WO2025117194A1

WO2025117194A1 - System for storage and sorting of surgical instruments

Info

Publication number: WO2025117194A1
Application number: PCT/US2024/055887
Authority: WO
Inventors: Maria ILLIAKOVA
Original assignee: Individual
Current assignee: Individual
Priority date: 2023-11-28
Filing date: 2024-11-14
Publication date: 2025-06-05
Anticipated expiration: 2026-05-28

Abstract

In one or more arrangements, a system is presented for storage and sorting of surgical instruments. In some various arrangements, the system may be configured to receive, store, and sort, retrieve and/or return surgical instruments in the surgical setting. In one or more arrangements, the system includes one or more compartments for storing a set of surgical instruments for a procedure. In one or more arrangements, the system includes an instrument sorting system and a control system. In one or more arrangements, the control circuit is configured to automatically cause the instrument sorting system to sort the surgical instruments according to a given set of instructions and/or preferences of the surgeon performing the procedure. In one or more arrangements, the control system is configured to count and/or track surgical instruments as they are received, sorted, retrieved and/or returned.

Description

PATENT APPLICATION

TITLE: System For Storage and Sorting of Surgical Instruments

INVENTOR(S):

Maria Iliakova

CROSS REFERENCE TO RELATED APPLICATIONS

This application claims priority to U.S. Provisional Patent Application. 63/603,410, which was filed on November 28, 2023 and entitled “System For Storage and Sorting of Surgical Instruments”, the entirety of which is fully incorporated by reference herein.

FIELD OF THE DISCLOSURE:

The disclosure generally relates surgical systems and methods and more specifically to systems and methods for the purpose of surgical tool maintenance and control.

OVERVIEW OF THE DISCLOSURE:

The field of surgery has evolved significantly in recent years. The introduction of robotic surgical systems and the integration of related technologies such as artificial intelligence have begun to impact the performance and monitoring of surgery, patient outcomes, and even the feasibility of surgical capabilities. These tools and systems enable alleviation of human effort and improved precision, reproducibility, cost and outcomes in the delivery of health care. Despite these advancements, the role of the surgical technologist has remained largely unchanged.

Human surgical technologists remain responsible for preparing and handling surgical instruments and interacting with surgical staff in the operating room with little evolution in this process over the past 150 years. The tasks completed by a surgical technologist are essential to the performance of surgery but are time consuming and require an increasing amount of familiarity with a growing number of tools and techniques. Staffing shortages of surgical technologists limit the volume, timing, and complexity of surgeries that can be performed and contribute to increased cost and inefficiency in the performance of surgery. The risk of human error remains a significant concern in all interactions between human workers in a surgical setting. Luckily, some of the tasks of a surgical technologist and surgical tool processing may be appropriate for automation.

In order to address the challenges and limitations of human surgical technologists and surgical tool processing as well as to take advantage of tasks that can be automated and enhanced through technology, there is a need for robotic system to replace the function of a surgical technologist in preparing, sorting, and counting surgical instruments perioperatively. These functions of a surgical technologist create rate-limiting steps to the performance of surgery by adding time to room turnover between cases, preparation for surgical cases, throughout surgical cases, and the completion of surgical cases. These functions also introduce potential for human error in recognizing, handling, and counting surgical instruments. Such a system has immediate application in all surgical settings, but most pressingly in environments that may be difficult to access or staff fully with human surgical technologists, such as evening and weekend call hours, rural and community hospitals, ambulatory surgical centers, conflict zones, underwater and airborne settings, training environments, and space.

Therefore, for all the reasons stated above, and the reasons stated below, there is a need in the art for a system to improve perioperative management of surgical instruments.

Thus, it is a primary objective of the disclosure to provide a system to assist in storage and sorting of surgical instruments that improves upon the state of the art.

Another objective of the disclosure is to provide a system for storage and sorting of surgical instruments that reduces the time required for surgical preparation.

Yet another objective of the disclosure is to provide a system for storage and sorting of surgical instruments that reduces time required for instrument sorting and counting.

Another objective of the disclosure is to provide a system for storage and sorting of surgical instruments that reduces turnover time between surgical cases and improves perioperative efficiency.

Yet another objective of the disclosure is to provide a system for storage and sorting of surgical instruments that eliminates the risk of human error in the preparation, sorting, and counting of surgical instruments.

Another objective of the disclosure is to provide a system for storage and sorting of surgical instruments that provides a uniform process in surgical tool preparation, sorting, and counting in the perioperative period.

Yet another objective of the disclosure is to provide a system for storage and sorting of surgical instruments that monitors and/or tracks surgical instruments.

Another objective of the disclosure is to provide a system for storage and sorting of surgical instruments that collects data on the use of surgical instruments to facilitate data analytics.

Yet another objective of the disclosure is to provide a system for storage and sorting of surgical instruments that mitigates restrictions related to availability, geolocation, and/or comfort of staff.

Another objective of the disclosure is to provide a system for storage and sorting of surgical instruments that can be used in any applicable location or setting.

Yet another objective of the disclosure is to provide a system for storage and sorting of surgical instruments that is capable of functioning regardless of environment location, difficulty, timing, or risk.

Another objective of the disclosure is to provide a system for storage and sorting of surgical instruments that improves surgical access, safety, efficiency, cost, and quality regardless of surgical environment.

Yet another objective of the disclosure is to provide a system for storage and sorting of surgical instruments that can be used for real-time monitoring and quality control in management of surgical instruments in the perioperative setting.

Another objective of the disclosure is to provide a system for storage and sorting of surgical instruments that reduces costs.

Yet another objective of the disclosure is to provide a system for storage and sorting of surgical instruments that is accurate.

Another objective of the disclosure is to provide a system for storage and sorting of surgical instruments that is reliable.

Yet another objective of the disclosure is to provide a system for storage and sorting of surgical instruments that can maintain sanitization of sterilized instruments prior to use.

Another objective of the disclosure is to provide a system for storage and sorting of surgical instruments that has a long useful life.

Yet another objective of the disclosure is to provide a system for storage and sorting of surgical instruments that is easy to use.

Another objective of the disclosure is to provide a system for storage and sorting of surgical instruments that is intuitive to use.

These and other objects, features, or advantages of the disclosure will become apparent from the specification, figures, and claims.

SUMMARY:

In one or more arrangements, a system is presented for storage and sorting of surgical instruments. In some various arrangements, the system may be configured to receive, store, and sort, retrieve and/or return surgical instruments in the surgical setting. In one or more arrangements, the system includes one or more compartments for storing a set of surgical instruments for a procedure. In one or more arrangements, the system includes an instrument sorting system and a control system. In one or more arrangements, the control system is configured to cause the instrument sorting system to perform the sorting of the surgical instruments in the one or more compartments.

In one or more arrangements, the control circuit is configured to automatically cause the instrument sorting system to sort the surgical instruments according to a given set of instructions and/or preferences of the surgeon performing the procedure. In one or more arrangements, the control system is configured to cause the instrument sorting system to facilitate the retrieval of surgical instruments from the compartments and return of surgical instruments to the compartments as may be required during a surgical procedure.

In one or more arrangements, the control system is configured to count and/or track surgical instruments as they are received, sorted, retrieved and/or returned. In one or more arrangements, the system includes sensors configured to collect data pertaining to retrieval, storage, location, interaction with, and/or use the set of surgical instruments during a procedure. In some arrangements, at any time before, during or after surgery, the system is capable of providing tracking data for all surgical instruments. In one or more arrangements, the control system is configured to perform data analytics to facilitate improvement in system operation and/or surgical safety, efficiency, cost, quality, and/or outcome.

BRIEF DESCRIPTION OF THE FIGURES: FIG. 1 shows a system for storage and sorting of surgical instruments, in accordance with one or more arrangements.

FIG. 2 shows a block diagram of a system for storage and sorting of surgical instruments, in accordance with one or more arrangements.

FIG. 3 shows a block diagram of a system for storage and sorting of surgical instruments, in accordance with one or more arrangements.

FIG. 4 shows a block diagram of a control system for a system for storage and sorting of surgical instruments, in accordance with one or more arrangements.

FIG. 5 shows a cross sectional left side view of a system for storage and sorting of surgical instruments, in accordance with one or more arrangements.

FIG. 6 shows a cross sectional side view of a tray table assembly of a system for storage and sorting of surgical instruments, in accordance with one or more arrangements.

FIG. 7 shows a cross sectional left side view of a system for storage and sorting of surgical instruments, in accordance with one or more arrangements.

FIG. 8 shows the system shown in FIG. 7, in accordance with one or more arrangements; the view showing an instrument placed on a source tray table that is in a storage position.

FIG. 9 shows the system shown in FIG. 8, in accordance with one or more arrangements; the view showing the source tray table with the instrument moved rearward to a sorting position and a pick and place machine lowered to a position to pick up the instrument from the source tray table.

FIG. 10 shows the system shown in FIG. 9, in accordance with one or more arrangements; the view showing the instrument removed from the source tray table by the pick and place machine and the source tray table moved forward to the storage position.

FIG. 11 shows the system shown in FIG. 10, in accordance with one or more arrangements; the view showing the sorted tray table moved rearward to the sorting position and the pick and place machine positioned for placement of the instrument onto the sorted tray table.

FIG. 12 shows the system shown in FIG. 11, in accordance with one or more arrangements; the view showing the sorted tray table being moved from the sorting position to the storage position.

FIG. 13 shows the system shown in FIG. 12, in accordance with one or more arrangements; the view showing the sorted tray table with the instrument in the storage position. FIG. 14 shows the system shown in FIG. 13, in accordance with one or more arrangements; the view showing the sorted tray table with the instrument moved forward to an extended position where the tray table is accessable to a user.

FIG. 15 shows a flowchart of an example process for loading trays and/or instruments into the system that may be performed by the control system, in accordance with one or more arrangements.

FIG. 16 shows a flowchart of an example process for sorting of instruments and/or instrument trays after loading into the system, in accordance with one or more arrangements.

FIG. 17 shows an example process for automatically identifying items on a tray table assembly using optical imaging that may be used for sorting in one or more arrangements.

FIG. 18 shows a screenshot of an example user interface for a user to confirm and/or correct identification of an item, in accordance with one or more arrangements.

FIG. 19 shows an example process for retrieval and storage of instruments and/or instrument trays during a procedure, in accordance with one or more arrangements.

FIG. 20 shows an example arrangement of a system for storage and sorting of surgical instruments, in accordance with one or more arrangements; the view showing the system having a door configured to fold down when opened and serve as a sorted tray table for placement of items when sorting and/or as requested during a procedure

FIG. 21 shows an example arrangement of system for storage and sorting of surgical instruments, in accordance with one or more arrangements; the view showing the system having a static tray table within a compartment for storage and/or sorting of items thereon.

FIG. 22A shows a front view of a system for storage and sorting of surgical instruments, in accordance with one or more arrangements.

FIG. 22B shows a right side view of a system for storage and sorting of surgical instruments, in accordance with one or more arrangements.

DETAILED DESCRIPTION OF THE DISCLOSURE:

In the following detailed description of the embodiments, reference is made to the accompanying drawings which form a part hereof, and in which is shown by way of illustration specific embodiments in which the disclosure may be practiced. The embodiments of the present disclosure described below are not intended to be exhaustive or to limit the disclosure to the precise forms in the following detailed description. Rather, the embodiments are chosen and described so that others skilled in the art may appreciate and understand the principles and practices of the present disclosure. It will be understood by those skilled in the art that various changes in form and details may be made without departing from the principles and scope of the invention. It is intended to cover various modifications and similar arrangements and procedures, and the scope of the appended claims therefore should be accorded the broadest interpretation so as to encompass all such modifications and similar arrangements and procedures. For instance, although aspects and features may be illustrated in or described with reference to certain figures or embodiments, it will be appreciated that features from one figure or embodiment may be combined with features of another figure or embodiment even though the combination is not explicitly shown or explicitly described as a combination. In the depicted embodiments, like reference numbers refer to like elements throughout the various drawings.

It should be understood that any advantages and/or improvements discussed herein may not be provided by various disclosed embodiments, or implementations thereof. The contemplated embodiments are not so limited and should not be interpreted as being restricted to embodiments which provide such advantages or improvements. Similarly, it should be understood that various embodiments may not address all or any objects of the disclosure or objects of the invention that may be described herein. The contemplated embodiments are not so limited and should not be interpreted as being restricted to embodiments which address such objects of the disclosure or invention. Furthermore, although some disclosed embodiments may be described relative to specific materials, embodiments are not limited to the specific materials or apparatuses but only to their specific characteristics and capabilities and other materials and apparatuses can be substituted as is well understood by those skilled in the art in view of the present disclosure.

It is to be understood that the terms such as “left, right, top, bottom, front, back, side, height, length, width, upper, lower, interior, exterior, inner, outer, and the like as may be used herein, merely describe points of reference and do not limit the present invention to any particular orientation or configuration.

As used herein, “and/or” includes all combinations of one or more of the associated listed items, such that “A and/or B” includes “A but not B,” “B but not A,” and “A as well as B,” unless it is clearly indicated that only a single item, subgroup of items, or all items are present. The use of “etc.” is defined as “et cetera” and indicates the inclusion of all other elements belonging to the same group of the preceding items, in any “and/or” combination(s).

As used herein, the singular forms "a," "an," and "the" are intended to include both the singular and plural forms, unless the language explicitly indicates otherwise. Indefinite articles like “a” and “an” introduce or refer to any modified term, both previously-introduced and not, while definite articles like “the” refer to a same previously-introduced term; as such, it is understood that “a” or “an” modify items that are permitted to be previously-introduced or new, while definite articles modify an item that is the same as immediately previously presented. It will be further understood that the terms "comprises," "comprising," "includes," and/or "including," when used herein, specify the presence of stated features, characteristics, steps, operations, elements, and/or components, but do not themselves preclude the presence or addition of one or more other features, characteristics, steps, operations, elements, components, and/or groups thereof, unless expressly indicated otherwise. For example, if an embodiment of a system is described as comprising an article, it is understood the system is not limited to a single instance of the article unless expressly indicated otherwise, even if elsewhere another embodiment of the system is described as comprising a plurality of articles.

It will be understood that when an element is referred to as being "connected," "coupled," “mated,” “attached,” “fixed,” etc. to another element, it can be directly connected to the other element, and/or intervening elements may be present. In contrast, when an element is referred to as being "directly connected," "directly coupled," “directly engaged” etc. to another element, there are no intervening elements present. Other words used to describe the relationship between elements should be interpreted in a like fashion (e.g., "between" versus "directly between," "adjacent" versus "directly adjacent," “engaged” versus “directly engaged,” etc.). Similarly, a term such as “operatively”, such as when used as “operatively connected” or “operatively engaged” is to be interpreted as connected or engaged, respectively, in any manner that facilitates operation, which may include being directly connected, indirectly connected, electronically connected, wirelessly connected or connected by any other manner, method or means that facilitates desired operation. Similarly, a term such as “communicatively connected” includes all variations of information exchange and routing between two electronic devices, including intermediary devices, networks, etc., connected wirelessly or not. Similarly, “connected” or other similar language particularly for electronic components is intended to mean connected by any means, either directly or indirectly, wired and/or wirelessly, such that electricity and/or information may be transmitted between the components.

It will be understood that, although the ordinal terms “first,” “second,” etc. may be used herein to describe various elements, these elements should not be limited to any order by these terms unless specifically stated as such. These terms are used only to distinguish one element from another; where there are “second” or higher ordinals, there merely must be a number of elements, without necessarily any difference or other relationship. For example, a first element could be termed a second element, and, similarly, a second element could be termed a first element, without departing from the scope of example embodiments or methods.

Similarly, the structures and operations discussed herein may occur out of the order described and/or noted in the figures. For example, two operations and/or figures shown in succession may in fact be executed concurrently or may sometimes be executed in the reverse order, depending upon the functionality/acts involved. Similarly, individual operations within example methods described below may be executed repetitively, individually or sequentially, to provide looping or other series of operations aside from single operations described below. It should be presumed that any embodiment or method having features and functionality described below, in any workable combination, falls within the scope of example embodiments.

As used herein, various disclosed embodiments may be primarily described in the context of medical surgery. However, the embodiments are not so limited. It is appreciated that the embodiments may be adapted for use in other applications which may be improved by the disclosed structures, arrangements and/or methods. The system is merely shown and described as being used in the context of medical surgery for ease of description and as one of countless examples.

SYSTEM 10:

With reference to the figures, a system for storage and sorting of surgical instruments (or simply “system 10”) is presented. System 100 is formed of any suitable size, shape, and design and is configured to receive surgical instruments 10 (or simply instruments 10) for a surgical procedure and sort the surgical instruments 10 for the procedure. In one or more arrangements, system 100 is additionally or alternatively configured to facilitate management of surgical instruments 10 for a procedure (e.g., determining and verifying required instruments 10, inventory of instruments 10, and/or counting and tracking of instruments 10).

In one or more arrangements shown, as one example, system 100 includes a main body 102, an instrument sorting system 104, a control system 106, an optional sanitation system 110, and/or an optional transportation system 110, among other various components.

Main Body 102;

Main body 102 is formed of any suitable size, shape, and design and is configured to interconnect and/or house various components of instrument sorting system 104, control system 106, a display 232 of 228, sanitation system 110, transportation system 112, and/or other components of system 100. In one or more arrangements shown, as one example, main body 102 has a generally rectangular shape having a front 120, a rear 122, a top 124, a bottom 126, and opposing sides 128, which form an enclosure 130 having a hollow interior 132. In one or more arrangements shown, instrument sorting system 104, control system 106, and sanitation system 110 are positioned within hollow interior 132. However, the arrangements are not so limited. Rather, it is contemplated that in some various arrangements, other various components of system 100 may be positioned in enclosure in addition to and/or in lieu of instrument sorting system 104, control system 106, and/or sanitation system 110.

In one or more example arrangements shown, main body 102 includes one or more compartments 134 configured for storage of instruments 10 while also providing instrument sorting system 104 access to instruments 10. In one or more arrangements shown, main body 102 includes one or more openings 136 and/or doors 134 providing access to compartment(s) 134, for example, to facilitate insertion and/or removal of instruments 10 by a medical worker 16, instrument sorting system 104, and/or by another component of system 100.

Instrument Sorting System 104;

Instrument sorting system 104 is formed of any suitable size, shape, and design and is configured to access and sort surgical instruments 10. In one or more arrangements shown, as one example, instrument sorting system 104 includes tray table assemblies 144 and 146, a pick and place device 156 configured to access instruments 10 on tray table assemblies 144 and 146 and sort the instruments 10 thereon (e.g., by repositioning instruments 10 on and/or moving instruments 10 between tray table assemblies 144/146).

Tray Table Assemblies 144 and 146:

In one or more arrangements shown, instrument sorting system 104 includes a number of tray table assemblies 144/146 positioned in respective bays 140 of compartment(s) 134. In one or more arrangements, system includes a first set of tray table assemblies 144 (also referred to as source tray table assemblies 144) for storage of unsorted instruments 10 and a second set of tray table assemblies 146 (also referred to as sorted tray table assemblies 146) for placement and arrangement of instruments 10 by instrument sorting system 100 when sorted.

Tray table assemblies 144 and 146 are formed of any suitable size, shape, and design, and are configured for placement and storage of instruments 10 thereon and providing access to such instruments 10. In one or more arrangements shown, as one example, tray table assemblies 144/146 include a tray table 142 and a transport assembly 148.

Tray Table 142:

In one or more arrangements shown, tray table 142 has a generally planar rectangular shape having an upper surface 172 and lower surface 174 extending between a front edge 176, a rear edge 178, and opposing side edges 180. However, the arrangements are not limited to tray tables. Rather, it is contemplated that in some various arrangements, system 100 may utilize various methods and/or means to facilitate storage of and access to instruments 10 including but not limited to tables, drawers, shelves, bays, dividers, bins, buckets, pockets, containers, and/or any other method or means for storage and/or access to instruments 10.

Transport Assemblies 148:

In one or more arrangements, trays tables 142 of tray table assemblies 144 and 146 are operably connected to enclosure 130 in bays 140 by transport assemblies 148. Transport assemblies 148 are formed of any suitable size, shape, and design and are configured to facilitate movement of tray table assemblies 144 and 146 to facilitate access to instruments 10 thereon (e.g., by a medical worker 16 and/or by pick and place device 156. In one or more arrangements, as one example, transport assemblies 148 include a respective pair of sliding tracks 158, positioned on opposing sides edges!80 of tray table 142 and connected to main body 102, and an actuator assembly 160.

Actuator Assembly 160:

Actuator assembly 160 is formed of any suitable size, shape, and design and is configured actuator assembly 160 includes a rotary electric motor 162 having a gear 164 operably connected to a rotatable belt 166 operably connected to tray table 142 so as to move tray table 142 when belt 166 is rotated by electric motor 162. However, the arrangements are not so limited. Rather, it is contemplated that in some various arrangements, actuator assembly 160 may be implemented by various means and method known in the art, including but not limited to, for example, linear actuators, rotary actuators, motors, solenoids and other electro mechanical actuators, hydraulic driven actuators, pneumatic actuators thermal and magnetic actuators, and/or polymer actuators, to name a few.

In one or more arrangements, transport assemblies 148 are configured to move tray table assemblies 144 and 146 between a retracted storage position 150 within enclosure 130, a sorting position 152 within enclosure 130, and an extended position 154 outside of enclosure 130. In one or more arrangements, tray table assemblies 144 and 146 are vertically stacked in retracted storage position 150. In this example arrangement, when instrument sorting system 104 needs access to a tray table assembly 144/146 (e.g., for placement and/or retrieval of an instrument 10) the tray table assembly 144/146 is moved to the sorting position 152 by transport assembly 148, where instrument sorting system 104 is provided overhead access to the tray table assembly 144/146. In this example arrangement, when a medical worker 16 requires access to a tray table assembly 144/146 (e.g., for loading of instruments 10 before a procedure and/or for access instruments 10 during a procedure), the tray table assembly 144/146 is moved outward to the extended position 154 by transport assembly 148, where medical worker 16 is provided overhead access to the tray table assembly 144/146.

Pick and Place Device 156:

Pick and place device 156 is formed of any suitable size, shape, and design and is configured to facilitate picking up instruments 10 (e.g., off of source tray table assemblies 144), moving and/or repositioning the instruments 10, and placing the instruments (e.g., onto sorted tray table assemblies 144) to facilitate sorting of the instruments 10.

In the arrangement shown, as one example pick and place device 156 includes an end effector 190 operably connected to a robotic actuator 192, among other components.

End Effector 190:

End effector 190 is formed of any suitable size, shape, and design and is configured to operably connect with robotic actuator 192 and grip or otherwise engage objects to facilitate picking up and placing of instruments 10. In one or more arrangements shown, end effector 190 is an electric gripper type effector configured to grip onto objects. However, the arrangements are not so limited. Rather, it is contemplated that in some various arrangements, end effector 190 may utilize various methods and/or means to grip or otherwise engage object including but not limited to for example, claws, grippers (e.g., electric grippers, pneumatic grippers, mechanical grippers impactive grippers, ingressive grippers, astrictive grippers, contigutive grippers, Bernoulli grippers, electrostatic grippers, capillary grippers, cryogenic grippers, ultrasonic grippers, intrusive grippers and/or any other type gripper), suction cups, vacuum, magnets, and/or any other method or means to facilitate picking up and/or placing of objects. In some arrangements, end effector 190 and/or actuator 192 are configured to be able to permit end effector 190 to be disconnected from actuator 192 and swapped out for another type of end effector 190. In this manner, pick and place device 156 can be reconfigured to be better suited for handling a particular set of instruments 10 to be used for a given procedure.

Robotic Actuator 192:

Robotic actuator 192 is formed of any suitable size, shape, and design and is configured to operably connect with end effector 190 and move and/or reposition end effector 190 to facilitate picking up and/or placing of objects. In one or more arrangements shown, robotic actuator 192 is a Cartesian robotic actuator configured to end effector 190 in X, Y, and Z axes (e.g., by respective linear actuators) to facilitate picking up and placing of instruments 10 for sorting. However, the arrangements are not so limited. Rather, it is contemplated that in some various arrangements, robotic actuator 192 may be a robotic arm or other device configured to move end effector 190 in four axes, five axes, six axes, or any other number different axes. Sensor(s) 196:

In one or more arrangements, instrument sorting system 104 includes one or more sensors 196 to facilitate evaluation, recognition, inventory and/or picking and/or placing of instruments 10. As one example, in one or more arrangements, sensors 196 includes one or more cameras positioned to facilitate imaging of objects on tray table assemblies 144/146 to facilitate, for example, scanning of identifier (e.g., barcodes, QR codes, labels, engravings, RFID or other nearfi eld communication tag, or any other type of identifier) of instruments 10 and/or trays 12, optical recognition of instruments 10 and/or trays 12, determination or location and/or orientation of instruments 10 and/or trays 12, inventory and/or tracking of instruments 10 and/or trays 12, and/or aid in operation of pick and place device 156.

However, the arrangements are not so limited. Rather, it is contemplated that in some various arrangements, system 100 may utilize various additional and/or alternative types of sensors 196 including but not limited to, for example, cameras, light sensors, microphones, pressure sensors, accelerometers, a gyroscope, GPS or other position sensors, temperature sensors, humidity sensor, air quality sensors, chemical sensors, biometrics data sensors (e.g., for example, heart rate, blood pressure, blood oxygen levels, blood alcohol levels, blood glucose sensor, respiratory rate, galvanic skin response, bioelectrical impedance, brain waves, and/or combinations thereof), and/or any other type of sensor.

Transportation System 110;

In one or more arrangements, system 100 optionally includes a transportation system 110. Transportation system 110 is formed of any suitable size, shape, and design and is configured to facilitate movement of system 100, for example, from a first location where sterilized trays 12 of instruments 10 for a procedure are loaded into system 100 to a second location where a procedure is to be performed. In one or more arrangements shown, transportation system 110 is a self-propelled transportation system to facilitate easy relocation of system 100. However, the arrangements are not so limited. Rather, it is contemplated that in some various arrangements, transportation system 110 may be self-propelled or may be configured for manual movement by a user (e.g., non-powered wheels). In one or more arrangements shown, transportation system 110 is a self-propelled system including a set of tracks 240 (or wheels 240 or other drive mechanism) propelled by an electric motor 242. In one or more arrangements, transportation system 110 is configured to be manually controlled and/or navigated by a user (e.g., via user interface 228). Additionally or alternatively, in one or more arrangements, transportation system 110 may be configured to self-navigate using, for example, programmed map data, GPS, optical based navigation systems, RADAR, LIDAR or any other method and/or means for self-navigation.

Sanitation System 110:

In one or more arrangements, system 100 optionally includes a sanitation system 110. Sanitation system 110 is formed of any suitable size, shape, and design and is configured to assist in preventing instruments 10 in compartment(s) 134 of system 100 from becoming contaminated prior to use. In some various arrangements, sanitation system may utilize various means and/or methods for sanitation in compartment(s) 134 including but not limited to, for example, heat, ultraviolet light, ionization, ozone, applicators configured to mist sanitizing solutions (e.g., solutions containing iodine, acids, bleach, and/or any other sanitizing agents), and/or any other method and/or means for sanitation.

In some arrangements, sanitation system 110 is configured to be used prior to loading instruments 10 to ensure that compartment(s) 134 are sanitized. Additionally or alternatively, in some arrangements, sanitation system 110 is configured to be used while instruments 10 are stored within compartment(s) 134 of the system to reduce the chance that sterilized instruments 10 will become contaminated while in storage. Additionally or alternatively, in some arrangements, sanitation system 110 may be configured to sterilize instruments 10 stored within compartment 134.

Control System 106:

Control system 106 is formed of any suitable size, shape, and design and is configured to electronically or communicatively connect with instrument sorting system 104, sanitation system 110, transportation system 112 and/or other components of system 100 to facilitate operation of system 100. In some various different arrangements, control system 106 (and various other functional blocks, modules, controllers, devices, and/or circuits of system 10) may be implemented using various different types of electrical circuits, devices and/or systems (collectively “processing systems”) that are specifically configured to carry out one or more of these or related operations/activities. For example, such processing systems may include discrete logic circuits or programmable logic circuits configured for implementing these operations/activities, as shown in the figures and/or described in the specification. In certain embodiments, such a programmable logic circuit may include one or more programmable integrated circuits (e.g., field programmable gate arrays and/or programmable ICs). Additionally or alternatively, such a programmable logic circuit may include one or more processing circuits/devices (e.g., a computer, microcontroller, system-on-chip, smart phone, tablet, server, and/or cloud computing resources).

FIG. 4 shows a block level diagram of an example implementation of control system 106, consistent with one or more arrangements. In this example, control system 106 is implemented by a processing system 202 having a communication circuit 204, a processing circuit 206, and a memory 208 having software code 210 or instructions that facilitates the operation of system 10, among other components.

Communication circuit 204 is formed of any suitable size, shape, design, technology, and in any arrangement and is configured to facilitate communication with devices to be controlled, monitored, and/or alerted by control system 106. In one or more arrangements, as one example, communication circuit 204 includes a transmitter (for one-way communication) or transceiver (for two-way communication). In various arrangements, communication circuit 204 may be configured to communicate with various components of system 100 (e.g., using various wired and/or wireless communication technologies and protocols over various networks and/or mediums including but not limited to, for example, IsoBUS, Serial Data Interface 12 (SDI-12), UART, Serial Peripheral Interface, PCI/PCIe, Serial ATA, MODBUS RTU, ARM Advanced Microcontroller Bus Architecture (AMBA), USB, Firewire, RFID, MODBUS TCP, EtherNet/IP, Near Field Communication (NFC), infrared and optical communication, 802.3 /Ethernet, 802.11/ WIFI, Profibus, Wi-Max, Bluetooth, Bluetooth low energy, EtherCAT, Controller Area Network (CAN), UltraWideband (UWB), 802.15.4/ZigBee, ZWave, GSM/EDGE, UMTS/HSPA+/HSDPA, CDMA, LTE, RPMA ,FM/VHF/UHF networks, and/or any other communication protocol, technology or network.

Processing circuit 206 may be any computing device that receives and processes information and outputs commands according to software code 210 stored in memory 208, For example, in some various arrangements, processing circuit 206 may be discrete logic circuits or programmable logic circuits configured for implementing these operations/activities, as shown in the figures and/or described in the specification. In certain arrangements, such a programmable circuit may include one or more programmable integrated circuits (e.g., field programmable gate arrays and/or programmable ICs). Additionally or alternatively, such a programmable circuit may include one or more processing circuits (e.g., a computer, microcontroller, system-on-chip, smart phone, server, and/or cloud computing resources). For instance, computer processing circuits may be programmed to execute a set (or sets) of software code stored in and accessible from memory 208. Memory 208 may be any form of information storage such as flash memory, RAM memory, DRAM memory, a hard drive, or any other form of memory.

Processing circuit 206 and memory 208 may be formed of a single combined unit. Alternatively, processing circuit 206 and memory 208 may be formed of separate but electrically connected components. Alternatively, processing circuit 206 and memory 208 may each be formed of multiple separate but communicatively connected components.

Software code 210 is any form of instructions or rules that direct processing circuit 206 how to receive, interpret and respond to information to operate as described herein. Software code 210 or instructions are stored in memory 208 and accessible to processing circuit 206.

Processes 220:

As an illustrative example, in one or more arrangements, software code 210 or instructions may configure processing circuit 206 to perform various processes (e.g., processes 220) in support of instrument sorting and other features and/or functions performed by system 100. As some illustrative examples, some processes 220 that may be performed and/or initiated by control system 106 in response to user input from user interface 228 and/or data from sensors 196 include but are not limited to, for example, instrument sorting processes 222, access and/or tracking processes 224, analytics processes 226, processes for a user interface 228, and/or any other process or action. While one or more arrangements may primarily describe processes 220 as being performed by control system 106, the arrangements are not so limited. Rather, it is contemplated that in some arrangements, various sorting processes 222, access and/or tracking processes 224, analytics processes 226, user interface 228 and/or other processes 220 may be performed whole or in part by one or more systems communicatively connected to control system (e.g., using cloud-based computing resources, hospital systems 20, or other third-party systems).

Sorting Processes 222:

In one or more arrangements, sorting processes 222 performed by control system is configured to operate instrument sorting system 104 to sort the instruments 10 according to a set of configuration data 248 indicating a set of protocols and/or a set of surgeon preferences for sorting of instruments 10. In some various arrangements, such protocols and/or preferences may include a general default set of protocols and/or preferences or may additionally or alternatively include protocols and/or preferences that are specific to the hospital, surgeon, category of surgery, specific procedure, and/or any other relevant consideration. For ease of explanation, the examples are primarily described with reference to sorting instruments 10 according to a set of configuration data 248 indicating preferences specified for a particular surgeon.

In one or more arrangements, in support of surgeon specific sorting, sorting processes 222 are configured to guide a medical worker 16 through loading of prepared trays 12 and/or instruments 10 to ensure that the required instruments 10 are available for sorting.

FIG. 15 shows a flowchart of an example process for loading trays 12 and/or instruments 10 into system 100 that may be performed by control system 106, in accordance with one or more arrangements. In this example arrangement, at process block 250, a user interface is provided for a user to select a scheduled procedure for instrument preparation and sorting. In one or more arrangements, control system 106 is configured to access the list of scheduled procedures in a database 22 of a hospital system 20 (or cloud based or third-party system), communicatively connected with system 100 (e.g., via one or more networks), for selection by the user. In response to the user selecting a procedure, the process proceeds to process block 252, where the process determines the surgeon and/or type of procedure (e.g., by accessing hospital system 20 and/or database 22). At process block 254, a set of configuration data 248 for the determined surgeon and/or type of procedure is retrieved from hospital system 20 and/or database 22. As previously noted, the configuration data 248 may indicate general protocols and/or surgeon preferences for selecting and sorting of instruments 10 for a particular procedure. In this example, at process block 256 a list of prepared instruments 10 and/or instrument trays 12 needed for the procedure is determined based on the retrieved set of configuration data 248.

At process block 258, a user interface (e.g., user interface 228) is provided to guide the user through preparation and/or loading of prepared instruments 10 and/or instrument trays 12. The guidance provided by such a user interface may vary in some different arrangements. In some arrangements, the user interface 228 may simply provide a list of instruments 10 and/or instrument trays 12 to be loaded. In some arrangements, the user interface 228 may additionally or alternatively guide the user through a verification process to verify and inventory each instrument 10 and/or instrument tray 12 to be loaded. Such verification, may be performed using various methods and/or means including but not limited to, for example: prompting the user to confirm identification and/or loading of an instrument 10/tray 12, scanning identifiers on the instruments/trays (e.g., barcodes, QR codes, labels, engravings, RFID or other nearfield communication tag, or any other type of identifier), or any other method and/or means for verifying the instruments 10 and/or instrument trays 12 that are loaded into system 100. In some arrangements, the user interface 228 may additionally or alternatively direct the user to place the instruments 10 and/or instrument trays 12 in designated locations (e.g., to facilitate later identification and/or tracking by system 100).

As one illustrative example, FIG. 15 shows an example subprocess for guiding a user though loading of instruments 10 and/or trays 12, in accordance with one or more arrangements. In this example, at process block 262, the process directs the user to retrieve an instrument 10 and/or instrument tray 12 from the determined list to be loaded into system 100. At process block 264, the user of prompted to verify the instrument 10 and/or instrument tray 12 to be loaded, for example by scanning an identifier on the instrument 10 and/or instrument tray 12 (e.g., barcodes, QR codes, labels, engravings, RFID or other nearfield communication tag, or any other type of identifier). At process block 266, the user is directed where to load the verified instrument 10 and/or instrument tray 12 (e.g., on a particular tray table and/or position on a particular tray table). In some various arrangements, system 100 may utilize various methods and/or means to direct a user where an instrument 10 and/or tray 12 should be loaded including but not limited to, for example, providing a display illustrating the target position on the target tray table, illuminating an LED or other light at the target position, and/or any other method or mean for directing placement. In this example, at process block 268 the process prompts the user to confirm placement of the instrument 10 and/or tray 12 and/or any required unpackaging of the instrument 10 and/or tray 12 (e.g., removing a cover from a tray 12 so instrument sorting system 104 can access instruments 10 therein). Additionally or alternatively, in some arrangements, system 100 may be configured to automatically verify placement of instrument 10 and/or tray 12 (e.g., using images of a tray table recorded by sensors 196). In this illustrative example subprocess is repeated until all instruments 10 and/or instrument trays 12 in the determined list of required instruments 10 have been loaded.

FIG. 16 shows a flowchart of an example process for sorting of instruments 10 and/or instrument trays 12 after loading into system 100, in accordance with one or more arrangements. In this example process, instruments 10 are sorted as they are moved from tray tables 142 of source tray table assemblies 144 to tray tables 142 sorted tray table assemblies 146.

In this illustrative example, at process block 280 a first (or next) source tray table assembly 144 is selected. At process block 282, the selected source tray table assembly 144 is moved from the storage position 150 to the sorting position 152 to make instruments 10 on the selected source tray table assembly 144 accessible to pick and place device 156. At process block 284, pick and place device 156 moves end effector 190 down to the selected source tray table assembly 144.

At process block 286, items 10/12 on the selected source tray table assembly 144 (e.g., instruments 10 and/or instrument trays 12) are identified to determine inventory items 10/12 to be sorted. In some various different arrangements, system 100 may utilize various methods and/or means to identify items 10/12 on the selected source tray table assembly 144. For example, in some arrangements, where a user is directed to place items 10/12 at particular locations when loading into system 100, items 10/12 may be identified based on their location. As another example, in some arrangements, items 10/12 may be additionally or alternatively identified, for example, using a camera or other appropriate sensor 196 to scanning an identifier on the item 10/12 (e.g., barcodes, QR codes, labels, engravings, RFID or other nearfield communication tag, or any other type of identifier). As yet another example, in some arrangements, items 10/12 may be additionally or alternatively identified, for example, using optical instrument recognition of images recorded by camera sensor 196. However, the arrangements are not so limited. Rather, it is contemplated that in some various arrangements, any other method or means may be used for identification of items 10/12.

At process block 288, the identified items 10/12 are assigned to respective sorted positions on one or more sorted tray table assemblies 146, based on protocols and/or surgeon preferences specified in configuration data 248. In this example, after assigning sorted positions, the items 10/12 on the selected source tray table assembly 144 are moved to their assigned positions on sorted tray table assemblies 146.

Process block 290 shows one example process for such movement of items 10/12 to the sorted tray table assemblies 146. In this example process 290, each item 10/12 is moved by performing the processes in process blocks 292-300. At process block 292, the item 10/12 is picked up with end effector 190 of pick and place device 156 and end effector 190 is moved to a position above the target sorted tray table assembly 146. At process block 294, the target sorted tray table assembly 146 is moved from the storage position 150 to the sorting position 152 to make the target sorted tray table assembly 146 accessible to pick and place device 156. At process block 296, the item 10/12 is placed pick and place device 156 on the target sorted tray table assembly 146 at its assigned position. At process block 298, the target sorted tray table assembly 146 is moved from the sorting position 152 back to the storage position 150. At process block 300, pick and place device 156 moves end effector 190 back down to the selected source tray table assembly 144.

In this example, the process 290 is repeated in this manner until all items 10/12 have been moved from the selected source tray table assembly 144. Once all items 10/12 have been moved from the selected source tray table assembly 144, the process proceeds from process block 290 to 304, where the now empty selected source tray table assembly 304 is moved from the sorting position 152 to the storage position 150 to clear the way for sorting items 10/12 from other source tray table assemblies 304. The process then proceeds to decision block 306. At decision block 306, if all source tray table assembly 304 have been sorted, the process exits. Otherwise, the process loops from decision block 306 back to process block 280 and the sorting process is repeated for another source tray table assembly 304.

FIG. 17 shows an example process for automatically identifying items 10/12 on a tray table assembly using optical imaging that may be used for sorting in one or more arrangements (e.g., in process block 286 of the process shown in FIG. 16). In this example process, for each item 10/12 on the tray table assembly 144/146, the process is first configured to evaluate an image of the item 10/12 at process block 320 to determine if the item 10/12 has an identifier (e.g., barcode, QR code, label, engraving, RFID or other nearfield communication tag, or any other type of identifier) that can be used to positively identify the item 10/12. If such an identifier is present, the process is directed by decision block 322 to process block 334, where the item 10/12 is added to an inventory for the tray table assembly and position if the item 10/12 is recorded.

If such an identifier for the item 10/12 is not present, the process is directed by decision block 322 to process block 330, where optical instrument recognition (OIR) is performed. If the OIR process does not recognize the item 10/12, the process is directed from decision block 326 to process block 330, where the item 10/12 is displayed and a user is prompted to select the displayed item 10/12 from a list (e.g., of instruments 10 and/or trays 12). Once the proper item 10/12 is identified by the user, the process proceeds to process block 334, where the item 10/12 is added to an inventory for the tray table assembly and position if the item 10/12 is recorded.

If the OIR process does recognize the item 10/12, the process is directed from decision block 326 to decision block 328. If confidence in the OIR is low, the process is directed from decision block 328 to process block 332, where the item 10/12 is displayed and a user is prompted to confirm the identification and/or select the correct item from a list.

FIG. 18 shows a screenshot of an example user interface 228 for a user to confirm and/or correct identification of an item 10/12. In this example, the user interface 228 is configured to display an image of the unknown/unconfirmed item 10/12 on tray table assembly 144/146 in an upper left panel of the display. In this example arrangement, user interface 228 provides an indicator (shown as dashed lined boxes) to identify the item 10/12 in question in the image. In this example, user interface 228 displays the name of the item 10/12 estimated to be shown (e.g., Magill Forceps in this example), and prompts the user to confirm or select the correct item 10/12. In this example arrangement, user interface 228 provides a scrollable list of various instruments 10 and/or instrument trays 12 on the right side of the display for selection by a user.

Referring back again to the process in FIG. 17, once the identification is confirmed/corrected at process block 332 or if confidence in the OIR is acceptable at decision block 328, the process proceeds to process block 334, where the item 10/12 is added to an inventory for the tray table assembly and position if the item 10/12 is recorded. Access and/or Tracking Processes 224:

In one or more arrangements, control system 106 is configured to perform various processes 224 to facilitate providing access to and/or tracking of sorted instruments 10 during a procedure.

As one illustrative example, FIG. 19 shows an example process for retrieval and storage of instruments 10 and/or instrument trays 12 during a procedure. In this example, the process is configured to maintain a status of inventory in the system 100 as items 10/12 are checked out or checked in during the procedure.

In this example, if the user command is to check out an item 10/12 (e.g., provide an item 10/12 from inventory), the process is directed from decision block 338 to process block 340, where the status of the requested item 10/12 to be checked out from inventory is determined. If all instances of the requested item 10/12 are already checked out, the process proceeds from decision block 342 to process block 344, where the process notifies the user that all instances of the requested item 10/12 have been checked out. Otherwise, if the requested item 10/12 is available, the process proceeds from the decision block 342 to process block 346, where the sorted tray table assembly where the item 10/12 is located is determined. At process block 348, other extended sorted tray table assemblies 146 in the extended position 154 are moved to the retracted storage position 150. At process block 350, the target sorted tray table assemblies 146 where the requested item 10/12 is located is moved to from the retracted storage position 150 to the extended position 154, where it is made available to the medical workers 16 performing/assi sting in the procedure. The process then proceeds to process block 352, where the status of the item 10/12 in the inventory is updated.

In this example, if the user command is to check in an item 10/12 (e.g., return a previously checked out item 10/12 to inventory), the process is directed from decision block 338 to process block 354, where the item 10/12 is identified and the assigned location for the item 10/12 is determined. In some various different arrangements, the item 10/12 may be identified using various methods and/or means including but not limited to, for example, identification in the user comment, selection by the user, scanning of an identifier on the item 10/12 (e.g., barcodes, QR codes, labels, engravings, RFID or other nearfield communication tag, or any other type of identifier), optical instrument recognition, and/or any other method and/or means for identification.

After determining the assigned location for the item 10/12, the process retracts other sorted tray table assemblies 146 at process block 356. At process block 358, the sorted tray table assemblies for the determined storage location for the item 10/12 is moved from the storage positions 150 to the extended position 154. At process block 360, the user is prompted to place the item 10/12 on the sorted tray table assembly 146 and conform placement (e.g., as previously discussed). The process then proceeds to process block 352, where the status of the item 10/12 in the inventory is updated.

In the example process shown in FIG. 19, items 10/12 are tracked in inventory as they are checked into and out of the system 100. However, the arrangements are not so limited. Rather, it is contemplated that in some various arrangements, system 100 may additionally or alternatively be configured to track movement and/or use of instruments 10 and/or instrument trays 12 outside of system 100 (e.g., tracking items that are checked out or otherwise removed from system 100).

In one of more arrangements, sensors 196 of system 100 may include various audio, visual, temporospatial, and/or other sensors to facilitate detection, recording and processing of data related to the movement and tracking of items 10/12 during a procedure. Such sensors 196 may include bare are not limited to, for example, microphones, cameras, tracking labels or fobs, among other sensors 196. As an illustrative example, in one or more arrangements, system 100 includes a set of imaging cameras (e.g., positioned on an exterior or main body 102 and/or at various locations of an operating room where the procedure is performed) to facilitate visual tracking of items 10/12 during use. For example, using images from such camera tracking processes 224 or other processes 220 of system 100 may be configured to use object recognition and tracking processes to identify automatically identify items 10/12 on sorted tray table assemblies 146 in the extended position 154 and track position of such items 10/12 in the operating room.

By tracking position of items 10/12, system may assist in location of any missing items 10/12 at the end of a procedure when performing a count of the inventory of items 10/12. For example, in one or more arrangements, user interface 228 is configured to provide an interface to indicate that tracked location any item 10/12 that has been removed from system 100. In this manner, missing items 10/12 can be located more quickly, and perioperative efficiency can be improved. Analytics Processes 226:

In some example arrangements, control system 106 is configured to perform various analytics processes 226, and/or other operations using data collected in tracking of instruments 10 during a procedure and/or data stored in a database and/or other storage communicatively connected to system 100). As some non-limiting example such data may include for example, instruments 10 sorted for the procedure, instruments 10 used in the procedure, track location of instruments 10 during the procedure, number of each instrument 10 used in the procedure, length of time instruments 10 were used, times instruments 10 were checked out, times instruments 0 were checked in, instruments 10 used as various stages of a procedure, length of the procedure, recorded complications, and/or outcomes, among various other data metrics.

In some various arrangements, analytics processes 226 are configured to evaluate collected data to determine how to improve efficiency, accuracy, and/or safety of surgical procedures for specific types of procedures, surgeons, departments, and/or hospitals. In some arrangements, analytics processes 226 may include trend identification and/or pattern recognition to inform further insight into surgical instrument use that can reduce error, and improve surgical efficiency, performance, and patient outcomes.

As one illustrative example, in one or more arrangements, analytics processes 226 are configured to evaluate collected data for procedures of a surgeon to identify ways to improve sorting of instruments 10 and/or instrument trays 12. For instance, in some arrangements, analytics processes 226 may evaluate the collected data to determine the frequency that each instrument 10 is checkout out or check-in during a particular type of procedure. The analytics processes 226 may then adjust sorting processes 222 so that the most frequently used items are stored together in a location where they can be more quickly retrieved from and/or returned to storage.

As a converse example, in one or more arrangement analytics processes 226 may evaluate the collected data to determine the instruments in a commonly prepared and sorted but are not used. Identification of rarely used instruments 10 may help facilitate review and streamlining of perioperative processes.

As yet another example, in one or more arrangement analytics processes 226 may evaluate and track efficiency for a plurality of similar type instruments 10 to better inform supply decisions. For instance, data collected on the length of time instruments 10 are used for particular procedures, such that a particular instrument from a more expensive supplier is more efficient and reduces procedure time and overall cost in comparison to the same instrument from a less expensive supplier.

Machine Learning:

In one or more embodiments, analytics processes 226 and/or other processes 200 or components of system 100 may be configured to monitor, learn, and modify one or more processes, features, functions, and/or operations of the system 10. For instance, in one or more arrangements, analytics processes 226 may be configured to monitor and/or analyze data input by users and/or other data sources and learn, over time, improve processes and/or algorithms used in operation of system 100 (e.g., processes and/or algorithms used for optical instrument recognition).

Such learning may include, for example, generation and refinement of classifiers and/or state machines configured to map input data values (e.g., image of an unknown instrument) to classifications (e.g., instrument classifications) or outcomes of interest or to operations to be performed by the system 100. For example, in generation and refinement of classifiers for optical instrument recognition, analytics processes 226 may use the user confirmation of the instrument identification provided via user interface 228 as training data for later training and refinement of an optical instrument recognition classifier. In this manner, processes and/or algorithms used for optical instrument recognition may continue to improve automatically over time.

In various embodiments, analysis by analytics processes 226 and/or other processes or components of system 100 may include various guided and/or unguided artificial intelligence and/or machine learning techniques including, but not limited to: neural networks, genetic algorithms, support vector machines, k-means, kernel regression, discriminant analysis and/or various combinations thereof. In different implementations, analysis may be performed locally, remotely, or a combination thereof.

User Interface 228:

User interface 228 is formed of any suitable size, shape, design, technology, and in any arrangement and is configured to interact with control system 106 to facilitate input, access to, and processing of relevant data related to operation of system 100. In one or more arrangements, as one example, user interface 228 includes a set of inputs 230. Inputs are formed of any suitable size, shape, design, and technology and are configured to facilitate user input of data and/or control commands. In various different arrangements, inputs may include various types of controls including but not limited to, for example, buttons, switches, dials, knobs, a keyboard, a mouse, a touch pad, a touchscreen, a joystick, a roller ball, microphone (e.g., voice recognition), or any other form of user input. Optionally, in one or more arrangements, user interface 228 includes a display 232. Display is formed of any suitable size, shape, design, technology, and in any arrangement and is configured to facilitate display information relating to operation of system 100 (e.g., relating to the loading, sorting, selection, retrieval, inventory, tracking, and/or use of instruments 10 in the perioperative period of a procedure). In one or more arrangements shown, as one example, user interface 228 utilizes a touchscreen display, which operates as both inputs 230 and display 232.

Some Alternative Arrangements:

While some arrangements, may be primarily illustrated and/or described with reference to storage of, instruments 10 and/or instrument trays 12 using tray table assemblies 144/146 that are movable between an extended position 154, a retracted storage position 150, and a sorting position 152 to facilitate loading, sorting, and/or providing access to instruments 10 and/or instrument trays 12, the arrangements are not so limited. Rather, it is contemplated that in some various arrangements, system 100 may utilize various different methods and/or means to facilitate the loading, storage, sorting and/or retrieval of instruments 10 and/or instrument trays 12.

FIGS. 20-22 show some alternative arrangements of system 100. These alternative arrangements presented in FIGS. 20-22 are similar to the arrangements of system 100 discussed with reference to FIGS. 1-19 and therefore unless specifically stated otherwise herein, the prior teaching and disclosure shown in FIGS. 1-19 applies equally to the alternative arrangements shown in FIGS. 20-22.

Static Tray Table for Sorted Instruments: As one example of alternative configuration, in one or more arrangements, the system may be configured to sort items 10/12 onto one or more static tray tables that remain in place during the procedure. For example, FIG. 20 shows an example arrangement of system 100 that has a door 138 configured to fold down when opened and serve as a sorted tray table 146 for placement of items 10/12 when sorting and/or as requested during a procedure.

Static Storage Arrangements for Storage of Instruments:

As another example, as previously noted in one or more arrangements, system 100 may be configured to store items 10/12 using various alternative structures (e.g., tables, drawers, shelves, bays, dividers, bins, buckets, pockets, containers, and/or any other method or means for storage and/or access to instruments 10. FIG. 21 shows an example arrangement of system 100 having a static tray table 142 within compartment 134 for storage and/or sorting of items 10/12 thereon. In this example, system 100 also has a static sorted tray table 146 similarly to that shown in FIG. 20, for placement of items 10/12 when sorting and/or as requested during a procedure.

Exterior Instrument Sorting System 104:

As yet another example, in one or more arrangements, instrument sorting system 104 may additionally or alternatively include one or more pick and place devices 156 positioned on an exterior of main body 102. Such exterior positioning of instrument sorting system 104 may be advantageous in application where system 100 is configured to sort items 10/12 onto a table or cart located in the operating room. FIG. 21 shows an example arrangement of system 100 having an exterior positioned sorting system 14, with a pair of exterior mounted pick and place devices 156, each having a robotic actuator 192 and an end effector 190.

In one or more arrangements, exterior mounted pick and place devices 156 are configured to sort items 10/12 stored therein onto a nearby table and/or cart in advance to or during a procedure. Additionally or alternatively, in one or more arrangements, exterior mounted pick and place devices 156 are configured to retrieve individual items 10/12 from their storage location in inventory on demand as requested during a procedure. Conversely, in one or more arrangements, exterior mounted pick and place devices 156 may be configured to accept and return checked out items 10/12 to their assigned storage location in inventory on demand as requested during a procedure.

However, the illustrated and/or described arrangements are not limited to the loading, sorting, retrieval, and/or return of items 10/12 processes or functionality described herein. Rather, it is envisioned that in some various arrangements, system 100 may be adapted to use any desired process for loading, sorting, retrieval, and/or return of items 10/12. Moreover, it is recognized that different surgeons, protocols, or systems may have different preferences for the manner in which items 10/12 are loaded, sorted, retrieved, and/or returned. In one or more arrangements, system 100 is configured to automatically adjust how items 10/12 are loaded, sorted, retrieved, and/or returned according to protocols and/or surgeon preferences specified in the configuration data 248.

Guided Sorting While Loading Instruments:

As another example, while some various arrangements may be primarily described with reference sorting of by physically rearranging items 10/12 after they are loaded (e.g., by instrument sorting system 104), the arrangements are not so limited. Rather, in some arrangements, it is contemplated that sorting may be performed as instruments 10 and/or instrument trays 12 are loaded into system 100 (e.g., by directing a user to place instruments 10 and/or instrument trays 12 in particular assigned spots determined based on the configuration data 248). In such arrangements, instrument sorting system 104 may be configured to facilitate provision of access to instruments 10 and/or instrument trays 12 as necessary during a procedure (e.g., retrieval and/or storage of instruments 10 upon request). Alternatively in some such arrangements, for example, where a user is directed to place instruments 10 and/or instrument trays 12 in particular assigned spots on a tray table that is accessible to medical workers 16 during a procedure, instrument sorting system 104 may be omitted.

Moreover, it is recognized that for some applications, physical location of items 10/12 within compartment(s) 134 of system 134 may be irrelevant so long as the location of each item 10/12 in the inventory is known and accurate. For example, in a configuration where system 100 is configured to individually retrieve and/or return items 10/12 from and to inventory on demand during a procedure, no particular physical arrangement of items 10/12 in storage of system 100 may be required. Objectives Met:

From the above discussion it will be appreciated that system 100 presented herein improves upon the state of the art. Specifically, in one or more arrangements, a system of presented for storage and sorting of surgical instruments: reduces the time required for surgical preparation; that reduces time required for instrument sorting and counting; that reduces turnover time between surgical cases and improves perioperative efficiency; that decreases the risk of human error in the preparation, sorting, and counting of surgical instruments; that provides uniform process in surgical tool preparation, sorting, and counting in the perioperative period; that monitors and/or tracks surgical instruments; that collects data on the use of surgical instruments 10 to facilitate data analytics; that mitigates restrictions related to availability, geolocation, and/or comfort of staff; that can be used in any applicable location or setting; that is capable of functioning regardless of environment location, difficulty, timing, or risk; that improves surgical access, safety, efficiency, cost and quality regardless of surgical environment; that can be used for real-time monitoring and quality control in management of surgical instruments in the perioperative setting; that reduces costs; that is accurate; that is reliable; that can maintain sanitization of sterilized instruments prior to use; that has a long useful life; that is easy to use; and/or that is intuitive to use, among countless other advantages and improvements.

It will be appreciated by those skilled in the art that other various modifications could be made to the device without parting from the spirit and scope of this disclosure. All such modifications and changes fall within the scope of the claims and are intended to be covered thereby.

Claims

WHAT IS CLAIMED:

1. A system for storage and sorting of surgical instruments, comprising: a main body; the main body having one or more compartments configured for storage of a set of surgical instruments; an instrument sorting system operably connected to the main body; a control system; the control system communicatively connected to the instrument sorting system; the control system having a memory; wherein a set of configuration data is stored in the memory; wherein the set of configuration data indicates a set of protocols and/or a set of surgeon preferences for how surgical instruments are to be sorted; wherein the control system is configured to cause the instrument sorting system to perform sorting of the set of surgical instruments for a surgical procedure according to the set of configuration data.

2. The system of claim 1, wherein the instrument sorting system includes at least one pick and place device.

3. The system of claim 1, wherein the instrument sorting system includes at least one pick and place device; wherein the pick and place device is configured to retrieve surgical instruments of the set from the one or more compartments.

4. The system of claim 1, wherein the instrument sorting system includes at least one pick and place device having an end effector and a robotic actuator operably connected to the end effector.

5. The system of claim 1, wherein the control system is configured to operate the instrument sorting system to count and sort the set of surgical instruments in the one or more compartments.

6. The system of claim 1, wherein the control system is configured to operate the instrument sorting system to retrieve surgical instruments of the set from the one or more compartments and return surgical instruments of the set to the one or more compartments as needed during the surgical procedure.

7. The system of claim 1, wherein the control system is configured to operate the instrument sorting system to retrieve surgical instruments of the set from the one or more compartments and return surgical instruments of the set to the one or more compartments as needed during the surgical procedure; wherein the control system is configured to track which of the set of surgical instruments are stored in the one or more compartments and which have been retrieved from the one or more compartments.

8. The system of claim 1, further comprising a set of sensors; wherein the set of sensors are configured to acquire data to permit the control system to identify the types of the set of surgical instruments in the sorting of the surgical instruments.

9. The system of claim 1, further comprising a set of sensors; wherein the set of sensor includes a camera; wherein the set of sensors are configured to acquire data to permit the control system to identify the type of at least one surgical instrument of the set of surgical instruments in the sorting of the surgical instruments by receiving an image of the surgical instrument and performing optical instrument recognition on the image to identify the type of the at least one surgical instrument.

10. The system of claim 1, further comprising a set of sensors; wherein the set of sensor includes a camera; wherein the set of sensors are configured to acquire data to permit the control system to identify the type of at least one surgical instrument of the set of surgical instruments in the sorting of the surgical instruments by using the camera to scan a barcode, QR code, label, engraving, RFID or other nearfield communication tag, or another type of identifier on the at least one surgical instrument.

11. The system of claim 1, wherein the control system is configured to provide a user interface for a user to interact with the system; in response to a user command via the user interface to retrieve a select surgical instrument of the set of surgical instruments, the instrument sorting system is configured to retrieve the selected surgical instrument from the one or more compartments and provide the selected surgical instrument to the user.

12. The system of claim 1, further comprising a transportation system; the transportation system is configured to move the system between a first location where the set of surgical instruments are prepared and a second location where the surgical procedure is to be performed.

13. The system of claim 1, further comprising a transportation system; the transportation system configured to move the system between a first location where the set of surgical instruments are prepared and a second location where the surgical procedure is to be performed; wherein the transportation system is self-propelled.

14. The system of claim 1, further comprising a transportation system; the transportation system configured to move the system between a first location where the set of surgical instruments are prepared and a second location where the surgical procedure is to be performed; wherein the transportation system is self-navigating.

15. A system for storage and sorting of surgical instruments, comprising: a main body; the main body having one or more compartments configured for storage of a set of surgical instruments; an instrument sorting system operably connected to the main body; a control system; the control system communicatively connected to the instrument sorting system; wherein the control system is configured to cause the instrument sorting system to perform organized sorting, retrieval, and storage of the set of surgical instruments for a surgical procedure.

16. The system of claim 15, wherein the instrument sorting system includes at least one pick and place device.

17. The system of claim 15, wherein the instrument sorting system includes at least one pick and place device; wherein the pick and place device is configured to retrieve surgical instruments of the set from the one or more compartments.

18. The system of claim 15, wherein the instrument sorting system includes at least one pick and place device having an end effector and a robotic actuator operably connected to the end effector.

19. The system of claim 15, wherein the control system is configured to operate the instrument sorting system to count and sort the set of surgical instruments in the one or more compartments.

20. The system of claim 15, wherein the control system is configured to operate the instrument sorting system to retrieve surgical instruments of the set from the one or more compartments and return surgical instruments of the set to the one or more compartments as needed during the surgical procedure.

21. The system of claim 15, wherein the control system is configured to operate the instrument sorting system to retrieve surgical instruments of the set from the one or more compartments and return surgical instruments of the set to the one or more compartments as needed during the surgical procedure; wherein the control system is configured to track which of the set of surgical instruments are stored in the one or more compartments and which have been retrieved from the one or more compartments.

22. The system of claim 15, further comprising a set of sensors; wherein the set of sensors are configured to acquire data to permit the control system to identify the types of the set of surgical instruments in the sorting of the surgical instruments.

23. The system of claim 15, further comprising a set of sensors; wherein the set of sensor includes a camera; wherein the set of sensors are configured to acquire data to permit the control system to identify the type of at least one surgical instrument of the set of surgical instruments in the sorting of the surgical instruments by receiving an image of the surgical instrument and performing optical instrument recognition on the image to identify the type of the at least one surgical instrument.

24. The system of claim 15, further comprising a set of sensors; wherein the set of sensor includes a camera; wherein the set of sensors are configured to acquire data to permit the control system to identify the type of at least one surgical instrument of the set of surgical instruments in the sorting of the surgical instruments by using the camera to scan a barcode, QR code, label, engraving, RFID or other nearfield communication tag, or another type of identifier on the at least one surgical instrument.

25. The system of claim 15, wherein the control system is configured to provide a user interface for a user to interact with the system; in response to a user command via the user interface to retrieve a select surgical instrument of the set of surgical instruments, the instrument sorting system is configured to retrieve the selected surgical instrument from the one or more compartments and provide the selected surgical instrument to the user.

26. The system of claim 15, further comprising a transportation system; the transportation system is configured to move the system between a first location where the set of surgical instruments are prepared and a second location where the surgical procedure is to be performed.

27. The system of claim 15, further comprising a transportation system; the transportation system configured to move the system between a first location where the set of surgical instruments are prepared and a second location where the surgical procedure is to be performed; wherein the transportation system is self-propelled.

28. The system of claim 15, further comprising a transportation system; the transportation system configured to move the system between a first location where the set of surgical instruments are prepared and a second location where the surgical procedure is to be performed; wherein the transportation system is self-navigating.

29. A system for storage and sorting of surgical instruments, comprising: a main body; the main body having one or more compartments configured for storage of a set of surgical instruments; an instrument sorting system operably connected to the main body; a control system; the control system communicatively connected to the instrument sorting system; wherein the control system is configured to cause the instrument sorting system to perform organized sorting, retrieval, and storage of the set of surgical instruments for a surgical procedure; a set of sensors; wherein the control system is configured to collect data pertaining to retrieval, storage, location and/or use the set of surgical instruments during the procedure from the set of sensors.

30. The system of claim 29, wherein the set of sensors include audiovisual sensors enabling the detection, recording, and processing of auditory and visual interaction with and movement of the set of surgical instruments during the procedure.

31. The system of claim 29, wherein the set of sensors include temporospatial sensors enabling the detection, recording and processing of data related to the movement and tracking of surgical instruments.

32. The system of claim 29, wherein the control system is configured to perform data analytics on the collected data.

33. The system of claim 29, wherein the control system is configured to perform data analytics on the collected data to facilitate monitoring and tracking of surgical instruments.

34. The system of claim 29, wherein the control system is configured to perform data analytics on the collected data to identify and notify a user of potential errors or dangerous conditions indicated by the collected data.

35. The system of claim 29, wherein the control system is configured to utilize machine learning using collected data to optimize surgical tool storage, sorting, and/or counting by the system.