DE102018205297A1 - Robot arm part with a disinfection device - Google Patents

Abstract

Disclosed is a robot arm part, in particular a robot arm (1, 2, 6) or a robot arm joint (4), with an inner volume enclosed by one or more inner surfaces, wherein the robot arm part (1, 2, 4, 6) is a disinfection device for disinfecting the inner volume and the one or more inner surfaces is assigned, and wherein the disinfection device is designed as a radiation device (8) having one or more radiation sources.

Description

The invention is based on a robot arm part with a disinfecting device for disinfecting its internal volume, a method for controlling such a disinfection and a use of a radiation device for such disinfection according to the preamble of the independent claims. The robot arm part can be, for example, an entire robot arm or a joint of a robot arm (robot arm joint). The robot arm part is preferably movable.

In the surgical field, robotic systems are already being used, for example, to perform operations on human soft tissue and to remove tumors. The robot systems can also be used in so-called remote operations, for example in the military field. In such remote operations, the robotic systems are usually designed as master-slave operation systems, with the master (the operation console (Surgeon Console)) located at a different location than the client (the operation robot performing the operation). , The surgeon / surgeon sits at the control console (the master) and, via the control panel, operates the surgical robot (the client) located at the patient. On the control panel, a variably magnifiable three-dimensional image of the surgical site is displayed to the surgeon, and the surgeon can use his hand movements to control in real time the surgical instruments worn by the robotic arm of the surgical robot.

In surgical procedures, there is a problem that the surgical robot or its robotic arm performing the surgery and its joints are free from germs such as e.g. Bacteria and viruses, in particular free of so-called antibiotic-resistant germs, such as MRSA bacteria (MRSA - Methicillin resistant Staphylococcus aureus) and the like

Known methods suggest to provide a shield in the form of films or a protective coating or bring the vulnerable robot parts in cleaning and disinfecting equipment, typically suitable cleaning agents for cleaning and ultrasound are used for disinfection. That's how it describes US 2017/0128675 A1 the use of a sterilization lamp positioned between two robot arms. The CN 105054887 A discloses a household robot with external UV lamp. From the US 2005/0111940 A1 It is known to clean the inner volume / the interior of a robot arm with a disinfecting liquid. In the DE 10 2008 005 901 A1 a sealing arrangement is used as a sterile barrier. In the US 2015/0142012 A1 a sterile seal is used. The EP 2 149 435 A1 suggests the use of a cleaning nozzle.

Furthermore, UV radiation in the wavelength range of 365 nm to 405 nm in combination with photocatalytically active rutile surfaces, in particular TiO ₂ surfaces (TiO ₂ - titanium (IV) oxide (titanium dioxide)), for disinfection can be used. This is also called photocatalytic self-cleaning. Rutile surfaces, such as TiO ₂ surfaces, exhibit an antibacterial effect when irradiated with UV radiation.

A particular challenge is the cleaning and disinfection of articulated robots and articulated instruments, as they are difficult to clean and disinfect due to their often complex mechanical structure. In particular, the cleaning and disinfection of the internal volume is difficult and, according to the prior art, can also be carried out only at intervals by means of appropriate cleaning agents.

The success of the cleaning / disinfection can be determined, for example, by means of a so-called protein residue load analysis (residual protein determination).

1. i) Die Restproteinbestimmung muss die Prüfung des Instrumentinnenschaftes, d.h. auch des Innenvolumens eines eingesetzten Roboterarms/Roboterarmteils, einschließen. Im Länderarbeitskreis „Offene Fragen der Aufbereitung“ wurde vorgeschlagen, an drei Stellen des Instrumentes (und somit auch eines eingesetzten Roboterarms/Roboterarmteils) Restproteinbestimmungen durchzuführen: an dessen (in der Anwendung patientennahen) Spitze, im Innenvolumen und an einer im Inneren befindlichen Platine, welche z.B. für eine Steuerung/Regelung des Instrumentes eingesetzt wird. Insgesamt darf dabei die Menge an Restprotein einen Restproteingrenzwert von 200 µg pro Instrument/Roboterarm nicht überschreiten.
2. ii) Für die Validierung des Aufbereitungsverfahrens, insbesondere der Reinigung, sind Prüfkörper zu verwenden, deren Designkomplexität der Komplexität des Designs des Instruments/Roboterarms entspricht.

With regard to the cleaning and disinfection of surgical instruments and thus also surgical robots, the Federal Institute for Drugs and Medical Devices (BfArM) pointed out the following points to the supervisory authorities of the federal states to ensure a safe reprocessing of instruments used in operations including robots:

1. i) The residual protein determination must include the examination of the instrument inner shaft, ie also the inner volume of an inserted robot arm / robot arm part. In the country working group "Open questions of reprocessing", it was proposed to carry out residual protein determinations at three points of the instrument (and thus also a deployed robot arm / robot arm part): at its tip (in the application near the patient), in the internal volume and at an internal circuit board, which is used for example for a control / regulation of the instrument. Overall, the amount of residual protein must not exceed a residual protein limit value of 200 μg per instrument / robot arm.
2. (ii) For the validation of the treatment process, in particular cleaning, specimens shall be used whose design complexity corresponds to the complexity of the design of the instrument / robotic arm.

The object of the present invention is to provide as sterile as possible, usable in the medical field robotic arms or Roboterarmteile.

This object is achieved by a robot arm part, a method for disinfecting a robot arm part and a use of a radiation device for disinfecting a robot arm part having the features of the independent claims.

Particularly advantageous embodiments can be found in the dependent claims.

The robot arm part according to the invention has an inner volume enclosed by one or more inner surfaces. The robot arm part is assigned a disinfection device for disinfecting the inner volume and the one or more inner surfaces. The disinfection device is designed as a radiation device which comprises one or more radiation sources. The term "robot arm part" is also intended to mean a robot arm and, for example, a robot arm joint. Preferably, the robot arm part is designed to be movable. In principle, the present invention is also applicable to other medical devices / instruments having an internal volume. The inner volume is at least partially formed as a cavity.

In principle, any suitable radiation source can be used as the one or more radiation sources of the radiation device used as the disinfection device, which generate a sufficient radiation emission in the wavelength range suitable for a sufficient disinfection. Preferably, the one or more radiation sources emit radiation in the blue and / or ultraviolet (UV) spectral range, in the wavelength range from about 180 nm to about 450 nm, particularly preferably in the wavelength range from about 400 nm to about 450 nm.

According to a preferred embodiment, as the one or more radiation sources, light emitting diodes (LEDs) are used which emit radiation or light in the blue and / or ultraviolet spectral range (so-called blue / UV LEDs), in particular in the wavelength range from about 180 nm to about 450 nm , particularly preferably in the wavelength range of about 400 nm to about 450 nm. Such high-energy radiation is characterized by a disinfecting effect.

Of course, in addition to LEDs which emit light in the blue spectral range, it is also possible to use LEDs which emit only radiation in the UV range. These UV-emitting LEDs are typically classified into the following classes: (i) UVA LEDs that emit radiation in the wavelength range of about 315 nm to about 410 nm, (ii) UVB LEDs that emit radiation in the wavelength range of about 280 nm to about 315 nm, and (iii) UVC LEDs that emit radiation in the wavelength range from about 200 nm to about 280 nm. UVC LEDs can be manufactured on an aluminum gallium nitride (AlGaN) basis. The radiation device used for disinfection of the inventive robot arm part particularly preferably has UVA LEDs as radiation sources, which can preferably also emit blue light (so-called blue / UVA LEDs).

In principle, as radiation sources, for example, UV low-pressure lamps made of quartz glass can be used, but which are more difficult to operate because they need additional ballasts, have a longer start-up time, generate heat, it can lead to glass breakage, higher voltage and current values are required and their service life is lower, which in turn requires more frequent replacement.

The radiation device with the one or more radiation sources can be arranged in the inner volume of the robot arm part and / or outside the robot arm part.

If the radiation device with the one or more radiation sources is arranged or mounted in the interior volume / interior of the robot arm part, then preferably associated operating and control device (s) and connections for power lines are also mounted in the interior of the robot arm part. Optionally, a sterile passage to the outside for any power lines is provided. The operating and control / regulating devices are preferably designed such that they have a enable wireless communication, for example by means of Bluetooth® and / or WLAN, so that the radiation device and its radiation sources can be controlled wirelessly from the outside.

For example, the radiation sources, which are preferably designed as blue / UV LEDs, can be used externally, for example, as a function of external parameters / measured variables (outside the robot arm part) and from the inside, for example, as a function of the measured temperature, atmospheric humidity, bacterial load in the interior volume of the robot arm part. eg load with MRSA) are controlled / regulated. Furthermore, a control / regulation in response to an activity profile of the robot arm is possible. An activity profile for a robot arm part is understood to be the entirety of the activities to be performed by the robot arm part, for example during an operation.

If the radiation device with the one or more radiation sources is arranged outside (in the outer space) of the robot arm part, the above-mentioned operating and control device (s) and the connections for power lines are preferably also mounted outside the robot arm part.

In the case of radiation sources / radiation means arranged outside the robot arm part, the robot arm part or its outer wall / outer walls are at least in regions at least for a wavelength subregion of the spectral range for blue and ultraviolet light, i. for photocatalytically active radiation, transmissive and formed of correspondingly permeable material, so that light emitted by the radiation sources in this wavelength section can reach the inner volume of the Roboterarmteils.

For example, a robot arm joint can be designed to be photocatalytically transparent. For this purpose, preferably materials are used, which are partially transparent and of the highest possible UV resistance, at least for wavelength subregions in the spectral range of about 180 nm to about 450 nm. Particular preference is given to using polycarbonate (PC) or glass-fiber-reinforced polycarbonate, which transmits radiation from a wavelength of about 400 nm and which, together with a photocatalytically active material such as, for example, TiO _2, brings about a photocatalytic self-cleaning. Other UV-transparent materials are quartz glass and acrylic glass (eg PLEXIGLAS® XT 0A770).

Consequently, according to a preferred embodiment, the one or more inner surfaces - including the inner surface (s) of any joint passage - or the interior of the robot arm photocatalytically effective, in particular by being provided with a photocatalytically active coating, for example, TiO ₂ or other rutile material. By coating the inner surface (s) of the joint bushing, it can be ensured that any air passing through (robot arm) swivel joints remains as germ-free as possible. The disinfecting effect of the radiation used in the wavelength range of about 180 nm to about 450 nm is advantageously enhanced in cooperation with the photocatalytic material, in particular TiO ₂ .

One or more seals, which are provided in or on the robot arm part according to the invention, in particular on a robot arm joint, are preferably also formed of photocatalytically active material and / or provided with a photocatalytically active coating. Also in this case, preferably TiO ₂ or another rutile material is used. Thus, the material used for the seals used at the joints is preferably doped with TiO ₂ and also suitable to at least partially coupled by the radiation sources coupled blue and / or ultraviolet radiation in the relevant wavelength range, forward in the respective seal and diffuse back to the sealing surface re-radiate so that the photocatalytic effect, ie the photocatalytic self-cleaning, can be used on the sealing surfaces. As materials, for example, various silicone-based materials can be used. Since any germ-laden air present in the interior of the robot arm part / robot arm joint must be able to escape via the seals, the germs possibly present in the escaping air can be reduced in this way.

As already mentioned above, the robot arm part according to the invention is preferably configured such that the radiation device or its one or more radiation sources - independently of whether the radiation sources are arranged inside or outside the robot arm part - are regulated as a function of internal and / or external measured variables / parameters can be used to achieve a given degree of disinfection. The internal and / or external measured variables can be, for example, a temperature, a humidity, an actual or predicted / estimated bacterial load and / or an activity profile for the robot arm part.

The present invention thus also relates to a method for controlling a disinfection of a robot arm part according to the invention by means of regulation of its radiation device as a function of internal and / or external measured variables / parameters, as enumerated by way of example above.

The present invention further relates to a use of a radiation device with one or more radiation sources for disinfecting an inner volume and one or more inner surfaces of a Roboterarmteils, wherein as radiation sources, in particular light-emitting diodes are used, which radiation in the blue and ultraviolet spectral range, in particular in the wavelength range of 400 nm to 450 nm, emit.

• 1 eine schematische Darstellung eines erfindungsgemäßen Roboterarms und
• 2 eine grafische Darstellung der Lichtdurchlässigkeit (Transmission) von Polycarbonat.

In the following, the invention will be explained in more detail with reference to an embodiment. The figures show:

• 1 a schematic representation of a robot arm according to the invention and
• 2 a graphic representation of the transmission (transmission) of polycarbonate.

1 shows an embodiment of a robot arm according to the invention 1 in the form of a robot arm. As defined above, a robot arm falls under the definition of a robot arm part in the sense of the present invention.

The in 1 shown robotic arm 1 includes a robot forearm 2 , a robotic wrist joint 4 and a robot upper arm 6 , The robot forearm 2 is exemplified at his gelenkfernen end with unspecified tongs for a surgical procedure provided. The robot forearm 2 is about the robot arm joint 4 swiveling with the robot upper arm 6 connected. Preferably, the entire robot arm 1 movable. The robot forearm 2 , the robot arm joint 4 and the robot's upper arm 6 also represent robotic arm parts in the context of the present invention.

The robot forearm 2 , the robot arm joint 4 and the robot's upper arm 6 each have in their interior surrounded by unspecified inner surfaces inner spaces (inner volumes), which are at least partially hollow. The inner volumes of the robot forearm 2 , the robot arm joint 4 and the robot's upper arm 6 taken together form the inner volume of the robot arm 1 ,

The robot arm 1 has a disinfection device 8th for disinfecting its internal volume and thus the internal volumes of the robot forearm 2 , the robot arm joint 4 and the robot's upper arm 6 on. The disinfection device 8th is exemplary outside of the robot arm 1 arranged. Alternatively or additionally, the or such a disinfection device in the interior / interior volume of the robot arm 1 be provided, wherein also in each of the inner volumes of the robot forearm 2 , the robot arm joint 4 and the robot's upper arm 6 a separate such disinfection device can be arranged.

The disinfection device is by a radiation device 8th formed, which is provided with a plurality of radiation sources, not shown. The radiation device 8th is aligned or their radiation sources are arranged so that they radiation in the direction of the robot arm 1 can emit.

To achieve a disinfecting effect, the radiation sources emit radiation in the blue and / or ultraviolet spectral range, in particular in the high-energy wavelength range from 400 nm to 450 nm. The radiation sources are preferably designed as light-emitting diodes, particularly preferably as so-called blue / UVA LEDs.

So that the radiation emitted by the radiation sources in the inner volume of the robot arm 1 so that its internal volume and internal surfaces are disinfected, are the outer walls of the robot arm 1 or the robot forearm 2 , the robot arm joint 4 and the robot's upper arm 4 at least partially, preferably completely, for the radiation emitted by the radiation sources transparent / transparent. The material used for the outer walls is preferably polycarbonate (PC) or glass fiber reinforced PC, which transmits radiation from a wavelength of about 400 nm. It gets up in this regard 2 which shows the radiation / transmittance of a Makrolon® polycarbonate plate for different wavelengths.

The unspecified inner surfaces of the robot arm 1 or the robot forearm 2 , the robot arm joint 4 and the robot's upper arm 6 are preferably with a photocatalytically active Layer (not shown), which consists in particular of TiO ₂ or TiO ₂ coated coated. This measure intensifies the irradiation of the photocatalytically active layer with blue and / or ultraviolet radiation of the radiation sources, in particular in the wavelength range of about 400 nm to 450 nm, the disinfecting effect.

For sealing on the robot arm joint 4 used seals (not shown) are at least partially formed of a transparent, in particular based on silicone material, which is doped with a photocatalytically active material, in particular TiO ₂ . In this way, in cooperation with the high-energy radiation emitted by the radiation sources, the photocatalytic effect (the photocatalytic self-cleaning) can be utilized both on the surfaces and in the interior of the seals and optionally via the seals from the inner volume of the robot arm 1 escaping air can escape germ-reduced.

LIST OF REFERENCE NUMBERS

robot arm 1 robot arm 2 Roboterarmgelenk 4 robot arm 6 Disinfection device, radiation device 8th

QUOTES INCLUDE IN THE DESCRIPTION

This list of the documents listed by the applicant has been generated automatically and is included solely for the better information of the reader. The list is not part of the German patent or utility model application. The DPMA assumes no liability for any errors or omissions.

Cited patent literature

• US 2017/0128675 A1 [0004]
• CN 105054887 A [0004]
• US 2005/0111940 A1 [0004]
• DE 102008005901 A1 [0004]
• US 2015/0142012 A1 [0004]
• EP 2149435 A1 [0004]

Claims (10)

Robotic arm part, in particular robot arm (1, 2, 6) or robot arm joint (4), with an inner volume enclosed by one or more inner surfaces, wherein the robot arm part (1, 2, 4, 6) is a disinfection device for disinfecting the inner volume and the one or more Interior surfaces is assigned, characterized in that the disinfection device is designed as a radiation device (8) having one or more radiation sources. Robot arm part according to one of the preceding claims, wherein the one or more radiation sources of the radiation device (8) emit radiation in the blue and / or ultraviolet spectral range, in particular in the wavelength range from 400 nm to 450 nm. Robot arm part after Claim 2 in which light emitting diodes are used as the one or more radiation sources, in particular blue / UVA LEDs which emit radiation in the wavelength range from 400 nm to 450 nm. Robot arm part according to one of the preceding claims, wherein the radiation device (8) is arranged in the internal volume of the robot arm part (1, 2, 4, 6) and / or outside the robot arm part (1, 2, 4, 6). Robot arm part after Claim 4 wherein the robot arm part (1, 2, 4, 6) in the case of a radiation device (8) arranged outside is formed on the radiation source side with a material permeable to blue and / or ultraviolet light at least for wavelength subareas of the spectral range. Robot arm part according to one of the preceding claims, wherein its one or more inner surfaces are photocatalytically active, in particular consist of photocatalytically active material or are provided with a photocatalytically active coating. A robotic arm member according to any one of the preceding claims, wherein the robotic arm member (1, 2, 4, 6) has one or more seals, the one or more seals comprising photocatalytically active material. Robot arm part according to one of the preceding claims, wherein the robot arm part (1, 2, 4, 6) is designed such that the radiation device (8) in response to internal and / or external parameters, such as a temperature, humidity, an actual or Predicted bacterial load and / or a job profile for the robot arm (1, 2, 4, 6), is adjustable. Method for controlling a disinfection of an inner volume and one or more inner surfaces of a robot arm part (1, 2, 4, 6) according to one of the preceding claims, characterized in that its radiation device (8) as a function of internal and / or external measured variables such as a temperature , an air humidity, an actual or predicted bacterial load and / or an activity profile for the robot arm part (1, 2, 4, 6) is regulated. Use of a radiation device with one or more radiation sources, in particular light-emitting diodes, which emit radiation in the blue and / or ultraviolet spectral range, in particular in the wavelength range from 400 nm to 450 nm, for disinfecting an internal volume and one or more inner surfaces of a robot arm part (1, 2, 4, 6).

Images