TWI889179B - Unmanned sterilization supply system for surgical instruments - Google Patents

Abstract

An unmanned sterilization supply system for surgical instruments comprises a central control computer and an automatic cleaning unit connected to the central control computer, an automatic packing unit, an automatic sterilization unit, an automatic storage unit and an automatic delivery unit. The central control computer and the aforementioned units work together to automatically clean, disinfect, sterilize, package into trays, return trays to shelves, and deliver trays on shelves to in-hospital units or operating rooms. The aforementioned automated process does not involve manual labor, so the present invention can effectively save human resources.

Description

Unmanned sterilization supply system for surgical instruments

The present invention relates to a supply system, in particular to an unmanned sterilization supply system for surgical instruments used in hospitals.

In hospitals, surgical trays refer to packages containing surgical instruments. Generally speaking, sterilized surgical trays are placed on shelves in a sterilized storage area for storage and standby. When the operating room needs to use surgical trays, the operating room staff can place an order with the warehouse staff to obtain surgical trays. Sterilized surgical trays are sent to the operating room as a whole for use. Surgical instruments that have just been used in the operating room are considered as contaminated equipment. Therefore, there is a department in the hospital. The staff of this department is responsible for counting, cleaning, disinfecting, sterilizing, and repackaging surgical instruments into trays, and then sending them back to the shelves of the sterilized storage area for storage and standby.

However, the aforementioned processes of counting, cleaning, disinfecting, sterilizing, repackaging into trays, and putting trays on shelves for surgical instruments must be performed manually by multiple personnel. However, new personnel must be trained for more than six months and undergo a certain number of hours of education and training before they can operate each process. Moreover, if any personnel needs to take leave or resign, the shifts of other personnel must be adjusted, resulting in manpower shortages and insufficient equipment supply, making it difficult to further save human resources.

In view of this, the main purpose of the present invention is to provide an unmanned sterilization supply system for surgical instruments used in hospitals, in order to overcome the shortcomings of the prior art that it is difficult to further save human resources due to manual operations.

The present invention discloses an unmanned sterilization supply system for surgical instruments, which is installed in a hospital and comprises: a central control computer; an automatic cleaning unit, comprising a first robot arm connected to the central control computer, a first barcode reader, a first electric water valve, a second robot arm, a third robot arm, a second electric water valve, a fourth robot arm and an automatic cleaning machine, wherein: the first robot arm is controlled by the central control computer to take surgical instruments one by one from a garbage rack and move each surgical instrument to the camera imaging range of the first barcode reader; the first barcode reader is controlled by the central control computer to read a barcode of each surgical instrument and move the barcode from the garbage rack to the camera imaging range of the first barcode reader; The barcode obtains an instrument number and transmits it to the central control computer; after the first barcode reader transmits the instrument number of each surgical instrument back to the central control computer, the first robot arm is controlled by the central control computer to move each surgical instrument to a cleaning rack for placement; when the central control computer determines that the number of surgical instruments in the cleaning rack is zero, the first robot arm is controlled by the central control computer to move the cleaning rack to a first rinse tank, wherein the cleaning rack contains a plurality of surgical instruments; the first electric water valve is controlled by the central control computer to open the valve to allow water to spray out and rinse the surgical instruments in the cleaning rack in the first rinse tank; the second robot arm is controlled by the central control computer to open the valve to allow water to spray out and rinse the surgical instruments in the cleaning rack in the first rinse tank; The central control computer moves the cleaning basket from the first rinsing tank to a soaking tank, so that the surgical instruments in the cleaning basket are soaked in enzyme soaking liquid; the third robot arm is controlled by the central control computer to move the cleaning basket from the soaking tank to a second rinsing tank; the second electric water valve is controlled by the central control computer to open the valve to allow water to spray out and rinse the surgical instruments in the cleaning basket in the second rinsing tank; the fourth robot arm is controlled by the central control computer to move the cleaning basket from the second rinsing tank to a cleaning rack of the automatic cleaning machine; the automatic cleaning machine is controlled by the central control computer to execute an automatic cleaning program, and the automatic cleaning machine executes During the automatic cleaning program, the cleaning rack is transported to the cleaning chamber of the automatic cleaning machine for cleaning, high-level disinfection and drying, and then the cleaning rack is transported out of the cleaning chamber; an automatic packaging unit includes a fifth robot arm, a sixth robot arm, a second barcode reader, a seventh robot arm, an eighth robot arm, a bioluminescent detector and a ninth robot arm connected to the central control computer, wherein: the fifth robot arm is controlled by the central control computer to remove the cleaning rack from the cleaning rack of the automatic cleaning machine and move it to a designated point for placement; the sixth robot arm is controlled by the central control computer to remove the cleaning rack from the cleaning rack; The surgical instruments are taken one by one and moved into the camera imaging range of the second barcode reader; the second barcode reader is controlled by the central control computer to read the barcode of each surgical instrument and transmit the instrument number obtained from the barcode to the central control computer; the seventh robot arm is controlled by the central control computer to take a test rod to contact each surgical instrument taken by the sixth robot arm, and then move and place the test rod to the bioluminescent detector, and the bioluminescent detector transmits the detection data to the central control computer; the eighth robot arm is controlled by the central control computer to take each surgical instrument from the sixth robot arm and The instrument is moved into a tray, and a barcode sticker is provided on the outer surface of the tray; when the central control computer determines that the number of surgical instruments in the cleaning basket is zero, the ninth robot arm is controlled by the central control computer to close the tray; an automatic sterilization unit includes a tenth robot arm connected to the central control computer and an automatic sterilization pot, wherein: The tenth robot arm is controlled by the central control computer to move the tray to a sterilization shelf of the automatic sterilization pot for placement; the automatic sterilization pot is controlled by the central control computer to execute an automatic sterilization program. When the automatic sterilization pot executes the automatic sterilization program, the sterilization shelf is transported to the sterilization chamber of the automatic sterilization pot for sterilization. , after sterilization, the sterilization shelf is transported out of the sterilization chamber; an automatic storage unit, including an eleventh robot arm connected to the central control computer, a third barcode reader and an automatic conveying device, wherein: the eleventh robot arm is controlled by the central control computer to move the tray on the sterilization shelf to the automatic conveying device for placement; in the process of the eleventh robot arm moving the tray, the eleventh robot arm is controlled by the central control computer to face the barcode sticker on the tray to the third barcode reader, the third barcode reader is controlled by the central control computer to read a tray data of the barcode sticker on the tray, and transmit the tray data to the central control computer Computer, wherein the package data includes a package number and a storage location number; the automatic conveying device is controlled by the central control computer to move the package to a target location of a shelf for storage, wherein the storage location number corresponds to the target location; an automatic distribution unit, including a twelfth robot arm and an automatic transport vehicle connected to the central control computer, wherein: the automatic conveying device is controlled by the central control computer to move a package to be delivered to a delivery platform; the twelfth robot arm is controlled by the central control computer to move the package to be delivered on the delivery platform to the automatic transport vehicle for placement; the automatic transport vehicle is controlled by the central control computer to move the package to be delivered to a destination location.

According to the unmanned sterilization supply system of the present invention, through the coordinated operation of the central control computer and the aforementioned units, surgical instruments can be automatically cleaned, disinfected, sterilized, packaged into trays, and trays automatically returned to shelves, and the trays on the shelves can be automatically delivered to hospital units or operating rooms for use. The aforementioned automated process does not involve human intervention, so the present invention can effectively save manpower resources.

10: Central control computer

11: Central Processing Unit

12: Communication module

13: Display

14: Input device

20: Automatic cleaning unit

21: The first robotic arm

22: The first barcode reader

23: First electronically controlled water valve

24: Second robotic arm

25: The third robotic arm

26: Second electronically controlled water valve

27: The fourth robotic arm

28: Automatic cleaning machine

29: The first digital camera

30: Automatically equipped with packaging unit

31: The fifth robotic arm

32: The sixth robotic arm

33: Second barcode reader

34: The seventh mechanical arm

35: The eighth mechanical arm

36: Bioluminescent detector

37: The ninth robotic arm

38: Second digital camera

40: Automatic sterilization unit

41: The tenth robotic arm

42: Automatic sterilization pot

50:Automatic storage unit

51: Eleventh Robotic Arm

52: Third barcode reader

53: Automatic conveying equipment

60: Automatic delivery unit

61: The twelfth mechanical arm

62:Automatic transport vehicle

70: Scalpel

701: Barcode

702: Marking pattern

71: First side

72: Second side

Figure 1: Block diagram of the unmanned sterilization supply system for surgical instruments of the present invention.

Figure 2: Block diagram of the central control computer and automatic cleaning unit in the present invention.

Figure 3A: A schematic diagram of a first side of a scalpel having a barcode and a marking pattern in the present invention.

Figure 3B: Schematic diagram of the second side of the scalpel in the present invention.

Figure 4: Block diagram of the central control computer and the automatic packaging unit in the present invention.

Figure 5: Block diagram of the central control computer and automatic sterilization unit in the present invention.

Figure 6: Block diagram of the central control computer and automatic storage unit in the present invention.

Figure 7: Block diagram of the central control computer and automatic distribution unit in the present invention.

Please refer to Figure 1. The embodiment of the unmanned sterilization supply system of surgical instruments of the present invention includes a central control computer 10 and an automatic cleaning unit 20 connected to the central control computer 10, an automatic packing unit 30, an automatic sterilization unit 40, an automatic storage unit 50 and an automatic distribution unit 60. The central control computer 10, the automatic cleaning unit 20, the automatic packing unit 30, the automatic sterilization unit 40, the automatic storage unit 50 and the automatic distribution unit 60 are provided in a hospital, preferably on the same floor of the hospital, so there is no need to transfer items between different floors, so as to improve the efficiency of unmanned operation.

Generally speaking, surgical instruments that have just been used in operating rooms in hospitals are considered as waste. The "unmanned sterilization supply" method described in the present invention includes automatically cleaning, disinfecting, sterilizing, packaging into trays, automatically returning trays to shelves, and automatically delivering trays on shelves to hospital units or operating rooms for use according to computer control instructions. The "unmanned" operation involves the operation of robotic arms, and the operation of robotic arms is a mature technology. For example, the automation of production lines in the automotive industry is mainly achieved through robotic arms. The semiconductor industry also uses robotic arms to deliver items (such as wafers). In the medical field, there are applications of Da Vinci robotic arms in surgery. Therefore, the robot arm mentioned in the embodiment of the present invention is mainly used for simple operations such as picking up objects, moving objects, delivering objects, and placing objects, which is common knowledge in the field of robot arm technology. As long as the central control computer 10 has established the operating parameters of each robot arm, the operating parameters can be, for example, the robot arm's spatial coordinate system, moving trajectory, positioning coordinates, joint rotation angle, motor drive voltage/current, picking up/placing timing, waiting time, picking up force, etc.

The central control computer 10 includes a central processing unit (CPU) 11 , a communication module 12 electrically connected to the central processing unit 11 , a display 13 , and an input device 14 . The central control computer 10 can be connected to the automatic cleaning unit 20, the automatic packaging unit 30, the automatic sterilization unit 40, the automatic storage unit 50 and the automatic distribution unit 60 through the communication module 12, wherein the communication module 12 can include one or more wired network interfaces, one or more wireless network interfaces or one or more serial transmission interfaces, and the aforementioned various interfaces in the communication module 12 can be set according to needs, as long as the central processor 11 can be connected to the automatic cleaning unit 20, the automatic packaging unit 30, the automatic sterilization unit 40, the automatic storage unit 50 and the automatic distribution unit 60 through the communication module 12. Each controlled device (such as a robot arm, other electronic control components, machines, etc.)

The central processor 11 has a data and program computing function to serve as the computing core of the central control computer 10, and the central processor 11 executes a program code of an unmanned control schedule to control the actions and coordinated operations of each controlled device in the automatic cleaning unit 20, the automatic packing unit 30, the automatic sterilization unit 40, the automatic storage unit 50 and the automatic distribution unit 60. The display 13 may be, for example, a liquid crystal display (LCD), and the input device 14 may include, for example, a keyboard and a mouse. In one feasible embodiment, the central processing unit 11 and the communication module 12 may be arranged in a computer host, or in other feasible embodiments, the central processing unit 11, the communication module 12, the display 13 and the input device 14 may constitute an integrated operating machine, and the display 13 and the input device 14 may constitute a touch display.

Therefore, the user can operate the input device 14 to set the parameters of the unmanned control schedule, wherein the parameters of the unmanned control schedule include the operating parameters and control instructions of each controlled device in the automatic cleaning unit 20, the automatic packaging unit 30, the automatic sterilization unit 40, the automatic storage unit 50 and the automatic distribution unit 60.

The floor of the hospital can be planned as an independent cleaning area to install the automatic cleaning unit 20. Please refer to Figure 2. The automatic cleaning unit 20 includes a first robot arm 21 connected to the central control computer 10 and serving as the controlled device, a first barcode reader 22, a first electric-controlled water valve 23, a second robot arm 24, a third robot arm 25, a second electric-controlled water valve 26, a fourth robot arm 27 and an automatic cleaning machine 28. The first barcode reader 22 includes a camera for taking images and a processor for identifying barcode patterns in the images. The first electronically controlled water valve 23 and the second electronically controlled water valve 26 may be, for example, normally closed electromagnetic water valves. The independent cleaning area may be provided with a first rinsing tank, a soaking tank and a second rinsing tank which are arranged adjacent to each other in sequence according to the cleaning process and separated from each other. A first nozzle is provided above the first rinsing tank, and the first nozzle is connected to a first water pipe through the first electronically controlled water valve 23. The soaking tank contains enzyme soaking liquid. A second nozzle may be provided above the second rinsing tank, and the second nozzle is connected to a second water pipe through the second electronically controlled water valve 26. The first barcode reader 22 and the first rinsing tank are both located within the object placement and movement range of the first robot arm 21. For example, the first robot arm 21, the first barcode reader 22 and the first rinsing tank may be adjacent to each other, and the first barcode reader 22 may be placed on a platform. The first rinsing tank and the soaking tank are both located within the object placement and movement range of the second robot arm 24. For example, the second robot arm 24 may be placed between the first rinsing tank and the soaking tank. The soaking tank and the second rinsing tank are both located within the object placement and movement range of the third robot arm 25. For example, the third robot arm 25 may be placed between the soaking tank and the second rinsing tank. The second rinsing tank and the automatic cleaning machine 28 are both located within the object placement and movement range of the fourth robot arm 27. For example, the fourth robot arm 27 can be set at the rear side of the second rinsing tank and between the second rinsing tank and the automatic cleaning machine 28. The automatic cleaning machine 28 is a common knowledge or commercially available product in the relevant technical field, such as an automatic cleaning machine produced by GETINGE (for example, an automatic cleaning machine with a model of CM320). Therefore, the operating principle of the automatic cleaning machine 28 is not described in detail here. It can be understood that the automatic cleaning machine 28 has a control unit. The central control computer 10 of the present invention can be connected to the control unit of the automatic cleaning machine 28 through the communication module 12 to perform information transmission and related control functions.

Taking a usage scenario as an example, hospital staff can first put multiple waste containers of surgical instruments into a waste container rack, and then place the waste container rack at a designated point, and the location of the designated point is also within the object placement and movement range of the first robot arm 21. In a feasible embodiment, the designated point may be a countertop next to the first cleaning tank. The automatic cleaning unit 20 further includes a first digital camera 29. The first digital camera 29 may be disposed above the designated point. The first digital camera 29 is used to capture a bird's-eye view image of the garbage rack. The first digital camera 29 is connected to the central processor 11 via the communication module 12 to transmit the bird's-eye view image to the central processor 11. It is understandable that the bird's-eye view image includes a plurality of surgical instruments in the garbage rack. Therefore, the central processor 11 may recognize the number of surgical instruments and the outline and position coordinates of each surgical instrument through an image recognition method, thereby controlling the first robot arm 21 to take the surgical instruments one by one from the garbage rack. Among them, the image recognition method is common knowledge of image processing and is not the focus of the present invention, so it is not necessary to describe it in detail. For example, the image recognition method can be implemented through a machine learning image recognition model.

In the above description, each surgical instrument has a first side and a second side located at opposite positions. The first side is provided with a barcode and a marking pattern, and the second side has neither a barcode nor a marking pattern. The information recorded in the barcode is an instrument number of each surgical instrument, and the instrument number is equivalent to the identification code (ID) of each surgical instrument. If the surgical instrument is a scalpel 70 in FIG. 3A , the first side 71 of the scalpel 70 is provided with the barcode 701 As shown in FIG. 3B , the second side 72 of the scalpel 70 has neither a barcode nor a marking pattern, so the first robot arm 21 should avoid the position of the barcode 701 and the marking pattern 702 when picking up each surgical instrument. For example, the central processor 11 can define the center of each surgical instrument as the grasping point, and the barcode 701 and the marking pattern 702 of each surgical instrument should be staggered and far away from the position of the grasping point.

After the first robot arm 21 is controlled by the central control computer 10 to take a surgical instrument from the garbage rack, the surgical instrument is moved to the camera imaging range of the first barcode reader 22. The first barcode reader 22 is controlled by the central control computer 10 to recognize the marking pattern 702 of the surgical instrument and read the barcode 701 of the surgical instrument, and transmits the instrument number obtained from the barcode 701 to the central control computer 10 for back-end applications, such as counting instruments. It should also be noted that when the central control computer 10 determines that the first barcode reader 22 does not recognize the marking pattern 702, for example, the first barcode reader 22 does not return the instrument number after a timeout, the central control computer 10 can control the first robot arm 21 to turn the surgical instrument over so that the side of the surgical instrument with the barcode 701 and the marking pattern 702 faces the camera imaging range of the first barcode reader 22 for easy reading.

After the first barcode reader 22 transmits the instrument number of the surgical instrument back to the central control computer 10, the first robot arm 21 can be controlled by the central control computer 10 to move the surgical instrument to a cleaning rack for placement, wherein the position of the cleaning rack is also within the object placement and movement range of the first robot arm 21, wherein the cleaning rack can be a rack made of stainless steel mesh. After placing a surgical instrument in the cleaning basket, the central control computer 10 determines whether the number of surgical instruments in the overhead image taken by the first digital camera 29 is zero. If not, the aforementioned steps are repeated, i.e., the first robot arm 21 is controlled to take another surgical instrument from the garbage basket, pass the surgical instrument through the first barcode reader 22 to obtain its instrument number, and move the surgical instrument to the cleaning basket for placement, until the central control computer 10 determines that the number of surgical instruments in the overhead image taken by the first digital camera 29 is zero (the garbage basket is empty and there is no surgical instrument). When the central control computer 10 determines that the number of surgical instruments in the overhead image is zero, the central control computer 10 controls the first robot arm 21 to move the cleaning basket to the first rinse tank, and then the first robot arm 21 is controlled by the central control computer 10 to reset.

Next, the first electronically controlled water valve 23 is controlled by the central control computer 10 to open the valve and close the valve after maintaining a first waiting time. The first waiting time is, for example, 5 minutes. During the period when the first electronically controlled water valve 23 opens the valve, the first nozzle sprays a water column to rinse the surgical instruments in the washing rack in the first rinse tank, and the sprayed water column can cover all the surgical instruments in the washing rack. After the first electric control water valve 23 closes the valve, the second robot arm 24 is then controlled by the central control computer 10 to move the cleaning basket from the first rinsing tank to the soaking tank, so that the surgical instruments in the cleaning basket are soaked in the enzyme soaking liquid, and then the second robot arm 24 is controlled by the central control computer 10 to reset, and the enzyme soaking liquid can disinfect the surgical instruments. After the central control computer 10 controls the second robot arm 24 to reset, a second waiting time as the soaking time, the second waiting time (soaking time) is 5 minutes, and then the third robot arm 25 is controlled by the central control computer 10 to move the cleaning basket from the soaking tank to the second rinsing tank, and then the third robot arm 25 is controlled by the central control computer 10 to reset. Then, the second electronically controlled water valve 26 is controlled by the central control computer 10 to open the valve and close the valve after a third waiting time. The third waiting time is, for example, 5 minutes. During the period when the second electronically controlled water valve 26 opens the valve, the second nozzle sprays a water column to rinse the surgical instruments in the cleaning rack in the second rinse tank, and the sprayed water column can cover all surgical instruments in the cleaning rack to rinse off the enzyme soaking solution. After the second electric water valve 26 closes the valve, the fourth robot arm 27 is then controlled by the central control computer 10 to move the cleaning basket from the second rinse tank to a cleaning shelf of the automatic cleaning machine 28 and then the fourth robot arm 27 is controlled by the central control computer 10 to reset, wherein the cleaning shelf is set on a conveying device of the automatic cleaning machine 28. Then, the control unit of the automatic cleaning machine 28 is controlled by the central control computer 10 to execute an automatic cleaning program. When the automatic cleaning machine 28 executes the automatic cleaning program, the conveying device can be driven to convey the cleaning rack to a cleaning chamber of the automatic cleaning machine 28 for cleaning, high-level disinfection and drying. After the cleaning, high-level disinfection and drying are completed, the cleaning rack is conveyed out of the cleaning chamber through the conveying device and reset and positioned. The control schedule of the automatic cleaning unit 20 can end here.

Please refer to Figure 4, the automatic packaging unit 30 includes a fifth robot arm 31 connected to the central control computer 10 and serving as the controlled device, a sixth robot arm 32, a second barcode reader 33, a seventh robot arm 34, an eighth robot arm 35, a bioluminescent detector 36 and a ninth robot arm 37, the second barcode reader 33 includes a camera for taking images and a processor for recognizing barcode patterns in the images. The automatic cleaning machine 28 is located within the object placement and movement range of the fifth robot arm 31. For example, the fifth robot arm 31 can be set next to the automatic cleaning machine 28. The fifth robot arm 31 is controlled by the central control computer 10 to remove the cleaning rack from the cleaning shelf of the automatic cleaning machine 28 and move the cleaning rack to a designated point for placement. The designated point can be, for example, a platform next to the fifth robot arm 31. Then the fifth robot arm 31 is controlled by the central control computer 10 to reset. The position of the designated point (the platform on which the cleaning rack is placed) is within the object placement and movement range of the sixth robot arm 32. For example, the sixth robot arm 32 can be arranged beside the fifth robot arm 31. The sixth robot arm 32 is controlled by the central control computer 10 to take the cleaned surgical instruments one by one from the cleaning rack at the designated point. In a feasible embodiment, the automatic packaging unit 30 further includes a second digital camera 38. The second digital camera 38 can be arranged above the designated point. The second digital camera 38 is used to take a bird's-eye view image of the cleaning basket. The second digital camera 38 is connected to the central processor 11 through the communication module 12 to transmit the bird's-eye view image to the central processor 11. It can be understood that the central control computer 10 controls the sixth robot arm 32 to take surgical instruments one by one from the cleaning basket. The method of controlling the first robot arm 21 to take surgical instruments one by one from the garbage basket as described above can be referred to, and the detailed description is not repeated here. The second barcode reader 33 is located within the object placement and movement range of the sixth robot arm 32, and it is understandable that the central control computer 10 controls the sixth robot arm 32 and the second barcode reader 33 to read the instrument number of each surgical instrument (including the identification of the barcode 701 and the marking pattern 702). The manner in which the central control computer 10 controls the first robot arm 21 and the first barcode reader 22 to read the instrument number of each surgical instrument (including the identification of the barcode 701 and the marking pattern 702) as described above can be referred to, and the details will not be repeated here. The sixth robot arm 32 and the bioluminescent detector 36 are located within the object placement and movement range of the seventh robot arm 34. For example, the seventh robot arm 34 can be arranged beside the sixth robot arm 32, and the bioluminescent detector 36 can be arranged beside the seventh robot arm 34. The bioluminescent detector 36 can be, for example, ATP (Adenosine The seventh robot arm 34 is controlled by the central control computer 10 to take a test stick to touch the surgical instrument taken by the sixth robot arm 32, wherein the test stick is, for example, a cotton swab, and the container box of the test stick can be set near the seventh robot arm 34 for its use. Then the seventh robot arm 34 moves the test stick and places it on the biological luminescent detector 36 for detection. The biological luminescent detector 36 transmits the detection data to the central control computer 10 for back-end application, such as confirming the cleanliness of the surgical instrument. The sixth robot arm 32 is positioned within the object placement and movement range of the eighth robot arm 35. For example, the eighth robot arm 35 can be arranged beside the sixth robot arm 32. The eighth robot arm 35 is controlled by the central control computer 10 to take the surgical instrument from the sixth robot arm 32 and move the surgical instrument into a tray. The tray can be placed on a carrier. The outer surface of the tray has a bar code sticker. The carrier can be arranged near the eighth robot arm 35 and within the object placement and movement range of the eighth robot arm 35. As for other surgical instruments in the cleaning rack, by analogy with the above, through the coordinated operation of the sixth robot arm 32, the second barcode reader 33, the seventh robot arm 34, the eighth robot arm 35 and the biological luminescent detector 36, all surgical instruments in the cleaning rack are moved to the tray, so that the cleaning rack is emptied of surgical instruments. The position of the tray is within the object placement and movement range of the ninth robot 37. For example, the ninth robot 37 can be set on the carrier. When the central control computer 10 determines that the number of surgical instruments in the overhead image taken by the second digital camera 38 is zero (the cleaning rack is empty and there are no surgical instruments), the ninth robot 37 is controlled by the central control computer 10 to close the tray, and the sixth, seventh, eighth and ninth robots 32, 34, 35, 37 are controlled by the central control computer 10 to reset, and the control schedule of the automatic packaging unit 30 can end here. For example, the package may be a sterilization box, and the size of the sterilization box may be, for example, 45 cm (length), 30 cm (width), and 15 cm (height). When the ninth robot arm 37 closes the sterilization box, it may directly move the lid of the sterilization box to close the sterilization box. The size of the sterilization box is only for illustration, and the present invention is not limited thereto.

Please refer to FIG. 5 , the automatic sterilization unit 40 includes a tenth robot arm 41 and an automatic sterilization pot 42 connected to the central control computer 10 and serving as the controlled device. The positions of the tray on the carrier and the sterilization pot 42 are both within the object placement and movement range of the tenth robot arm 41. For example, the tenth robot arm 41 can be arranged beside the ninth robot arm 37 or the carrier, and the automatic sterilization pot 42 can be arranged beside the tenth robot arm 41. The automatic sterilization pot 42 is a common knowledge or commercially available product in the relevant technical field, for example The automatic sterilizer 42 is produced by GETINGE (for example, the automatic sterilizer of model 67H20), so the operating principle of the automatic sterilizer 42 is not described in detail here, and it can be understood that the automatic sterilizer 42 has a control unit, and the central control computer 10 of the present invention can be connected to the control unit of the automatic sterilizer 42 through the communication module 12 to perform information transmission and related control functions. The tenth robot arm 41 is controlled by the central control computer 10 to move the tray on the carrier to a sterilization shelf of the automatic sterilizer 42 for placement, and then the tenth robot arm 41 is controlled by the central control computer 10 to reset, wherein the sterilization shelf is set on a conveying device of the automatic sterilizer 42, and hospital staff can also put a challenge package containing a biological indicator (BI) into the sterilization shelf. Then the automatic sterilization pot 42 is controlled by the central control computer 10 to execute an automatic sterilization program. When the automatic sterilization pot 42 executes the automatic sterilization program, the conveying device can be driven to convey the sterilization rack to a sterilization chamber of the automatic sterilization pot 42 for high temperature sterilization. For example, the sterilization in the sterilization chamber The temperature is set to above 135 degrees Celsius. After the sterilization is completed, the sterilization rack is transported out of the sterilization chamber through the conveying device and reset and positioned. The control schedule of the automatic sterilization unit 40 can be terminated here. Hospital staff can also take the challenge pack from the sterilization rack to culture, observe and record bacteria.

The automatic storage unit 50 includes an eleventh robot arm 51 connected to the central control computer 10 and serving as the controlled device, a third barcode reader 52 and an automatic conveying device 53. The third barcode reader 52 includes a camera for taking images and a processor for identifying barcode patterns in the images. The positions of the automatic sterilizing pot 42, the third barcode reader 52 and the automatic conveying device 53 can all be within the object placement and movement range of the eleventh robot arm 51. For example, the positions of the eleventh robot arm 51, the third barcode reader 52, the automatic conveying device 53 and the automatic sterilizing pot 42 can be adjacent, and the three barcode readers 52 can be set on a platform. The floor of the hospital can be planned as a warehouse, which is equipped with multiple shelves and the automatic conveyor 53. However, it should be noted that the automatic conveyor 53 places items at specific positions on the shelves or takes out items at specific positions on the shelves, which is common knowledge in the field of automatic storage technology, so the operating principle of the automatic conveyor 53 is not described in detail here. The eleventh robot arm 51 is controlled by the central control computer 10 to take the trays on the sterilization shelf of the automatic sterilizer 42 and move them to the automatic conveyor 53 for placement, and then the eleventh robot arm 51 is controlled by the central control computer 10 to reset. In the above, during the process of the eleventh robot arm 51 moving the package, the eleventh robot arm 51 is controlled by the central control computer 10 to face the barcode sticker on the package to the third barcode reader 52, and the third barcode reader 52 is controlled by the central control computer 10 to read a package data of the barcode sticker on the package, and transmit the package data to the central control computer 10 for back-end application, wherein the package data may include a package number and a storage location number, the package number represents the identity of the package, for example, the package is an instrument package composed of surgical and examination needs of the entire hospital, and the storage location number represents the storage location of the package in the warehouse. In a feasible embodiment, when the third barcode reader 52 is installed, the camera imaging range of the third barcode reader 52 can be aligned with or cover the moving trajectory of the items picked up by the eleventh robot arm 51, thereby ensuring that the third barcode reader 52 can successfully read the barcode sticker of each package every time the eleventh robot arm 51 picks up a package. As mentioned above, because the central control computer 10 obtains the storage location number of the pallet through the third barcode reader 52, the storage location number corresponds to a target location, and the target location refers to a specific location of a specific shelf. Therefore, the automatic conveying device 53 is controlled by the central control computer 10 to move the pallet to the target location corresponding to the storage location number for storage, and the control schedule of the automatic storage unit 50 can be terminated here.

As can be seen from the above, the function of the automatic storage unit 50 is to return the sterilized trays to the corresponding positions on the shelves for storage. Therefore, the shelves in the warehouse store a variety of trays, and each tray has a corresponding storage location number.

Please refer to FIG. 7 , the automatic distribution unit 60 includes a twelfth robot arm 61 and an automatic transport vehicle 62 connected to the central control computer 10 and serving as the controlled device. The automatic transport device 53 and the automatic transport vehicle 62 are located within the object placement and movement range of the twelfth robot arm 61. For example, the twelfth robot arm 61, the automatic transport vehicle 62 and the automatic transport device 53 may be adjacent to each other, the twelfth robot arm 61 may be arranged beside the automatic transport device 53, and the automatic transport vehicle 62 may be arranged beside the twelfth robot arm 61. In other words, a departure position of the automatic transport vehicle 62 may be planned beside the twelfth robot arm 61, and the twelfth robot arm 61 is arranged between the automatic transport device 53 and the departure position. The central control computer 10 is connected to the control unit of the automatic transport vehicle 62 through the communication module 12, so the central control computer 10 can obtain the operation information of the automatic transport vehicle 62 at any time and perform related controls (such as starting, parking, standby, etc.).

Taking a usage scenario as an example, when an operating room has a need for pallets, the operating room staff can place an order with the warehouse management staff to specify the required pallets (hereinafter referred to as a pallet to be delivered) and a delivery destination location. The destination location can be, for example, a planned pickup location outside the operating room door or inside the warehouse. The warehouse management staff can operate the input device 14 of the central control computer 10 to issue a pickup instruction to the central processor 11. The pickup instruction includes the pallet number of the pallet to be delivered, the storage location number and the coordinates of the destination location. Therefore, the central control computer 10 will control the automatic conveying device 53 according to the fetching instruction, that is, the automatic conveying device 53 is controlled by the central control computer 10 to take the tray package to be delivered at the location of the storage position number from the shelf, and then move it to a delivery platform of the automatic conveying device 53, and then the twelfth robot arm 61 is controlled by the central control computer 10 to move the tray package to be delivered on the delivery platform to the automatic transport vehicle 62 for placement, and then the twelfth robot arm 61 is controlled by the central control computer 10 to reset, and the automatic transport vehicle 62 is controlled by the central control computer 10 to move the tray package to be delivered to the destination position, and the operating room staff can take the tray package on the automatic transport vehicle 62 at the destination position.

The principle of the automatic transport vehicle 62 being able to travel between the departure position and the destination position is common knowledge in the art. For example, automatic sweeping robots and restaurant automatic food delivery robots have similar applications. In a feasible embodiment, in short, the central control computer 10 can transmit the coordinates of the departure position and the coordinates of the destination position to the automatic transport vehicle 62, and the automatic transport vehicle 62 can travel from the departure position to the destination position. The automatic transport vehicle 62 may have an operating device, which may be, for example, a touch screen display. The touch screen display may display the tray number of the tray to be delivered for the operating room staff to check. After the operating room staff takes the tray from the automatic transport vehicle 62, they may click a confirmation button on the touch screen display of the automatic transport vehicle 62. After the automatic transport vehicle 62 determines that the confirmation button has been clicked, it may return from the destination location to the departure location to wait.

In summary, after the surgical instruments (devices) just used in the operating room of the hospital are sent to the unmanned sterilization supply system of the present invention, the present invention can automatically clean, disinfect, sterilize, pack into trays, return the trays to the shelves, and automatically distribute the trays on the shelves to the hospital units or operating rooms for use. The above-mentioned automated process does not involve human intervention, so the present invention can effectively save human resources and personnel training time. Furthermore, the "unmanned" operation of the present invention involves the operation of multiple robotic arms, and the automatic cleaning unit 20, the automatic packaging unit 30, the automatic sterilization unit 40, the automatic storage unit 50 and the automatic distribution unit 60 are equipped with their own independent robotic arms, and the units do not share robotic arms, which can effectively avoid cross-contamination of surgical instruments before and after sterilization.

10: Central control computer

11: Central Processing Unit

12: Communication module

13: Display

14: Input device

20: Automatic cleaning unit

30: Automatically equipped with packaging unit

40: Automatic sterilization unit

50:Automatic storage unit

60: Automatic delivery unit

Claims (2)

A surgical instrument sterilization supply system is provided in a hospital and comprises: A central control computer; An automatic cleaning unit, comprising a first robot arm connected to the central control computer, a first barcode reader, a first electric water valve, a second robot arm, a third robot arm, a second electric water valve, a fourth robot arm and an automatic cleaning machine, wherein: The first robot arm is controlled by the central control computer to take surgical instruments one by one from a garbage rack and move each surgical instrument to a camera imaging range of the first barcode reader; The first barcode reader is controlled by the central control computer to read a barcode of each surgical instrument and transmit an instrument number obtained from the barcode to the central control computer; After the first barcode reader transmits the instrument number of each surgical instrument back to the central control computer, the first robot arm is controlled by the central control computer to move each surgical instrument to a cleaning rack for placement; When the central control computer determines that the number of surgical instruments in the waste basket is zero, the first robot arm is controlled by the central control computer to move the cleaning rack to a first rinse tank, wherein the cleaning rack contains a plurality of surgical instruments; The first electric control water valve is controlled by the central control computer to open the valve to allow water to spray out and rinse the surgical instruments in the cleaning rack in the first rinse tank; The second robot arm is controlled by the central control computer to move the cleaning basket from the first rinsing tank to a soaking tank, so that the surgical instruments in the cleaning basket are soaked in enzyme soaking liquid; The third robot arm is controlled by the central control computer to move the cleaning basket from the soaking tank to a second rinsing tank; The second electric water valve is controlled by the central control computer to open the valve to allow water to spray out and rinse the surgical instruments in the cleaning basket in the second rinsing tank; The fourth robot arm is controlled by the central control computer to move the cleaning basket from the second rinsing tank to a cleaning shelf of the automatic cleaning machine; The automatic cleaning machine is controlled by the central control computer to execute an automatic cleaning program. When the automatic cleaning machine executes the automatic cleaning program, the cleaning rack is transported to the cleaning chamber of the automatic cleaning machine for cleaning, high-level disinfection and drying, and then the cleaning rack is transported out of the cleaning chamber; An automatic packaging unit, including a fifth robot arm, a sixth robot arm, a second barcode reader, a seventh robot arm, an eighth robot arm, a bioluminescent detector and a ninth robot arm connected to the central control computer, wherein: The fifth robot arm is controlled by the central control computer to remove the cleaning rack from the cleaning rack of the automatic cleaning machine and move it to a designated point for placement; The sixth robot arm is controlled by the central control computer to take surgical instruments one by one from the cleaning rack and move each surgical instrument to a camera imaging range of the second barcode reader; The second barcode reader is controlled by the central control computer to read the barcode of each surgical instrument and transmit the instrument number obtained from the barcode to the central control computer; The seventh robot arm is controlled by the central control computer to take a test stick to contact each surgical instrument taken by the sixth robot arm, and then move and place the test stick to the bioluminescent detector, and the bioluminescent detector transmits the detection data to the central control computer; The eighth robot arm is controlled by the central control computer to take over each surgical instrument from the sixth robot arm and move each surgical instrument into a tray with a barcode sticker on the outer surface of the tray; When the central control computer determines that the number of surgical instruments in the cleaning basket is zero, the ninth robot arm is controlled by the central control computer to close the tray; An automatic sterilization unit, including a tenth robot arm connected to the central control computer and an automatic sterilization pot, wherein: The tenth robot arm is controlled by the central control computer to move the tray to a sterilization shelf of the automatic sterilization pot for placement; The automatic sterilization pot is controlled by the central control computer to execute an automatic sterilization program. When the automatic sterilization pot executes the automatic sterilization program, the sterilization rack is transported to the sterilization chamber of the automatic sterilization pot for sterilization, and then the sterilization rack is transported out of the sterilization chamber after sterilization; An automatic storage unit, including an eleventh robot arm connected to the central control computer, a third barcode reader and an automatic conveying device, wherein: The eleventh robot arm is controlled by the central control computer to move the tray on the sterilization rack to the automatic conveying device for placement; During the process of the eleventh robot arm moving the pallet, the eleventh robot arm is controlled by the central control computer to face the barcode sticker on the pallet to the third barcode reader, and the third barcode reader is controlled by the central control computer to read a pallet data of the barcode sticker on the pallet, and transmit the pallet data to the central control computer, wherein the pallet data includes a pallet number and a storage location number; The automatic conveying equipment is controlled by the central control computer to move the pallet to a target location of a shelf for storage, wherein the storage location number corresponds to the target location; An automatic distribution unit, including a twelfth robot arm and an automatic transport vehicle connected to the central control computer, wherein: The automatic conveying device is controlled by the central control computer to move a tray package to be delivered to a delivery platform; The twelfth robot arm is controlled by the central control computer to move the tray package to be delivered on the delivery platform to the automatic transport vehicle for placement; The automatic transport vehicle is controlled by the central control computer to move the tray package to be delivered to a destination position; Wherein, each surgical instrument has a first side and a second side located at opposite positions, the first side is provided with a barcode and a marking pattern, and the second side has no barcode and no marking pattern; The first robot arm of the automatic cleaning unit is controlled by the central control computer to take a surgical instrument from the garbage rack and then move the surgical instrument into the camera imaging range of the first barcode reader; when the central control computer determines that the first barcode reader does not recognize the marking pattern, the central control computer controls the first robot arm to turn the surgical instrument over so that the first side of the surgical instrument with the barcode and the marking pattern faces the camera imaging range of the first barcode reader; The sixth robot arm of the automatic packaging unit is controlled by the central control computer to take a surgical instrument from the cleaning rack and then move the surgical instrument into the camera imaging range of the second barcode reader; when the central control computer determines that the second barcode reader does not recognize the marking pattern, the central control computer controls the sixth robot arm to turn the surgical instrument over so that the first side of the surgical instrument with the barcode and the marking pattern faces the camera imaging range of the second barcode reader. The unmanned sterilization supply system for surgical instruments as described in claim 1, wherein the automatic cleaning unit further comprises a first digital camera to take a bird's-eye view image of the garbage basket; the central control computer is connected to the first digital camera to determine whether the number of surgical instruments in the garbage basket is zero based on the bird's-eye view image taken by the first digital camera; The automatic packaging unit further comprises a second digital camera to take a bird's-eye view image of the cleaning basket; the central control computer is connected to the second digital camera to determine whether the number of surgical instruments in the cleaning basket is zero based on the bird's-eye view image taken by the second digital camera.

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