Abstract
A system for opening and/or closing a lid of a container containing medical equipment in a sterile processing department, the system comprises: a gripper for opening and/or closing the lid of the container, one or more motorized conveyor elements configured to receive said container at a first container position and convey said container along a longitudinal axis towards the gripper. The system is configured to align the container with the gripper by conveying the container from the first container position to a second container position using the one or more motorized conveyor elements, move a first gripper element and a second gripper element from a first gripper position to a second gripper position, whereby the first gripper element or the second gripper element contacts the container at a side surface of the container and moves the container to a third container position.
Claims
1. A system for opening and/or closing a lid of a container containing medical equipment in a sterile processing department, the system comprises: a gripper for opening and/or closing the lid of the container, the gripper comprising a first gripper element and a second gripper element, the gripper being configured to move the first gripper element and the second gripper element from a first gripper position to a second gripper position, where the first gripper element and the second gripper element are closer to each other in the second gripper position than in the first gripper position, one or more motorized conveyor elements configured to receive said container at a first container position and convey said container along a longitudinal axis towards the gripper, wherein the system is configured to align the container with the gripper by conveying the container from the first container position to a second container position using the one or more motorized conveyor elements, where the container in the second container position is aligned with the gripper with a first degree of precision, move the first gripper element and the second gripper element from the first gripper position to the second gripper position, whereby the first gripper element or the second gripper element contacts the container at a side surface of the container and moves the container to a third container position aligned with the gripper with a second degree of precision, the second degree of precision being higher than the first degree of precision, open or close the lid of the container in the third container position using the gripper.
2. A system according to claim 1, wherein the system further comprises a pressure element configured to apply a pressure to a top surface of the container.
3. A system according to claim 1, wherein the system further comprises one or more flippers configured to assist aligning the container with the gripper.
4. A system according to claim 1, wherein the first gripper element and the second gripper element are synchronized to move simultaneously and at the same rate between the first gripper position and the second gripper position.
5. A system according to claim 4, where the system further comprises a motor, wherein the first gripper element and the second gripper element are configured to be moved between the first gripper position and the second gripper position by the motor.
6. A system according to claim 1, wherein the gripper is configured to move up and down along a vertical axis perpendicular to the longitudinal axis.
7. A system according to claim 6, wherein the gripper is configured to assume a first vertical position along the vertical axis when moving the first gripper element and the second gripper element from the first gripper position to the second gripper position, and to assume a second vertical position along the vertical axis when opening or closing the lid of the container.
8. A system according claim 1, wherein the first gripper element and the second gripper element are placed along an orientation axis, where the orientation axis is either parallel to the longitudinal axis or parallel to a lateral axis.
9. A system according to claim 6, where the orientation axis is parallel to the longitudinal axis, the gripper is configured to assume a third vertical position along the vertical axis and to assume a fourth vertical position along the vertical axis, where in the third vertical position the gripper is configured to engage a side surface of the container, and where in the fourth vertical position the gripper is raised above the container.
10. A system according to claim 1, wherein the system is further configured to open and/or close a lid of a first container type and a second container type, the system being configured to determine whether the container received at the first container position is the first container type or the second container type, and wherein the opening or closing of the lid of the container is done in correspondence to the type of the container determined by the system.
11. A system according to claim 1, wherein each of the first gripper element and the second gripper element comprises a hook configured to contact a surface of the container and subsequently opening or closing the lid of the container.
12. A system according to claim 1, wherein at least one of the first gripper element and the second gripper element comprises a protrusion configured to contact a surface of the container and subsequently opening or closing the lid of the container.
13. A system according to claim 10, wherein the system is configured to open or close the container using the protrusions if the first container type is determined or the hooks if the second container type is determined.
14. Use of a system according to claim 1 in a sterile processing department.
15. A sterile processing department comprising a system according to claim 1.
Description
BRIEF DESCRIPTION OF THE DRAWINGS
[0045] The above and/or additional objects, features and advantages of the present invention, will be further elucidated by the following illustrative and non-limiting detailed description of embodiments of the present invention, with reference to the appended drawings, wherein:
[0046] FIG. 1 shows a perspective view of an embodiment of the system, wherein a gripper is mounted on a frame
[0047] FIG. 2 shows a perspective view of an embodiment of the one or more motorized conveyor elements.
[0048] FIG. 3 shows a perspective view of another embodiment of the one or more motorized conveyor elements.
[0049] FIG. 4 shows a perspective view of yet another embodiment of the one or more motorized conveyor elements.
[0050] FIG. 5 shows a perspective view of an embodiment of the gripper, wherein the first gripper element and the second gripper element are in the first gripper position.
[0051] FIG. 6 shows a perspective view of another embodiment of the gripper, wherein the first gripper element and the second gripper element are in the first gripper position.
[0052] FIG. 7 shows a perspective view of an embodiment of the system, wherein the orientation axis is parallel to the lateral axis and the first gripper element and the second gripper element are placed along the orientation axis.
[0053] FIG. 8 shows a perspective view of an embodiment of the system, wherein the orientation axis is parallel to the longitudinal axis and the first gripper element and the second gripper element are placed along the orientation axis.
[0054] FIGS. 9a-9d shows a schematic side view of a work flow process of an embodiment of the system.
[0055] FIGS. 10a-10d shows a schematic side view of a work flow process of another embodiment of the system.
DETAILED DESCRIPTION
[0056] In the following description, reference is made to the accompanying figures, which show by way of illustration how the invention may be practiced.
[0057] FIG. 1 shows a perspective view of an embodiment of the system 1, wherein a gripper 100 is mounted on a frame 300. The frame 300 may be a modular frame 300 capable of being taken apart and built at a worksite in a sterile processing department. The frame 300 may be built on raiseable or lowerable feet 301, thereby allowing a general height of the frame 300 to be controlled. The frame 300 may be provided with external sensors or readers, e.g. cameras 302, distance sensors, or QR-readers for analysing containers received on the one or more motorized conveyor elements 200. The frame 300 may be provided with a top housing 303, for housing drive means of the gripper 100 or for housing general electronics. The gripper 100 is configured for opening or closing a container received on the one or more motorized conveyor elements 200. The one or more motorized conveyor elements 200 may receive the container at a first container position. Subsequently, the container is conveyed along a longitudinal axis L1 to a second container position, wherein the container is aligned with the gripper 100 with a first degree of precision. The gripper 100 then moves a first gripper element 110 and a second gripper element 120 from a first gripper position to a second gripper position resulting in either the first gripper element 110 or the second gripper element 120 contacting and moving the container to a third container position. The container in the third container position is aligned with the gripper 100 with a second degree of precision. When the container is aligned with the second degree of precision, the gripper 100 may open or close the container.
[0058] FIG. 2 shows a perspective view of an embodiment of the one or more motorized conveyor elements 200. In the shown embodiment the one or more motorized conveyor elements 200 are formed as a plurality of rollers 200. The rollers 200 extend longitudinally along a lateral axis L2. At least one roller within the plurality of rollers 200 is a motorized roller capable of rotating along its own longitudinal axis. In some embodiments more than one of the rollers 200 are motorized, e.g. two, three, four or all of them. The one or more motorized roller within the plurality of rollers 200 allows for a container received on the rollers 200 to be conveyed along the longitudinal axis L1. Although, rollers are shown in the current embodiment, the one or more motorized conveyor element is not limited to rollers, but may also be a belt, or a chain conveyor.
[0059] FIG. 3 shows a perspective view of another embodiment of the one or more motorized conveyor elements 200. In the shown embodiment the system further comprises four flippers 201. In other embodiments one flipper, two flippers, or three flippers may be used. The flippers 201 may assist the system 1 in aligning a container received on the one or more motorized conveyor elements 200 with the gripper 100. The flippers 201 may assist the system 1 by pushing the received container, so as to correct an orientation of the container, to push the container along the longitudinal axis L1, and/or to push the container along the lateral axis L2. The flippers 201, may be motorized or resiliently loaded.
[0060] FIG. 4 shows a perspective view of yet another embodiment of the one or more motorized conveyor elements 200. In the shown embodiment the system further comprises a stop plate 202. The stop plate 202 may assist the one or more motorized conveyor elements 200 in aligning a container received on the one or more motorized conveyor elements 200 with the gripper 100. The stop plate 202 may act to stop a container being conveyed along the longitudinal axis L1. By being able to stop a container at a certain position may assist in aligning a container. The stop plate 202 may be configured to be raised and lowered. The stop plate 202 may be configured to stop a container when raised and to allow passage of a container when lowered. Alternatively, or in combination, the system 1 may comprise guide rails for assisting in aligning the container with the gripper. Guide rails may help aligning a received container along the lateral axis L2, e.g. by being formed as a funnel capable of guiding a container being conveyed.
[0061] FIG. 5 shows a perspective view of an embodiment of the gripper 100, wherein the first gripper element 110 and the second gripper element 120 are in the first gripper position. The gripper 100 comprises the first gripper element 110 and the second gripper element 120. The first gripper element 110 and the second gripper element 120 may be placed along an orientation axis O1. The first gripper element 110 comprises a first protrusion 111 and a first hook 112. In some embodiments the first gripper element 110 only comprises the first protrusion 111, or the first hook 112. The second gripper element 120 comprises a second protrusion 121 and a second hook 122. In some embodiments the second gripper element 120 only comprises the second protrusion 111, or the second hook 112. The protrusions 111, 121 and the hooks 112, 122 are configured for interacting with an opening mechanism of a container received on the one or more motorized conveyor elements 200. The first gripper element 110 and the second gripper element 120 may be provided with hooks 112, 122 and/or protrusions 111, 121 dependent on types of containers received on the one or more motorized conveyor elements 200. The first gripper element 110 and the second gripper element 120 may also be provided with other opening or closing means than hooks or protrusions, dependent on the opening mechanism of containers received on the one or more motorized conveyor elements 200. The hooks 112, 122 may be configured to interact with hinges on the side of a received container, thereby opening or closing the container via interaction between the hooks 112, 122 and the hinges of the received container. Some containers may be provided with a push-to-open opening mechanism, wherein the protrusions 111, 121 may push down on the push-to-open opening mechanism to open and/or close the container. For containers with the push-to-open opening mechanism it may be enough to only have one of the gripper elements 110, 120 comprising a protrusion. The first gripper element 110 is able to move along the orientation axis O1, thereby allowing the first gripper element 110 to move from the first gripper position to the second gripper position. The first gripper element 110 may move linearly, or pivotally from the first gripper position to the second gripper position. The second gripper element 120 is able to move along the orientation axis O1, thereby allowing the second gripper element 120 to move from the first gripper position to the second gripper position. The second gripper element 120 may move linearly, or pivotally from the first gripper position to the second gripper position. The movement of the first gripper element 110 and the second gripper element 120 from the first gripper position to the second gripper position moves the first gripper element 110 and the second gripper element 120 towards each other.
[0062] FIG. 6 shows a perspective view of another embodiment of the gripper 100, wherein the first gripper element 110 and the second gripper element 120 are in the first gripper position. The gripper 100 is provided with a pressure element 102 for delivering a pressure to a top surface of a container. The pressure element 102 in the current embodiment is formed as piston with a stamp 102. Alternatively, the pressure element 102 may be any kind of weight which can be raised and lowered. Furthermore, the gripper 100 is provided with suction cups 103. The suction cups 103 may adhere onto a top surface of a container, and lift the lid of the container.
[0063] FIG. 7 shows a perspective view of an embodiment of the system 1, wherein the orientation axis O1 is parallel to the lateral axis L2 and the first gripper element 110 and the second gripper element 120 are placed along the orientation axis O1. The gripper may be able to move along a vertical axis V1, e.g. when a container is received the in the second container position the gripper may move down, and subsequently move the first gripper element 110 and the second gripper element 120 from the first gripper position to the second gripper position and open or close the container, after opening/closing the container the gripper 100 may move the first gripper element 110 and the second gripper element 120 back to the first gripper position, and move up to allow the container to pass further along the longitudinal axis L1. The gripper 100 may be configured to assume a first vertical position along the vertical axis when moving the first gripper element 110 and the second gripper element 120 from the first gripper position to the second gripper position, and to assume a second vertical position along the vertical axis when opening or closing the lid of the container. In this case where the first gripper element 110 and the second gripper element are placed along the orientation axis O1 parallel to the lateral axis L2, the first degree of precision may be defined as a deviation in position along the lateral axis, with regards to being aligned with the gripper 100. The container may already have the first degree precision when transferred to the first container position. The second degree of precision may be defined a deviation in position along the lateral axis, with regards to being aligned with the gripper 100, where the second degree of precision is higher than the first degree of precision. When the one or more motorized conveyor elements 200 have conveyed the container to the second container position, the first gripper element 110 or the second gripper element 120 may contact and push the container along the lateral axis L2, thereby aligning the container with the gripper 100 with the second degree of precision. Furthermore, the first gripper element 110 and the second gripper element 120 may also correct an orientation of the container, when moving from the first gripper position to the second gripper position.
[0064] FIG. 8 shows a perspective view of an embodiment of the system 1, wherein the orientation axis O1 is parallel to the longitudinal axis L1 and the first gripper element 110 and the second gripper element 120 are placed along the orientation axis O1. In this case where the first gripper element 110 and the second gripper element are placed along the orientation axis O1 parallel to the longitudinal axis L1, the first degree of precision may be defined as a deviation in position along the longitudinal axis L1, with regards to being aligned with the gripper 100. The container may be aligned with the first degree of position by being conveyed to the second container position by the one or more motorized conveyor element 200. The second degree of precision may be defined as a deviation in position along the longitudinal axis L1, with regards to being aligned with the gripper 100, though with a higher precision than the first degree of precision. When the one or more motorized conveyor elements 200 have conveyed the container to the second container position, the first gripper element 110 or the second gripper element 120 may contact and push the container along the longitudinal axis L1, thereby aligning the container with the gripper 100 with the second degree of precision. Furthermore, the first gripper element 110 and the second gripper element 120 may also correct an orientation of the container, when moving from the first gripper position to the second gripper position.
[0065] FIGS. 9a-9d shows a schematic side view of a work flow process of an embodiment of the system 1. In the shown embodiment the first gripper element 110 and the second gripper element 120 are placed along on an orientation axis O1. The orientation axis O1 being parallel to the longitudinal axis L1. In FIG. 9a a container 400 have been received on the one or motorized conveyor elements 200 at the first container position. The container 400 is then conveyed along the longitudinal axis L1 to the second container position shown on FIG. 9b. At the second container position, the container is aligned with the gripper 100 with the first degree of precision P1, which in the shown embodiment is a deviation in position along the longitudinal axis, with regards to being aligned with the gripper. The lines in the figures illustrating P1 shows where the center point of a container may be arranged after being conveyed by the one or more motorized conveyors e.g. with 4 standard deviations. The gripper 100 is then lowered to allow the first gripper element 110 or the second gripper element 120 to contact a side of the container 400. When the gripper 100 has been lowered, as seen FIG. 9c, the gripper 100 moves the first gripper element 110 and the second gripper element 120 from the first gripper position to the second gripper position. The movement of the first gripper element 110 and the second gripper element 120 from the first gripper position to the second gripper position, allows, in the shown example where the one or more motorized conveyor elements 200 have moved the container a bit too short, the first gripper element 110 to contact the container and moves it toward the second gripper element 120. However, for the next container, the one or motorized conveyor elements 200 may move the next container a bit too long, whereby it will be the second gripper element 120 that contacts the container and moves it toward the first gripper element 110. The movement of the container 400 towards the second gripper element 120 results in the container 400 being aligned with the gripper 100 with the second degree of precision P2. The second degree of precision P2 being a deviation in position along the longitudinal axis, with regards to being aligned with the gripper 100. The second degree of precision P2 being higher than the first degree of precision P1. The lines in the figures illustrating P2 shows where the center point of a container may be arranged after being moved by the first gripper element 110 or the second gripper element 120 e.g. with 4 standard deviations.
[0066] After the container 400 has been aligned with the second degree of precision, the gripper 100 may either open or close the container 400.
[0067] FIGS. 10a-10d shows a schematic side view of a work flow process of another embodiment of the system 1. In the shown embodiment the first gripper element 110 and the second gripper element 120 are placed along on an orientation axis O1. The orientation axis O1 being parallel to the lateral axis L2.
[0068] In FIG. 10a a container 400 have been received on the one or motorized conveyor elements 200 at the first container position. The container 400 is provided with a container tag 401. The container tag 401 may be a QR-code, an RFID-chip, a barcode, etc. The container tag 401 comprising container information about the container 400. The container information comprising information on what type of container it is. The system comprises a reader 500 for reading the container tag 401. At the first container position the reader 500 reads the container tag 401, thereby determining the type of container. Alternatively, the reader 500 may read the container tag 401 at the second container position or the third container position. After the reader 500 has determined the type of container it is communicated to the gripper 100. In the first container position a center point 402 of the container 400 is aligned with the gripper with a first degree of precision P1. The first degree of precision P1 being a deviation in position along the transversal axis, with regards to being aligned with the gripper 100. The lines in the figures illustrating P1 shows where the center point of a container may be arranged after being received at the first container position e.g. with 4 standard deviations. The container 400 is then conveyed along the longitudinal axis L1 to the second container position shown on FIG. 10c. The gripper 100 then moves the first gripper element 110 and the second gripper element 120 from the first gripper position to the second gripper position. The movement of the first gripper element 110 and the second gripper element 120 from the first gripper position to the second gripper position, allows, in the shown embodiment, the second gripper element 120 to contact the container and move it toward the first gripper element 110. The movement of the container towards the first gripper element 110 results in the center point of the container being aligned with the gripper 100 with the second degree of precision P2. The second degree of precision P2 being a deviation in position along the transversal axis, with regards to being aligned with the gripper 100. The second degree of precision P2 being higher than the first degree of precision P1. After the container 400 has been aligned with the second degree of precision P2, the gripper 100 may either open or close the container 400 in accordance with the type of container communicated to the gripper 100. The lines in the figures illustrating P2 shows where the center point of a container may be arranged after being moved by the first gripper element 110 or the second gripper element 120 e.g. with 4 standard deviations.
[0069] Although some embodiments have been described and shown in detail, the invention is not restricted to them, but may also be embodied in other ways within the scope of the subject matter defined in the following claims. In particular, it is to be understood that other embodiments may be utilised and structural and functional modifications may be made without departing from the scope of the present invention.
[0070] In device claims enumerating several means, several of these means can be embodied by one and the same item of hardware. The mere fact that certain measures are recited in mutually different dependent claims or described in different embodiments does not indicate that a combination of these measures cannot be used to advantage.
[0071] It should be emphasized that the term “comprises/comprising” when used in this specification is taken to specify the presence of stated features, integers, steps or components but does not preclude the presence or addition of one or more other features, integers, steps, components or groups thereof.
