second location input signal is based on the second location of the second assembly 116. In some embodiments the first and second assemblies are each adapted to be removably coupled to the disposal station 50 in an interchangeable manner, whereby the waste disposal protocols of the first and second assemblies 114, 116 are each initiated and, if both are simultaneously active the first and second assemblies 114, 116 form a queue. In certain embodiments only one of the first and second waste assemblies 114, 116 can be coupled to the disposal station 50 at a time. In such embodiments the controller 28 of the second assembly 116 is configured to wait if the first assembly 114 is positioned at the disposal station 50 The second assembly 116 can wait by pausing the waste disposal protocol of the second assembly 116 and waiting until the waste disposal protocol of the first assembly 114 is completed before resuming or restarting the waste disposal protocol of the second assembly 116 The second assembly 116 can navigate to near or immediately adjacent to the disposal station 50 before pausing the waste disposal protocol of the second assembly 116

[0049] ​​​​​​​When both the first and second assemblies initiate the disposal protocol, the hub controller The roller 96 can be configured to select one of the first and second assemblies 114, 116 to perform the disposal procedure. The other of the first and second assemblies 114, 116 that is not selected can be made to wait after one of the selected first and second assemblies 114, 1 16. The hub controller 96 selects one of the first and second assemblies 114, 116 to perform the disposal procedure prior to the other of the first and second assemblies 114, 116. The hub controller 96 selects one of the first and second assemblies 114, 116 based on the relative amount of medical waste within the waste collection units 26 of the first and second waste collection assemblies 114, 116. For example, the hub controller 96 can poll each of the controllers 28 of the first and second assemblies to receive information regarding the amount of medical waste contained within each of the canisters of the first and second assemblies 114, 116. Thereafter, the hub controller 96 can select one of the first and second assemblies 114, 116 to perform the waste disposal protocol based on the amount of medical waste within the waste collection unit. The hub controller 96 can instruct the other of the first and second assemblies 114, 116 to navigate to the operating room and receive medical waste during the medical procedure. Similarly, the hub controller 96 can receive information regarding the amount of energy within each of the energy storage devices 64 of the first and second assemblies. The hub controller 96 polls each of the controllers 28 of the first and second assemblies 114, 116 to receive such can be polled. Thereafter, the hub controller 96 can select one of the first and second assemblies 114, 116 to perform the charging protocol. The hub controller 96 can command the other of the first and second assemblies 114, 116 to navigate to the operating room and receive waste during the medical procedure. The hub controller 96 can also control the queue for the charging protocol or the disposal protocol based on the disposal schedule, the charging schedule, the type of surgical procedure scheduled, the type of medical waste, etc. At times, it is expected that the user will initiate the disposal protocol for the first assembly 114 during and prior to completion of the medical procedure. Therefore, the second assembly 116 can be configured to navigate to the location of the first assembly 114 to continue collecting medical waste in place of the first assembly 114 while the first assembly 114 executes the disposal protocol. In some embodiments, the controller 28 of the first assembly 114 is configured to provide a handover signal to the locator network 94 in response to the actuation of the user input device 68. The user input device 68 can be actuated by hospital staff when the canister 44 of the first assembly 114 becomes full during the medical procedure. In response to receiving the handover signal, the locator network 94 provides first and second location input signals to the controller 28 of the second assembly 116. The controller 28 of the first assembly 114

[0050] At times, during and prior to completion of a medical procedure, it is expected that the user will initiate the disposal protocol for the first assembly 114. Therefore, the second assembly 116 can be configured to navigate to the location of the first assembly 114 to continue collecting medical waste in place of the first assembly 114 while the first assembly 114 executes the disposal protocol.

[0051] In some embodiments, the controller 28 of the first assembly 114 is configured to provide a handover signal to the locator network 94 in response to the actuation of the user input device 68. The user input device 68 can be actuated by hospital staff when the canister 44 of the first assembly 114 becomes full during the medical procedure. In response to receiving the handover signal, the locator network 94 provides first and second location input signals to the controller 28 of the second assembly 116. The controller 28 of the first assembly 114 ​​​​​​​​​​The waste disposal procedure can be initiated, and the second assembly 116 can autonomously navigate to a first location and receive medical waste during a medical procedure in place of the first assembly 114. The controller of the second assembly 116 is configured to command the movement of the second assembly 116 to the first location via the drive wheels of the second assembly 116. The controller of the second assembly 116 commands the movement of the second assembly 116 to the first location to replace the first assembly 114 at the first location. Referring to FIG. 10, a method 200 of operating a medical waste collection system 70 is shown. At step 202, the waste collection unit 26 receives medical waste from a patient during a medical procedure. To do this, the assembly 20 can be positioned near the patient within a medical facility, such as an operating room (see FIG. 7). The user provides an input to a user input device 68 that communicates with the controller 28. The controller 28 operates the suction pump 46 and, in particular, the vacuum regulator 47 to adjust the suction level drawn through the suction conduit 48. The medical waste accumulates in at least one of the interiors of the canisters 44. In one example, the raw waste level in the canister 44, as detected by the waste sensor 62, exceeds a waste threshold level (step 204). Additionally, or alternatively, the energy storage device characteristics of the energy storage device 64, as detected by the energy storage device sensor 66, fall below an energy storage device characteristics threshold (step 204). Additionally, or alternatively, the energy storage device characteristics of the energy storage device 64, as detected by the energy storage device sensor 66, fall below an energy storage device characteristics threshold (step 204). Additionally, or alternatively, the energy storage device characteristics of the energy storage device 64, as detected by the energy storage device sensor 66, fall below an energy storage device characteristics threshold (step 204). Additionally, or alternatively, the energy storage device characteristics of the energy storage device 64, as detected by the energy storage device sensor 66, fall below an energy storage device characteristics threshold (step

[0052] 204). Additionally, or alternatively, the energy storage device characteristics of the energy storage device 64, as detected by the energy storage device sensor 66, fall below an energy storage device characteristics threshold (step 204). Additionally, or alternatively, the energy storage device characteristics of the energy storage device 64, as detected by the energy storage device sensor 66, fall below an energy storage device characteristics threshold (step 204). Additionally, or alternatively, the energy storage device characteristics of the energy storage device 64, as detected by the energy storage device sensor 66, fall below an energy storage device characteristics threshold (step 204). Additionally, or alternatively, the energy storage device characteristics of the energy storage device 64, as detected by the energy storage device sensor 66, fall below an energy storage device characteristics threshold (step 204). Additionally, or alternatively, the energy storage device characteristics of the energy storage device 64, as detected by the energy storage device sensor 66, fall below an energy storage device characteristics threshold (step 204). Additionally, or alternatively, the energy storage device characteristics of the energy storage device 64, as detected by the energy storage device sensor 66, fall below an energy storage device characteristics threshold (step 204). Additionally, or alternatively, the energy storage device characteristics of the energy storage device 64, as detected by the energy storage device sensor 66, fall below an energy storage device characteristics threshold (step 204). The medical waste accumulates in at least one of the interiors of the canisters 44.

[0053] In one example, the raw waste level in the canister 44, as detected by the waste sensor 62, exceeds a waste threshold level (step 204). Additionally, or alternatively, the energy storage device characteristics of the energy storage device 64, as detected by the energy storage device sensor 66, fall below an energy storage device characteristics threshold (step 204). Additionally, or alternatively, the energy storage device characteristics of the energy storage device 64, as detected by the energy storage device sensor 66, fall below an energy storage device characteristics threshold (step 204). Additionally, or alternatively, the energy storage device characteristics of the energy storage device 64, as detected by the energy storage device sensor 66, fall below an energy storage device characteristics threshold (step 204). Additionally, or alternatively, the energy storage device characteristics of the energy storage device 64, as detected by the energy storage device sensor 66, fall below an energy storage device characteristics threshold (step Up 206). Additionally, or alternatively, the schedule as stored within the memory component 56 may direct the scheduled execution of the disposal protocol and / or the charging protocol (step 208). Additionally, or alternatively, a user may provide input to the user input device 68. The controller 28 communicating with the user input device 68 receives the input (step 210). For any one or more of the above, the assembly 20 autonomously moves to and couples with a station, namely, a disposal station 50 (see FIG. 3), a charging station 54 (see FIG. 4), or an integrated disposal-charging station 54 (see FIG. 5 reference) (step 212). For example, in step 212 , the controller 28 actuates the drive wheels 42 to move the assembly 20 to the disposal station 50. To facilitate the coupling of the assembly 50 with the stations 50, 54, any one or more of the sensors 82, 112 may be utilized (step 2 14). Further, a locator network 94 of a medical facility communicating with the controller 28 may facilitate the navigation of the assembly 20 to the stations 50, 54 as described above (step 216).

[0054] In step 218, the assembly 20 performs the disposal protocol while coupled to the disposal station 50. Specifically, the disposal station 50 autonomously removes medical waste from the waste collection unit 26. The disposal station 50 may perform a cleaning operation to clean the canister 44 (step 230). If the station is an integrated disposal-charging station 54 (see FIG. 5), the charging station 54 charges The protocol is autonomously executed (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, controller 28 may place assembly 20 in the charging state. Alternatively, the drive wheels 42 may be actuated to move the vehicle to the energy storage device 54. If the device 64 does not require additional power, the controller 28 Activating 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 wheels 42 may be actuated (step 234).

[0055] In particular embodiments, the user input device 68 may be configured to select a disposition mode, e.g., a first disposition mode. The input from the user may be received regarding the first and second disposal modes. Based on the input, the controller 28 in communication with the user input device 68 is removed. For the medical waste, a first disposal mode is followed 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 longer than the first amount of time. is different. The cleaning operation (step 230) can be performed in one or both of the first and second disposal modes. can be performed in.

[0056] Assembly 20 can autonomously separate from stations 50, 54 (step 232). . In the above example, the electromagnet can be demagnetized, thereby enabling the movement of assembly 20 relative to stations 50, 54. The controller 28 can activate the drive wheels 42 to move assembly 20 back to the required station or storage location (step 2 34).

[0057] Closure for alternative protection Closure I. An autonomous waste collection assembly comprising a base, at least one drive wheel coupled to the base, a controller, a waste level sensor in communication with the controller, an energy storage device sensor in communication with the controller, and a waste collection unit coupled to the base, and a medical waste collection system including a disposal station, the method of operating the system comprising receiving medical waste from a patient during a medical procedure using the waste collection unit, sensing a waste level within the waste collection unit using the waste level sensor, determining using the controller whether the waste level has exceeded a waste level threshold, activating at least one drive wheel to move the autonomous medical waste collection assembly, navigating the autonomous medical waste collection assembly to the disposal station using the controller, autonomously coupling the autonomous medical waste collection assembly and the disposal station, and at the disposal s tation from the medical waste, sensing the waste level in the waste collection unit using the waste level sensor, determining using the controller whether the waste level has exceeded the waste level threshold, activating at least one drive wheel to move the autonomous medical waste collection assembly, navigating the autonomous medical waste collection assembly to the disposal station using the controller, autonomously coupling the autonomous medical waste collection assembly and the disposal station, and determining using the controller whether the waste level has exceeded the waste level threshold, activating at least one drive wheel to move the autonomous medical waste collection assembly, navigating the autonomous medical waste collection assembly to the disposal station using the controller, autonomously coupling the autonomous medical waste collection assembly and the disposal station, and activating at least one drive wheel to move the autonomous medical waste collection assembly, navigating the autonomous medical waste collection assembly to the disposal station using the controller, autonomously coupling the autonomous medical waste collection assembly and the disposal station, and navigating the autonomous medical waste collection assembly to the disposal station using the controller, autonomously coupling the autonomous medical waste collection assembly and the disposal station, and autonomously coupling the autonomous medical waste collection assembly and the disposal station, and Disposal protocol for removing medical waste from a waste collection unit using a station A method comprising the step of performing.

[0058] Close II. The system includes a charging station, and autonomously couples the autonomous medical waste collection assembly And the charging station, and communicates with the charging station The electrical energy from the power supply is transmitted to the energy storage device of the autonomous medical waste collection assembly The method according to Close I, further comprising the step of transmitting to.

[0059] Close 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 for a second amount of time And the method according to Close I or II, further comprising the steps of, wherein the first and second amounts of time are different. Time amount. The method according to Close I or II, further comprising the steps of, wherein the first and second amounts of time are different.

[0060] Close IV. (i) the amount of medical waste in the waste collection unit, (ii) the amount of medical waste to be transferred from the waste collection unit to the canister of the disposal station, (iii ) user input, (iv) a disposal schedule including one or more times at which the waste disposal protocol is to be performed And (v) the amount of time the waste collection unit has held the medical waste, and selecting one of the first disposal mode and the second disposal mode based on at least one of The method according to Close III, further comprising the step of. The method according to Close III, further comprising the step of selecting one of the first disposal mode and the second disposal mode based on at least one of the following: (i) the amount of medical waste in the waste collection unit, (ii) the amount of medical waste to be transferred from the waste collection unit to the canister of the disposal station, (iii) user input, (iv) a disposal schedule including one or more times at which the waste disposal protocol is to be performed, and (v) the amount of time the waste collection unit has held the medical waste. The method according to Close III, further comprising the step of selecting one of the first disposal mode and the second disposal mode based on at least one of the following: (i) the amount of medical waste in the waste collection unit, (ii) the amount of medical waste to be transferred from the waste collection unit to the canister of the disposal station, (iii) user input, (iv) a disposal schedule including one or more times at which the waste disposal protocol is to be performed, and (v) the amount of time the waste collection unit has held the medical waste.

[0061] Close V. The autonomous waste collection assembly includes a user input device, and using the user input device, the autonomous waste collection assembly is configured such that at least one drive wheel is controlled by a controller The autonomous waste collection assembly is configured such that at least one drive wheel is controlled by a controller From an autonomous mode that is controllable for autonomous movement, at least one drive wheel is Shift to a manual mode in which it is disabled to enable manual movement of the autonomous waste collection assembly Further including the step of receiving an input for causing, according to any one of Clauses I to IV The method described.

[0062] Clause VI. The autonomous waste collection assembly includes a clutch mechanism coupled to at least one drive wheel, and disabling at least one drive wheel includes engaging the clutch mechanism Releasing and enabling at least one drive wheel to rotate freely, according to the method described in Clause V. The method described in Clause V.

[0063] Clause VII. An autonomous waste collection assembly, comprising a base, at least one drive wheel coupled to the base, a controller, an energy storage device communicating with the controller, a waste collection unit coupled to the base, and operating a medical waste collection system including a power supply And a charging station electrically communicating therewith, the method comprising receiving medical waste from a patient during a medical procedure using the waste collection unit, sensing the energy level storage characteristics of the energy storage device using an energy storage device sensor, determining using the controller whether the energy level storage characteristics are below an energy level storage characteristic threshold, operating at least one drive wheel to move the autonomous medical waste collection assembly, navigating the autonomous medical waste collection assembly to the charging station using the controller, and the autonomous medical waste collection assembly and the charging station The method as described above, wherein the method further includes a step of Receiving medical waste from a patient during a medical procedure using the waste collection unit, sensing the energy level storage characteristics of the energy storage device using an energy storage device sensor, determining using the controller whether the energy level storage characteristics are below an energy level storage characteristic threshold, operating at least one drive wheel to move the autonomous medical waste collection assembly, navigating the autonomous medical waste collection assembly to the charging station using the controller, and the autonomous medical waste collection assembly and the charging station Sensing the energy level storage characteristics of the energy storage device using an energy storage device sensor, determining using the controller whether the energy level storage characteristics are below an energy level storage characteristic threshold, operating at least one drive wheel to move the autonomous medical waste collection assembly, navigating the autonomous medical waste collection assembly to the charging station using the controller, and the autonomous medical waste collection assembly and the charging station Determining whether the energy level storage characteristics are below an energy level storage characteristic threshold using the controller, operating at least one drive wheel to move the autonomous medical waste collection assembly, navigating the autonomous medical waste collection assembly to the charging station using the controller, and the autonomous medical waste collection assembly and the charging station Operating at least one drive wheel to move the autonomous medical waste collection assembly, navigating the autonomous medical waste collection assembly to the charging station using the controller, and the autonomous medical waste collection assembly and the charging station Navigating the autonomous medical waste collection assembly to the charging station using the controller, and the autonomous medical waste collection assembly and the charging station ​​​​The step of autonomously coupling the units, and the charging protocol for transmitting electrical energy from the power supply of the charging station to the energy storage device of the medical waste collection assembly to be performed A method comprising the steps of:

[0064] A disposal station according to Class VIII, comprising a housing and a coupler coupled to the housing An autonomous medical waste collection assembly, comprising a base adapted to be positioned near a patient, and wheels coupled to the base wherein at least one of the wheels is driven to move the base along a floor surface A waste collection unit coupled to the base for receiving medical waste from a patient, the waste collection unit comprising a canister for holding medical waste and a suction pump fluidly communicating with the canister and configured to draw a suction force on the canister A counter-coupler coupled to the base, adapted to be removably coupled to the coupler of the disposal station A controller operable to initiate a waste disposal protocol A medical waste collection system comprising the autonomous medical waste collection assembly, wherein the controller is operable to initiate a waste disposal protocol The waste disposal protocol automatically moves the autonomous medical waste collection assembly to the disposal station away from the patient thereby causing the coupler to engage the counter-coupler and transmitting a movement signal to the drive wheel to effect a connection between the autonomous medical waste collection assembly and the disposal station A medical waste collection system comprising the steps of: The waste disposal protocol automatically moves the autonomous medical waste collection assembly to the disposal station away from the patient thereby causing the coupler to engage the counter-coupler and transmitting a movement signal to the drive wheel to effect a connection between the autonomous medical waste collection assembly and the disposal station including A medical waste collection system

[0065] ​ The present invention has been described in an illustrative manner in this specification. It should be understood that the terminology used is intended to be of a descriptive nature rather than limiting. Clearly, many modifications and variations of the present invention are possible in light of the above teachings. The present invention may be practiced in other embodiments than those specifically described, within the scope of the appended claims. Note that the description of the claims in the original application at the time of filing was as follows. Claim 1: An autonomous medical waste collection assembly, a base adapted to be placed near a patient, wheels coupled to the base, at least one of the wheels being a drive wheel configured to move the base along a floor surface, a waste collection unit coupled to the base for receiving medical waste from the patient, the waste collection unit including a canister for holding the medical waste and a suction pump in fluid communication with the canister and configured to draw a suction force on the canister, a controller operable to initiate a waste disposal protocol, the waste disposal protocol including transmitting a movement signal to the drive wheel to automatically move the autonomous medical waste collection assembly from the patient to a disposal station away from the patient, a user input device in communication with the controller and adapted to provide a user input signal in response to being actuated by a user, comprising, the autonomous medical waste collection assembly, wherein the controller is configured to initiate the waste disposal protocol in response to receiving the user input signal. Claim 2: The autonomous medical waste collection assembly according to claim 1, further comprising a waste sensor in communication with the controller, the waste sensor being adapted to sense an amount of the medical waste contained within the canister and provide a waste level signal to the controller, and the controller being configured to initiate the waste disposal protocol in response to the amount of the medical waste sensed by the waste sensor exceeding a waste threshold. Claim 3: Further comprising an energy storage device and an energy storage device sensor communicating with the controller, wherein the energy storage device sensor is adapted to sense the characteristics of the energy storage device and provide an energy storage device characteristic signal to the controller, and the controller is configured to start a charging protocol when the energy storage device characteristics fall below an energy storage device characteristic threshold, and the charging protocol includes transmitting a movement signal for automatically moving the autonomous medical waste collection assembly away from the patient to a charging station to the drive wheels. The autonomous medical waste collection assembly according to claim 1 or 2. Claim 4: The autonomous medical waste collection assembly according to claim 3, wherein the controller is configured to start one of the charging protocol and the waste disposal protocol in response to receiving the user input signal. Claim 5: Further comprising a memory adapted to store a disposal schedule including one or more times for starting the waste disposal protocol and communicating with the controller, and the controller is configured to start the waste disposal protocol according to the disposal schedule. The autonomous medical waste collection assembly according to any one of claims 1 to 4. Claim 6: The autonomous medical waste collection assembly according to claim 5, wherein at least one of the one or more times corresponds to the end time of the medical treatment. Claim 7: Further comprising a memory adapted to store a charging schedule including one or more times for starting the charging protocol and communicating with the controller, and the controller is configured to start the charging protocol according to the charging schedule. The autonomous medical waste collection assembly according to any one of claims 1 to 3. Claim 8: An autonomous mode in which the controller transmits the movement signal for automatically moving the autonomous medical waste collection assembly to the disposal station away from the patient to the drive wheels, and a manual mode in which the controller transmits a disengaging signal for effecting manual movement of the autonomous medical waste collection assembly to the drive wheels, the autonomous medical waste collection assembly according to any one of claims 1 to 7, configured to operate in the manual mode. Claim 9: The autonomous medical waste collection assembly according to claim 8, further comprising a clutch mechanism coupled to the drive wheels and in communication with the controller, the clutch mechanism being configured to operably disengage from the drive wheels in response to the disengaging signal. Claim 10: The autonomous medical waste collection assembly according to any one of claims 3 to 9, further comprising an energy supply device separate from the energy storage device, the energy supply device being configured to be disposed in electrical communication with the energy source. Claim 11: The autonomous medical waste collection assembly according to any one of claims 3 to 10, wherein the energy storage device is a replaceable battery. Claim 12: A disposal station including a housing and a coupler coupled to the housing, a base adapted to be placed near a patient, wheels coupled to the base, at least one of the wheels being driven to move the base along a floor surface, a waste collection unit coupled to the base for receiving medical waste from the patient, the waste collection unit including a canister for holding the medical waste and a suction pump in fluid communication with the canister and configured to draw a suction force on the canister, a mating coupler coupled to the base, the mating coupler being adapted to be removably coupled to the coupler of the disposal station, a controller, and a user input device in communication with the controller, the user input device being adapted to provide a user input signal in response to being actuated by a user, an autonomous medical waste collection assembly including A medical waste collection system comprising The controller is operable to initiate a waste disposal protocol in response to receiving the user input signal, the waste disposal protocol automatically moving the autonomous medical waste collection assembly to the disposal station away from the patient, whereby the coupler engages the opposing coupler and transmits a movement signal to the drive wheels to effect a connection between the autonomous medical waste collection assembly and the disposal station, a medical waste collection system. Claim 13: The medical waste collection system of claim 12, wherein the disposal station further includes a canister adapted to receive the medical waste, the canister of the disposal station being in fluid communication with the waste collection unit of the autonomous medical waste collection assembly when the autonomous medical waste collection assembly is coupled to the disposal station. Claim 14: The medical waste collection assembly of claim 12 or 13, further comprising an energy storage device and an energy storage device sensor in communication with the controller, the energy storage device sensor being adapted to sense a characteristic of the energy storage device and provide an energy storage device characteristic signal to the controller, the controller being configured to initiate a charging protocol when the energy storage device characteristic falls below an energy storage device characteristic threshold. Claim 15: The medical waste collection system of claim 14, wherein the movement signal is a first movement signal, further comprising a charging station including a housing and a coupler coupled to the housing, the charging protocol automatically moving the autonomous medical waste collection assembly to the charging station away from the patient, whereby the coupler of the charging station engages the opposing coupler and transmits a second movement signal to the drive wheels to effect a connection between the autonomous medical waste collection assembly and the charging station, the charging station being in electrical communication with a power source, the charging station being adapted to transfer electrical energy from the power source to the energy storage device when the autonomous medical waste collection assembly is coupled to the charging station. Claim 16: The disposal station is in electrical communication with the power source, and the disposal station is adapted to transfer electrical energy from the power source to the energy storage device when the autonomous medical waste collection assembly is coupled to the disposal station. The medical waste collection system according to any one of claims 12 to 15. Claim 17: The waste disposal protocol includes a plurality of disposal modes, each of the disposal modes including a different amount of time during which the autonomous waste collection assembly and the disposal station are coupled while removing the medical waste from the waste collection unit. The medical waste collection system according to any one of claims 12 to 16. Claim 18: The controller is adapted to select one of the disposal modes based on at least one of the amount of the medical waste in the waste collection unit, the amount of the medical waste to be removed from the waste collection unit, and the amount of time the waste collection unit has held the medical waste. The medical waste collection system according to claim 17. Claim 19: Further comprising a memory adapted to store a disposal schedule including one or more times for initiating the waste disposal protocol, the memory communicating with the controller, the controller being configured to initiate the waste disposal protocol according to the disposal schedule, and the controller being adapted to select one of the disposal modes based on a user input or the disposal schedule. The medical waste collection system according to claim 17 or 18. Claim 20: The controller is configured to receive a current location input signal and a disposal location input signal from a locator network within a medical facility, the current location input signal being based on the current location of the autonomous medical waste collection assembly, the disposal location input signal being based on the disposal location of the disposal station, and the controller being configured to navigate the autonomous waste collection assembly to the disposal station based on the current location input signal and the disposal location input signal. The medical waste collection system according to any one of claims 12 to 19. Claim 21: Further comprising a memory adapted to store a plurality of defined paths within the medical facility and communicate with the controller, wherein the controller is adapted to navigate the autonomous medical waste collection assembly along one of the defined paths to the disposal station based on the distance between the current location of the autonomous medical waste collection assembly and the disposal location of the disposal station. The medical waste collection system according to claim 20. Claim 22: The autonomous medical waste collection assembly is configured to sense an object that obstructs the one defined path when being navigated between the current location and the disposal location, further comprising a spatial awareness sensor that communicates with the controller, and the controller is adapted to guide the autonomous medical waste collection assembly to deviate from the one defined path in response to the obstacle sensed by the spatial awareness sensor. The medical waste collection system according to claim 21. Claim 23: The autonomous medical waste collection assembly is the first autonomous medical waste collection assembly. The system further comprises a second autonomous medical waste collection assembly including a base, wheels coupled to the base, at least one of the wheels being driven to move the base along a floor surface, a waste collection unit coupled to the base for receiving medical waste, a suction pump in fluid communication with the waste collection unit and configured to move the medical waste into the waste collection unit, a mating coupler coupled to the base, the mating coupler being adapted to be removably coupled to the coupler of the disposal station, and a controller operable to initiate a waste disposal protocol, the waste disposal protocol including automatically moving the autonomous medical waste collection assembly away from the autonomous medical waste collection assembly to the disposal station, thereby causing the coupler to engage the mating coupler and transmitting a movement signal to the drive wheels to effect a connection between the autonomous medical waste collection autonomous medical waste collection assembly and the disposal station. The first and second autonomous medical waste collection assemblies are adapted to be removably coupled to the disposal station in an interchangeable manner, and only one of the first and second autonomous 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. Claim 24: The controller of the second autonomous medical waste collection assembly is configured to receive a first location input signal and a second location input signal from a locator network within the medical facility, the first location input signal being based on a first location of the first autonomous medical waste collection assembly, the second location input signal being based on a second location of the second autonomous medical waste assembly, the controller of the second autonomous medical waste assembly being configured to navigate the second autonomous waste collection assembly to the first location input signal, the medical waste collection system according to claim 23. Claim 25: The user input is adapted to provide a changeover signal to the locator network of the medical facility in response to being actuated by a user, and in response to receiving the changeover signal, the locator network provides the first and second location input signals to the controller of the second autonomous medical waste collection assembly to move the second autonomous waste collection assembly to the first location to interchange with the first autonomous medical waste collection assembly at the first location, the medical waste collection system according to claim 23 or 24. Claim 26: Further comprising a hub controller in communication with the controllers of the first and second autonomous waste collection assemblies, the hub controller being adapted to select one of the first and second autonomous waste collection assemblies to perform the disposal procedure ahead of the other of the first and second autonomous waste collection assemblies, the selection of the hub controller being based on the relative amount of medical waste within the waste collection units of the first and second autonomous waste collection assemblies, the medical waste collection system according to any one of claims 23 to 25.

Claims

1. 1. An autonomous medical waste collection assembly for collecting medical waste within a healthcare facility, comprising: The base and A plurality of wheels supporting the base, at least one of the wheels being a drive wheel configured to be driven by a motor; a waste collection unit supported on the base, the waste collection unit including a manifold receiver configured to removably receive a manifold coupleable to a suction line, a waste canister in fluid communication with the manifold receiver, and a suction pump in fluid communication with the waste canister, the waste collection unit configured to draw medical waste to be collected from a patient through the suction line and the manifold into the waste canister; a controller in electronic communication with the drive wheels and configured to send movement signals to the motor to drive the drive wheels to move the autonomous medical waste collection assembly along a floor surface; Equipped with The manifold receiver includes a manifold sensor in electronic communication with the controller and configured to detect contact between the manifold and the manifold receiver, and the controller is further configured to send the movement signal to the motor to which the drive wheel is connected after the manifold sensor detects that the manifold has been removed.

2. 2. The autonomous medical waste collection assembly of claim 1, wherein the controller is further configured to initiate a waste disposal protocol in which the controller sends the movement signal to the motor to drive the drive wheels to move the autonomous medical waste collection assembly along a floor surface to be coupled to a disposal station for emptying the waste canister.

3. 3. The autonomous medical waste collection assembly of claim 2, further comprising a waste sensor in communication with the controller and configured to sense an amount of medical waste contained within the waste canister, wherein the controller is further configured to initiate the waste disposal protocol based on the amount of medical waste contained within the waste canister.

4. 4. The autonomous medical waste collection assembly of claim 2 or 3, wherein the controller is further configured to delay initiation of the waste disposal protocol while the suction pump is actively aspirating medical waste.

5. 3. The autonomous medical waste collection assembly of claim 2, further comprising a memory in electronic communication with the controller storing a disposal schedule of one or more times for initiating the waste disposal protocol, the controller being configured to send the movement signal to the motor connected to the drive wheel, the drive wheel moving the autonomous medical waste collection assembly to the disposal station according to the disposal schedule.

6. The autonomous medical waste collection assembly of claim 5 , wherein the controller is further configured to not initiate the waste disposal protocol during a surgical procedure.

7. The autonomous medical waste collection assembly of claim 5 , wherein the disposal schedule is configured to be received via a hospital network of the medical facility to be stored in the memory.

8. 6. The autonomous medical waste collection assembly of claim 5, wherein the waste disposal protocol includes a quick docking mode in which the waste canister is cleaned by the disposal station for a first time period and a long term docking mode in which the waste canister is cleaned by the disposal station for a second time period that is longer than the first time period.

9. 4. The autonomous medical waste collection assembly of claim 2 or 3, further comprising a battery in communication with the controller, wherein the controller is further configured to initiate a charging protocol in which the controller sends the movement signal to the motor connected to the drive wheels, the drive wheels moving the autonomous medical waste collection assembly along the floor surface to couple with a charging station to charge the battery, and the charging protocol is not initiated during a surgical procedure.

10. 10. The autonomous medical waste collection assembly of claim 9, wherein the controller is configured to facilitate operation of a disposal station to simultaneously carry out the waste disposal protocol and the charging protocol.

11. 10. The autonomous medical waste collection assembly of claim 9, further comprising a memory in communication with the controller storing a charging schedule of one or more times for initiating the charging protocol, wherein the controller is configured to send the movement signal to the motor connected to the drive wheels, the drive wheels causing the autonomous medical waste collection assembly to move along the floor surface in accordance with the charging schedule.

12. The autonomous medical waste collection assembly of any one of claims 1 to 3, wherein the controller is configured to control the drive wheels to steer the autonomous medical waste collection assembly based on data received from a locator sensor of a locator network of the medical facility.

13. The autonomous medical waste collection assembly of any one of claims 1 to 3, wherein the autonomous medical waste collection assembly is operable in an autonomous mode in which the drive wheels automatically move the autonomous medical waste collection assembly along a floor surface, and in a manual mode in which the autonomous medical waste collection assembly is freely movable along a floor surface.

14. 1. An autonomous medical waste collection assembly for collecting medical waste within a healthcare facility, comprising: The base and A plurality of wheels supporting the base, at least one of the wheels being a drive wheel configured to be driven by a motor; a waste collection unit including a waste canister supported on the base to receive medical waste from a patient, and a suction pump in fluid communication with the waste canister and configured to draw suction on the waste canister; a controller configured to operate the autonomous medical waste collection assembly in an autonomous mode in which the drive wheels automatically move the autonomous medical waste collection assembly along a floor surface and in a manual mode in which the autonomous medical waste collection assembly is freely movable along a floor surface; Equipped with The autonomous medical waste collection assembly further comprises a lift mechanism coupled to the drive wheels and in communication with the controller, the lift mechanism configured to lift the drive wheels off the floor surface to provide manual movement of the autonomous medical waste collection assembly.

15. 15. The autonomous medical waste collection assembly of claim 14, further comprising a clutch mechanism coupled to the drive wheels and in communication with the controller, the clutch mechanism being disengaged in the manual mode to allow the drive wheels to move freely.

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