TECHNICAL FIELD

The embodiments herein relate to a method and a device for identifying objects such as e.g. surgical instruments.

BACKGROUND

In facilities, such as in hospitals, laboratories and/or other health care facilities, different sets of objects are used for different procedures. After being used in a procedure, the objects are cleaned and sterilized in order to prepare the objects for re-use. In hospitals for example, instrument trays are pre-prepared kits containing a specific set of instruments required for a particular surgery. Following their use in a surgical procedure, the instruments are returned to their tray before leaving an operating theatre. The instruments are sent to a sterile processing facility, where the trays are passed through disinfecting machines akin to industrial dish-washing machines. Upon emerging from the disinfecting machines, the contents of the trays are removed at inspection stations. The instruments, which are often similar in appearance and made from highly reflective stainless steel, lie in an unordered jumble and may be tangled up in each other. In order to prepare a new tray of instruments for an upcoming surgical procedure, single instruments have to be identified and extracted from the unordered jumble of instruments. Identifying individual instruments, determining their location in the tray and directing grasping of an individual instrument can thus be a very complicated process, which usually requires a high amount of manual interaction.

SUMMARY

An object of the embodiments disclosed herein is therefore to provide an improved method for identifying objects, such as instruments.

According to a first aspect of embodiments herein the object is achieved by a method performed by a robotic system, for identifying single objects from a random assortment of objects. The robotic system picks, among a random assortment of objects on a presentation surface, an object from the presentation surface at a determined picking point. The robotic system transfers any remaining objects on the presentation surface to a compartment arranged below the presentation surface by moving the presentation surface from a first position to a second position. The robotic system places the picked object on the presentation surface. The robotic system further analyzes the picked object on the presentation surface, in order to identify a single object.

By picking an object at the determined picking point and removing the remaining objects from the presentation surface, the number of objects that have to be taken into consideration when identifying a single object can be reduced. Thereby a probability of a successful identification is increased.

In some embodiments, the remaining objects may be removed from the presentation surface by transferring the remaining objects from the presentation surface to a compartment arranged below the presentation surface. This may be performed by moving the presentation surface from a first position to a second position.

In some embodiments, the robotic system may place a random assortment of objects on the presentation surface. By making a first random selection from the plurality of objects delivered to the robotic system, a rough first limitation of the assortment of objects to be analyzed may be achieved.

In some embodiments the robotic system may further analyze the random assortment of objects placed on the presentation surface in order to identify a single object out of the random assortment.

In some embodiments, the robotic system may further determine a precision picking point, when the single object has been successfully identified. The precision picking point allows the picking tool to be directed, e.g. by the robotic system, to a specific location of the object, by which processing of the specific object is facilitated.

In some further embodiments, the robotic system may precision pick, such as pick in an accurate manner, the object at the determined precision picking point. Thereby, the processing, which may comprise closing and/or locking of jointed objects and/or the like, may be performed, while moving the object from the presentation surface to e.g. a second compartment.

The analyzing may comprise comparing an image of the objects on the presentation surface with stored images of the objects.

In some embodiments herein, the robotic system may further determine a picking point for the random assortment of objects arranged on the presentation surface, when the random assortment of objects has been analyzed and no single object is identified.

In some embodiments herein, the picking point is located furthest away, or almost furthest away, from a centroid of a bounding box of the objects on the presentation surface. By selecting the point furthest away from the centroid of the bounding box, a probability of only picking one single object is increased.

In some embodiments herein, the robotic system may further process the single object, when a single object is identified.

The processing may further comprise inspecting, lubricating and/or sharpness testing the object. The processing may further comprise positioning the object in a further compartment.

According to a second aspect of embodiments herein the object is achieved by a robotic system for identifying single objects from a random assortment of objects. The robotic system comprises a first robot arm which comprises a picking tool for picking objects. The robotic system comprises a separating apparatus comprising a frame having a first and a second section, a compartment arranged at the first section for housing objects, and a presentation surface movably arranged in the frame. The presentation surface is, in a first position, located in the first section of the frame and covers the compartment. In a second position the presentation surface is located in the second section and provides access to the compartment. The robotic system further comprises an analyzing apparatus for identifying objects, which objects are located on the presentation surface.

The moving presentation surface and the analyzing apparatus allow the robotic system to convert a 3D bin picking problem into a manageable 2D vision problem which facilitates the identification of the objects. It further provides an easy solution for reducing the assortment of objects to be analyzed, when no single object can be identified out of the random assortment of objects.

The frame of the separating apparatus may comprise a divider separating the first section from the second section. The divider may be arranged such that the divider prevents objects located on the presentation surface from entering the second section when the presentation surface moves from the first to the second section. Thereby an easy way of reducing the number of objects located on the presentation surface is provided, which facilitates the identification of a single object.

In some embodiments herein, the robotic system may comprise a second robot arm for moving the presentation surface between the first and the second sections. The presentation surface is movable between a first position, in which first position the presentation surface is substantially within the first section, and a second position, in which second position the presentation surface is substantially within the second section.

The analyzing apparatus may comprise an imaging device for generating an image of objects located on the presentation surface. The imaging device provides an easy way of identifying the object on the presentation surface by comparing an image of the object with images of objects to be identified stored in an imaging databank.

In some embodiments, the robotic system may comprise a further compartment for housing objects arranged at the second section. The presentation surface may provide access to the further compartment when the presentation surface is in the first position and cover the further compartment when the presentation surface is in the second position.

The embodiments herein thus provide an improved method and a system for identifying one object at a time from a random assortment of objects. Since the method and the system are able to reduce the selection of objects to be analyzed, a higher accuracy of identification can be achieved while at the same time reducing the amount of manual interaction required. Hence, the embodiments herein provide an efficient and accurate sorting system, e.g. compared to manual sorting.

