Patent Description:
Medical waste collection devices may be used in a hospital or other health care setting. For example, mobile rovers are employed to collect medical waste such as bodily fluids, body tissues, irrigation liquids, and smoke during medical and surgical procedures. The medical waste is often stored in a canister mounted to the medical waste collection device that must be emptied and cleaned before, during, or after the procedures. Currently, hospital personnel such as nurses and operating room assistants must suspend their duties to carry or wheel the medical waste collection devices or canisters thereof to disposal stations to empty and clean the canisters. This requires the hospital personnel to move a medical waste collection device to a disposal station, wait for an emptying and cleaning procedure to be performed, move the medical waste collection device back to the operating room, reenter the operating room, and set up the medical waste collection device again before surgery can be commenced or resumed. Furthermore, the medical waste collection devices can require battery power and therefore must be charged before, during or after the procedure, thereby requiring even more time and effort of the hospital personnel. Therefore, there is a need for a waste collection device and system that overcomes one or more of the aforementioned disadvantages.

<CIT> discloses a waste collection and disposal system for use in health care facilities. The system includes a mobile waste collection unit for moving between use areas in the health care facility to collect waste material generated during medical procedures including body fluids, body tissues, saline, etc. The waste collection unit includes stacked upper and lower waste containers for receiving the waste material. During use, the upper waste container can be emptied into the lower waste container for temporary storage. In addition, different vacuum levels can be provided in the waste containers during complex procedures. Once a user desires to empty the waste collection unit, the waste collection unit is wheeled to a docking station. At the docking station, the waste material is off-loaded to a waste drain and the waste collection unit is cleaned and rinsed for further use.

According to the aspect of the present disclosure, a medical waste collection system is provided according to the independent claim. Preferred embodiments are recited in the dependent claims.

The disclosed medical waste collection system comprises an autonomous medical waste collection assembly autonomously collects and disposes of medical waste generated during medical procedures (e.g., surgical procedures) performed in a health care facility such as a hospital. The medical waste may include bodily fluids, body tissues, irrigation liquids, and/or other materials that may be generated during various medical procedures. During the medical procedure, the assembly collects the medical waste and stores the medical waste on-board until such a time as a user is ready to have the assembly autonomously off-load the medical waste and dispose of the medical waste. Once the medical waste fills the assembly or the user is ready to dispose of the medical waste, the assembly autonomously navigates to a docking station. At the docking station, the medical waste is emptied from the assembly to a drain or treatment area and the assembly is cleaned for further use.

According to one exemplary embodiment of the present disclosure, the medical waste collection system comprises an autonomous medical waste collection assembly comprising a base adapted to be positioned near a patient and a counterposing coupler coupled to said base with said counterposing coupler adapted to be removably coupled with a coupler of a disposal station. Wheels are coupled to the base. At least one of the wheels is powered to move the base along a floor surface. A waste collection unit is coupled to the base for receiving medical waste from the patient. The waste collection unit includes a canister and a suction pump. The canister is for holding the medical waste. The suction pump is in fluid communication with the canister and configured to draw a suction on the canister. A controller is operable to initiate a waste disposal protocol. The waste disposal protocol includes transmitting a movement signal to the powered wheel for automatically moving the autonomous medical waste collection assembly away from the patient to a disposal station. A user input device is in communication with the controller. The user input device is adapted to provide a user input signal in response to being actuated by a user. The controller is configured to initiate the waste disposal protocol in response to receiving the user input signal.

In another exemplary embodiment, a medical waste collection system is provided. The system comprises a disposal station, and an autonomous medical waste collection assembly. The disposal station includes a housing and a coupler. The coupler is coupled to the housing. The autonomous medical waste collection assembly includes a base, wheels, a waste collection unit, a counterposing coupler, a controller, and a user input device in communication with said controller. The base is adapted to be positioned near a patient. The wheels are coupled to the base. At least one of the wheels is powered to move the base along a floor surface. The waste collection unit is coupled to the base for receiving medical waste from the patient. The waste collection unit includes a canister and a suction pump. The canister is for holding the medical waste. The suction pump is in fluid communication with the canister and configured to draw a suction on the canister. The counterposing coupler is coupled to the base. The counterposing coupler is adapted to be removably coupled with the coupler of the disposal station. The controller is operable to initiate a waste disposal protocol. The waste disposal protocol includes transmitting a movement signal to the powered wheel for automatically moving the autonomous medical waste collection assembly away from the patient to the disposal station such that the coupler couples with the counterposing coupler to provide a connection between the autonomous medical waste collection assembly and the disposal station.

Advantages of the present invention will be readily appreciated, as the same becomes better understood by reference to the following detailed description, when considered in connection with the accompanying drawings.

Referring to the Figures, wherein like numerals indicate like or corresponding parts throughout several views, aspects of an autonomous medical waste collection assembly <NUM> of a medical waste collection system <NUM> are provided. The assembly <NUM> includes a base <NUM>, a plurality of wheels <NUM>, a waste collection unit <NUM>, and a controller <NUM>. The base <NUM> is adapted to be positioned near a patient <NUM> during the medical procedure. The base <NUM> supports the waste collection unit <NUM>.

<FIG> shows an embodiment of the assembly <NUM> where the base <NUM> includes a lower frame <NUM>, an upper frame <NUM>, a vertical chassis <NUM>, and a handle <NUM>. The base <NUM> can have any suitable shape.

The plurality of wheels <NUM> is coupled to the base <NUM> to provide mobility to the assembly <NUM>. For example, the assembly <NUM> can autonomously move around a health care facility to collect the medical waste generated during medical procedures performed in different locations throughout the health care facility. The wheels can be coupled to the lower frame <NUM>, the vertical chassis <NUM>, or a combination thereof. <FIG> shows an embodiment wherein two of the wheels <NUM> are coupled to the lower frame <NUM>, and another two of the wheels <NUM> are coupled to the vertical chassis <NUM>. In some embodiments, one or more of the plurality of wheels <NUM> is a steerable wheel, such as a wheel capable of swiveling on an axis. In still other embodiments, the plurality of wheels <NUM> includes a combination of one or more fixed wheels and one or more steerable wheels. At least one of the wheels <NUM> is a powered wheel <NUM> to facilitate autonomous movement of the assembly <NUM>. <FIG> shows an embodiment of the assembly <NUM> having four wheels <NUM>, one of which is powered. The powered wheel <NUM> is powered by a motor <NUM> such that the powered wheel <NUM> can move the assembly <NUM> along a floor surface of the health care facility. The motor <NUM> can be a brushed electric motor, a brushless electric motor, a stepper motor, a servomotor, an alternating current motor, or any other suitable type of motor for powering the powered wheel <NUM> to move the assembly <NUM>. The motor <NUM> is in communication with the controller <NUM>. The controller <NUM> can drive, steer, and/or navigate the assembly <NUM> through the medical facility by selectively powering and/or steering the powered wheel <NUM>. For example, in some embodiments the controller <NUM> is configured to drive, steer, and navigate the assembly <NUM> by selectively swiveling and powering the powered wheel <NUM>. In some embodiments, several of the wheels <NUM> are powered wheels <NUM>, and each of the powered wheels <NUM> has the motor <NUM> attached thereto. Each of the motors is connected to the controller <NUM>. The controller <NUM> can drive, steer, and navigate the assembly <NUM> by selectively swiveling and powering the powered wheels <NUM>. In embodiments where the powered wheels <NUM> are fixed wheels, the controller <NUM> is configured to steer the assembly <NUM> by selectively powering the powered wheels <NUM>, such as by driving one of the powered wheels <NUM> in an opposite rotational direction of other of the powered wheels <NUM>, thereby turning the assembly <NUM>.

The controller <NUM> is configured to execute computer-executable instructions to perform the functions of the assembly <NUM>, such as initiating the waste disposal protocol or the charging protocol. The controller <NUM> may be a microprocessor, a microcontroller, a field programmable gate array (FPGA), a system on a chip (SoC), or any other suitable type of controller for executing the functions of the assembly <NUM>.

The assembly <NUM> includes a memory component <NUM> in communication with the controller <NUM>. The memory component <NUM> is configured to store computer-executable instructions to be executed by the controller <NUM>. The memory component <NUM> stores computer-executable instructions defining the waste disposal protocol and/or the charging protocol. The memory component <NUM> may include random access memory (RAM), flash memory, non-volatile random access memory (NOVRAM), and/or any other suitable form of memory.

The waste collection unit <NUM> is coupled to the base <NUM> and configured to receive medical waste from the patient during the medical procedure. The assembly <NUM> collects the medical waste by suction during the medical procedure and stores the medical waste in the waste collection unit <NUM>. In some embodiments, the assembly <NUM> also collects smoke, such as smoke generated during electrocautery procedures. In other embodiments, the assembly <NUM> is configured to filter particles from the smoke and release filtered air. The waste collection unit <NUM> includes at least one canister <NUM> configured to hold the medical waste, a suction pump <NUM>, and a vacuum regulator <NUM>. In the illustrated embodiment shown in <FIG>, the assembly <NUM> includes two canisters <NUM>. The canisters <NUM> can be coupled to the lower frame <NUM>, the upper frame <NUM>, or a combination thereof. <FIG> shows an embodiment wherein a first canister is coupled to the upper frame <NUM> and a second canister is coupled to the lower frame <NUM>. The canister(s) <NUM> can be substantially cylindrical, frustoconical in shape, or any suitable shape for containing the medical waste. The canister <NUM> can be formed of glass or suitable plastic material, or a combination thereof. The suction pump <NUM> is in fluid communication with the canister <NUM>. In some embodiments, as shown in <FIG>, the suction pump <NUM> is coupled to the vertical chassis <NUM>. The suction pump <NUM> is configured to draw a suction on the canister <NUM> to draw the medical waste, such as liquid medical waste, into the canister <NUM> during the medical procedure. In some embodiments, the suction pump <NUM> is a rotary vane type vacuum pump mounted to the base <NUM>. The vacuum regulator <NUM> is in communication with the suction pump <NUM> and configured to regulate a level of the vacuum drawn through the suction line. An exemplary vacuum regulator <NUM> arrangement suitable for the assembly <NUM> is disclosed in commonly owned <CIT>.

During a surgical procedure, a user such as a surgeon, nurse, or operating room assistant holds an end of a suction line <NUM>, such as a flexible tube, near or on a portion of the patient <NUM> where medical waste is present. The suction pump <NUM> provides suction to move the medical waste from the end of the suction line <NUM> through the suction line <NUM> and into the waste collection unit <NUM>. During some procedures, the end of the suction line <NUM> is connected to an end effector such as an endoscope, an electrocautery tool, an ablation device, or any other type of surgical end effector or surgical tool. The suction pump <NUM> provides suction to move the medical waste through both the end effector and the suction line <NUM> and into the waste collection unit <NUM>. The level of suction is regulated by the vacuum regulator <NUM>, and/or a level of power supplied to the suction pump <NUM>. For example, during a bone ablation procedure, medical waste is generated in the form of bodily fluids such as blood, tissues such as skin tissue, muscle tissue, and connective tissue, and particles of bone released during ablation. Furthermore, an area of the body of the patient where the procedure is being performed is often irrigated with saline to flush the bodily fluids, tissues, and particles from the area being ablated. The medical waste also includes the saline. The surgeon can use an ablation tool to ablate the bone, and the end of the tool can be coupled to the ablation tool. As the ablation tool ablates the bone, the medical waste can be suctioned through the suction line <NUM> coupled to the ablation suction line <NUM> and into the canister <NUM> of the waste collection unit <NUM> for disposal during or after completion of the ablation procedure.

The assembly <NUM> may include a manifold receiver <NUM> coupled to the canister <NUM> and an indicator <NUM> coupled to the base <NUM> and in communication with the controller <NUM>. The manifold receiver <NUM> is configured to receive a disposable manifold (not shown), such as described in commonly owned <CIT>. The disposable manifold directs the medical waste from the patient <NUM> through the suction line <NUM> and into the canister <NUM> during the medical procedure. The disposable manifold is disposed of between medical procedures, between use with different patients, and/or before disposal of the medical waste at the disposal station <NUM>. In some embodiments, the indicator <NUM> is configured to alert the user to remove and dispose of the disposable manifold prior to initiation of a disposal protocol to be described. The indicator <NUM> is also configured to alert the user regarding other alerts to be described. The indicator <NUM> can be, for example, an LED, a video screen, a label, or any visual indicia, tactile indicia, auditory alert or other suitable type of indicator.

The assembly <NUM> includes a waste sensor <NUM> in communication with the controller <NUM>. The waste sensor <NUM> is configured to sense an amount of the medical waste contained within the canister <NUM>. The waste sensor <NUM> can be, for example, a sensor rod configured to run through the canister <NUM> with a plurality of reflecting elements and float elements situated nearby to facilitate sensing the amount of the medical waste. In embodiments where the assembly <NUM> includes a plurality of canisters <NUM>, amounts of the medical waste contained in each of the canisters <NUM> can be measured by a separate waste sensor <NUM>. The waste sensor <NUM> can include a waste sensor controller (not shown) configured to facilitate sensing of the amount of the medical waste. In some embodiments, the waste sensor <NUM> is configured to provide a waste level signal to the controller <NUM> when the amount of the medical waste sensed by the waste sensor <NUM> exceeds a waste threshold level. In other embodiments, the waste sensor <NUM> is configured to regularly or continuously provide the waste level signal to the controller <NUM>. The indicator <NUM> can display indicia corresponding to the waste level signal such that the user can learn the amount of the medical waste sensed by the waste sensor <NUM> by looking at the indicator <NUM>. The waste threshold level can be a level of medical waste contained in the canister <NUM> that is indicative of the canister <NUM> being full or nearly full and therefore necessitating disposal of the medical waste contained in the canister <NUM> before more of the medical waste is collected. In some embodiments, the waste threshold level is stored in the memory component <NUM> in communication with the controller <NUM>. The waste threshold level can be configured relative to a total volume of the canister <NUM> suitable for containing the medical waste, e.g., <NUM>% of the volume of the canister <NUM> or <NUM>% of the volume of the canister <NUM>. Conversely, the waste threshold level can be configured to a volume of the medical waste, e.g., <NUM> liters of the medical waste or <NUM> liters of the medical waste. Additionally, the waste threshold level can be a preset threshold level configured during manufacture and/or programming of the assembly <NUM>. The waste threshold level can otherwise, or additionally, be a threshold level configurable by hospital personnel or the user before, during, or after the medical procedure. In some embodiments, the waste threshold level is configurable depending on the nature of the medical waste. Some medical procedures generate more hazardous or toxic medical waste relative to other medical procedures, such as large amounts of hazardous blood and tissue being collected or large amounts of non-hazardous saline fluid being collected during the medical procedure. When the assembly <NUM> is used to collect the medical waste during procedures for which the medical waste is relatively non-hazardous or non-toxic, the waste threshold level may be set to a higher volume or set higher relative the volume of the canister <NUM> in order to maximize efficiency of the waste collection. When the assembly <NUM> is used to collect the medical waste during procedures for which the medical waste is relatively hazardous or toxic, the waste threshold level may be set to a lower volume or lower relative the volume of the canister <NUM>. Setting the waste threshold level to a lower volume or lower relative the volume of the canister <NUM> can minimize risk of overflow of the toxic medical waste from the canister <NUM> to protect the patient <NUM> and hospital personnel. Similarly, the waste threshold level may be set higher or lower based upon viscosity of the medical waste, temperature of the medical waste, or any other suitable property of the medical waste or the surgical procedure. The controller <NUM> can be configured to send a signal to the suction motor <NUM> to stop suction and collection of the medical waste when the waste threshold is reached or exceeded. In some embodiments, the waste sensor <NUM> is configured to send a raw waste level signal to the controller <NUM>, and the controller <NUM> is configured to determine when the amount of the medical waste has reached the threshold level. The raw waste level signal is an electric signal indicative of the amount of the medical waste contained in the canister <NUM>. The indicator <NUM> can display indicia corresponding to the raw waste level signal such that the user can learn the amount of the medical waste sensed by the waste sensor <NUM> by looking at the indicator <NUM>. The amount of the medical waste can be measured based upon volume, weight, or any other suitable metric. In some embodiments, the controller <NUM> is also configured to set the waste threshold level automatically or in response to input by the user.

The assembly <NUM> includes an energy storage device <NUM> and an energy storage device sensor <NUM>. The energy storage device <NUM> and the energy storage device sensor <NUM> are each in communication with the controller <NUM>. The energy storage device <NUM> is configured to provide electric power to the controller <NUM>, the powered wheel <NUM>, the suction pump <NUM>, the vacuum regulator <NUM>, and/or any other components of the assembly <NUM> that require electric power to function. In some embodiments, the assembly <NUM> includes a plurality of energy storage devices <NUM>, each of the energy storage devices <NUM> providing electric power to one or more of the controller <NUM>, the powered wheel <NUM>, the suction pump <NUM>, the vacuum regulator <NUM>, and any other components of the assembly <NUM> that require electric power to function. The controller <NUM> can route and regulate the electric power to the other components of the assembly <NUM> that require electric power to function. For example, the energy storage device <NUM> can supply power to the controller <NUM> and the controller <NUM> can route a portion of the electric power to the suction motor. The controller <NUM> can further regulate function of the suction motor by regulating an amount of energy supplied to the suction motor, thereby increasing or decreasing suctioning power of the suction motor. The energy storage device <NUM> can be a battery, a capacitor, or any other suitable device for storing electric power.

The energy storage device sensor <NUM> is configured to sense a characteristic of the energy storage device <NUM>. The characteristic of the energy storage device <NUM> can be a charge level, i.e., a measure of electric energy stored in the energy storage device <NUM>. The characteristic of the energy storage device <NUM> can be a power level, i.e., a measure of the electric power supplied by the energy storage device <NUM>. The energy storage device sensor <NUM> is configured to provide an energy storage device characteristic signal to the controller <NUM>. The controller <NUM> is configured to initiate a charging protocol to be described when the energy storage device characteristic is below an energy storage device characteristic threshold. The energy storage device characteristic threshold can be, for example, configured relative a maximum electric power capacity of the energy storage device <NUM>, e.g., <NUM>% of the capacity or <NUM>% of the capacity. Additionally, the energy storage threshold can be configured according to expected electric power usage. For example, a scheduled medical procedure that is expected to use a relatively large amount of electric power may require lowering the energy storage threshold to allow relatively more power usage before the assembly <NUM> initiates charging or prompts the user to initiate a charging protocol with the controller <NUM>. The energy storage threshold can be a preset threshold level configured during manufacture and/or programming of the assembly <NUM>. The energy storage threshold can otherwise, or additionally, be a threshold level configurable by hospital personnel or the user before, during, or after the medical procedure. The energy storage device sensor <NUM> can include an energy storage controller (not shown) configured to facilitate sensing of the characteristic of the energy storage device. In some embodiments, the energy storage device sensor <NUM> is configured to provide an energy storage threshold signal to the controller <NUM> when the characteristic of the energy storage device <NUM> sensed by the energy storage device sensor <NUM> meets the energy storage device characteristic threshold. The energy storage device characteristic threshold can be a level of electric power stored in the energy storage device <NUM> that is indicative of the energy storage device <NUM> being near an uncharged state and therefore necessitating transferring of electric power to the energy storage device <NUM> before more of the medical waste is collected. In some embodiments, the energy storage device characteristic threshold is stored in the memory component <NUM>. In some embodiments, the energy storage device sensor <NUM> is configured to send a raw energy storage device characteristic signal to the controller <NUM>, and the controller <NUM> is configured to determine when the amount of electric power stored in the energy storage device <NUM>, state of charge, voltage, and/or other suitable electrical parameter has reached the threshold level. The raw energy storage device characteristic signal is an electric signal indicative of the amount of the electric power stored in the energy storage device <NUM>, or some other indicator of the performance of the energy storage device. In some embodiments, the controller <NUM> is also configured to set the energy storage threshold automatically or in response to input by the user.

As previously described, the assembly <NUM> receives the medical waste during the medical procedure, with the medical waste being stored in the canister <NUM>. The canister <NUM> has a fixed volume, and the volume fills with the medical waste during or after one or more medical procedures. Therefore, the canister <NUM> needs to be emptied of the medical waste during or after one or more medical procedures to prepare for collecting additional medical waste during future medical procedures. As such, the assembly <NUM> is configured to execute a waste disposal protocol for autonomously disposing of the medical waste contained in the canister <NUM>. The waste disposal protocol is a series of steps executed by components of the assembly <NUM> for autonomously navigating the assembly <NUM> to the disposal station <NUM>, establishing fluid communication between the disposal station <NUM> and the canister <NUM>, and emptying and cleaning the canister <NUM> at the disposal station via the fluid communication. Consequently, it is not necessary for the hospital personnel to suspend their duties to carry or wheel the assembly <NUM> to the disposal station <NUM> to empty and clean the canister <NUM>. The waste disposal protocol can include additional steps, to be described.

Furthermore, the assembly <NUM> is portable and the electric components of the assembly <NUM> are at least partially powered by the energy storage device <NUM>, and thus the assembly <NUM> requires recharging of electric power stored in the energy storage device <NUM> during or after one or more medical procedures to prepare for collecting additional medical waste during the future medical procedures. For example, the following components of the assembly <NUM> can require electric power to function: the controller <NUM>, the powered wheel <NUM>, the motor <NUM>, the suction pump <NUM>, the vacuum regulator <NUM>, the memory component <NUM>, the indicator <NUM>, the waste sensor <NUM>, and the user input device <NUM>. Additionally, some components of the assembly <NUM> to be described may require electric power to function. A finite amount of electric power is stored in the energy storage device, and the electric power is drained during use of the assembly, such as while collecting waste during the medical procedure or while navigating to the disposal station. As such, the energy storage device <NUM> requires recharging.

The execution of the waste disposal protocol by the assembly <NUM> may include the assembly <NUM> receiving electric power. Additionally, in some embodiments to be described, the assembly <NUM> is configured to execute the charging protocol for autonomously receiving electric power concurrently with executing the waste disposal protocol for disposing of the medical waste. In some embodiments, the assembly <NUM> is configured to execute the charging protocol for autonomously receiving electric power separately from executing the waste disposal protocol. In some embodiments, the controller <NUM> is configured to initiate the waste disposal protocol according to signals received from the waste sensor <NUM>. For example, the controller <NUM> can be configured to initiate the waste disposal protocol if the raw waste level signal indicates that the amount of the medical waste contained in the canister <NUM> is above the waste threshold. Similarly, the controller <NUM> can be configured to initiate the waste disposal protocol upon receiving the raw waste level signal and the energy storage device characteristic signal and comparing the waste level signal and the energy storage device characteristic signal with the waste level threshold and the energy storage threshold, respectively. The controller <NUM> can also be configured to initiate the charging protocol upon, for example, receiving the energy storage device characteristic signal or comparing the energy storage device characteristic signal with the energy storage threshold.

The controller <NUM> is configured to initiate the waste disposal and may be configured to initiate the charging protocol in response to receiving the user input signal on a user input device <NUM>. The user input device <NUM> may be coupled to the base <NUM> and in communication with the controller <NUM>. The user input device <NUM> can be, for example, a button, a switch, a toggle, a lever, a touch pad, a screen with touch controls, or a combination thereof. In certain embodiments, the user input device <NUM> may be a remote or mobile device, such as a smartphone, tablet, and the like, that may be carried by a user, and separable from the assembly. In some embodiments, the assembly <NUM> includes a plurality of user input devices <NUM>. In some embodiments, the user input device <NUM> is remote from the assembly <NUM> and configured to wirelessly communicate with the controller <NUM>. The user input device <NUM> is configured to provide a user input signal to the controller <NUM> in response to being actuated by a user. For example, during a surgical procedure the amount of medical waste stored in the canister <NUM> may reach the waste level threshold. The indicator <NUM> can alert a user that the waste level threshold has been reached, such as by blinking or displaying a light, beeping, displaying a message, vibration, or any other suitable indication. The user can actuate the user input device <NUM> when suitable, such as when medical procedure has concluded or when another assembly <NUM> is available to replace the assembly <NUM> in collected the medical waste, thereby initiating the disposal procedure or the charging procedure to empty and clean the canister <NUM> or to charge the energy storage device <NUM>, respectively. In embodiments where the assembly <NUM> includes a plurality of user input devices <NUM>, one of the user input devices <NUM> can provide a first user input signal to the controller <NUM> and other of the user input devices <NUM> can provide a second user input signal to the controller <NUM>. The controller <NUM> can be configured to initiate the waste disposal protocol in response to receiving the first user input signal and to initiate the charging protocol in response to receiving the second user input signal.

Referring to <FIG> and <FIG>, the assembly <NUM> is part of a medical waste collection system <NUM>. The medical waste collection system <NUM> includes a disposal station <NUM> configured to clean the canister <NUM> and remove the medical waste from canister <NUM>, thereby sanitizing and emptying the canister <NUM>. The disposal station includes a cleaning circuit <NUM> configured to clean the canister <NUM>, for example by pumping water, detergent, and/or soap into the canister <NUM>. In particular, the disposal station <NUM> is configured to clean and empty the canister <NUM> by creating a closed environment between the canister <NUM> and the disposal station <NUM>, thereby reducing risk of hazardous or toxic materials from coming into contact with hospital personnel or patients <NUM>. The disposal station <NUM> is configured to empty the canister <NUM> by receiving the medical waste from the canister <NUM> through a waste conduit <NUM>. The waste conduit <NUM> creates a fluid connection with the assembly <NUM>. The disposal station <NUM> is configured to clean the canister <NUM> of the assembly <NUM> by transferring water, soap, detergent, disinfectant, a combination thereof, or any other suitable cleaning or disinfecting substance into the canister <NUM> via the waste conduit <NUM>. The disposal station <NUM> can be situated outside of an operating room, such as in a hallway or closet of the health care facility. Alternatively, the disposal station <NUM> can be situated inside an operation room.

With continued reference to <FIG> and <FIG>, the disposal station <NUM> includes a housing <NUM> and a coupler <NUM>. As illustrated, the coupler <NUM> is coupled to the housing <NUM>. The assembly <NUM> includes a counterposing coupler <NUM>. The counterposing coupler <NUM> is coupled to the base <NUM>. During the waste disposal protocol, the coupler <NUM> couples with the counterposing coupler <NUM> to align the assembly <NUM> with the waste conduit <NUM> such that the medical waste can be transferred from the canister <NUM> via the waste conduit <NUM>. In some embodiments, the disposal station <NUM> includes a plurality of couplers <NUM> and the assembly <NUM> includes a plurality of counterposing couplers <NUM>. <FIG> shows an embodiment of the system <NUM> including a plurality of couplers <NUM> and counterposing couplers <NUM> wherein the couplers <NUM> are located above the waste conduit <NUM> and the counterposing couplers <NUM> are located beneath the canisters <NUM> of the assembly <NUM>. Gravitational force facilitates transfer of the medical waste from the canister <NUM> to the disposal station <NUM> via the waste conduit <NUM> when the couplers <NUM> and counterposing couplers <NUM> are coupled. In some embodiments, the coupler <NUM> includes a coupling electromagnet and the counterposing coupler <NUM> includes a counterposing coupling electromagnet in communication with the controller <NUM>. The coupling and counterposing coupling electromagnets are configured to be selectively powered to form an attractive electromagnetic force between the coupler <NUM> and the counterposing coupler <NUM>, thereby securely coupling the coupler <NUM> and the counterposing coupler <NUM> and aligning the assembly <NUM> and the waste conduit <NUM>. One suitable electromagnetic coupling is disclosed in the aforementioned commonly owned <CIT>. In other embodiments, the couplers <NUM> and counterposing couplers <NUM> can conversely or additionally include a mechanical interlocking mechanism, permanent magnets, or a combination thereof.

The assembly <NUM> is configured to autonomously dock with the disposal station <NUM>. To facilitate the autonomous docking, in the illustrated embodiment, the disposal station <NUM> includes a marker <NUM> and the assembly <NUM> includes a marker sensor <NUM> in communication with the controller <NUM> to facilitate alignment of the coupler <NUM> and the counterposing coupler <NUM>. As the assembly <NUM> navigates toward the disposal station <NUM>, the assembly <NUM> must orient and align the counterposing coupler <NUM> with the coupler <NUM> in order to execute the disposal protocol. As such, the marker <NUM> can be disposed near the coupler <NUM> and the marker sensor <NUM> can be disposed near the counterposing coupler <NUM>. The marker sensor <NUM> is configured to sense the marker <NUM> and send signals to the controller <NUM> indicative of the relative position of the marker sensor <NUM> to the marker <NUM>. The controller <NUM> is configured to send signals to the powered wheel <NUM> to adjust facing, orientation, velocity, or any other necessary property of the assembly <NUM> in order to bring the marker sensor <NUM> in close proximity with the marker <NUM>, thereby facilitating coupling of the coupler <NUM> and the counterposing coupler <NUM> for execution of the disposal protocol. The marker <NUM> can be an infrared marker, an NFC antenna, an emitter, a colored marker, or any other suitable marker. The marker sensor <NUM> can be an infrared sensor, an antenna, light sensor, or any other suitable marker sensor. It is also contemplated that the marker <NUM> may be disposed on the assembly <NUM>, and the marker sensor <NUM> may be disposed on the disposal station <NUM>, with the controller <NUM> of the assembly <NUM> being in wireless communication with a controller of the disposal station <NUM>.

In some embodiments, the disposal station <NUM> includes a canister (not shown). The canister of the disposal station <NUM> is in fluid communication with the waste conduit <NUM> and adapted to receive the medical waste from the assembly <NUM>. The canister of the disposal station <NUM> is in fluid communication with the waste collection unit <NUM> via the waste conduit <NUM> when the assembly <NUM> is coupled with the disposal station <NUM>. In embodiments where the disposal station <NUM> includes the canister, the disposal station <NUM> can be substantially mobile, i.e., the disposal station <NUM> can be moved between locations in the hospital without necessitating infrastructural change to the hospital, such as plumbing or electrical changes. In other embodiments, the disposal station <NUM> includes a drain <NUM>. The drain <NUM> is adapted to receive the medical waste from the assembly <NUM> and transfer the medical waste externally to the disposal station <NUM>, such as to a sewage line of the hospital.

Referring to <FIG>, the system <NUM> includes the charging station <NUM>. The charging station <NUM> may be separate from the disposal station <NUM> and facilitates charging of the energy storage device <NUM>. The charging station <NUM> is in electrical communication with an electric source. The electric source can be, for example, a power outlet, an uninterruptible power supply, a power conditioning system, a DC power system, or any other suitable type of electric source. The charging station <NUM> is configured to transfer electrical energy from the electric source to the energy storage device <NUM> when the assembly <NUM> is coupled with the charging station <NUM>. The charging station <NUM> can be situated outside of an operating room, such as in a hallway of the health care facility. The charging station <NUM> can be situated inside an operation room (see <FIG>), or in any other suitable location. In some embodiments, the charging station <NUM> is situated in one or more operating rooms of the medical facility or hospital. The assembly <NUM> can be configured to inductively receive electric power from the charging station <NUM> to charge the energy storage device <NUM> while the assembly <NUM> is being used to collect the medical waste during a surgical procedure.

The charging station <NUM> includes a housing and a coupler <NUM>. The coupler <NUM> is coupled to the housing of the charging station <NUM>. In some embodiments, during the charging protocol, the coupler <NUM> of the charging station <NUM> couples with a charging coupler <NUM> of the assembly <NUM> to align the assembly <NUM> with the charging station <NUM> such that the assembly <NUM> can receive electric power from the charging station <NUM>. The coupler of the charging station <NUM> is substantially similar to the coupler <NUM> of the disposal station <NUM>. The charging coupler <NUM> may include circuitry configured to enable electric communication between the energy storage device <NUM> and the charging station <NUM>. The charging station <NUM> is configured to transfer electric power to the energy storage device <NUM> via the coupler <NUM> of the charging station and the charging coupler <NUM>. The charging coupler <NUM> is configured to be removably coupled with the coupler <NUM> of the charging station <NUM> to receive electric energy from the charging station <NUM>, thereby charging the energy storage device <NUM>. For example, the couplers <NUM>, <NUM> may be mechanically engaged (e.g., a plug) in order to provide an electrical connection between the charging station <NUM> and the assembly <NUM>. For another example, the charging station <NUM> includes an inductive pad forming the coupler with the inductive pad configured to wirelessly transfer electrical energy from the electric source to the energy storage device <NUM>.

In some embodiments, the disposal protocol is complementary to the charging protocol. In other words, upon initiating the disposal protocol, the assembly <NUM> performs both of disposing of the medical waste and charging the energy storage device <NUM>. Referring to <FIG>, the disposal station <NUM> facilitates charging the energy storage device <NUM> while disposing of the medical waste and cleaning the canister <NUM>. In the illustrated embodiment, the disposal station <NUM> is in electrical communication with an electric source. The disposal station <NUM> is configured to transfer electrical energy from the electric source to the energy storage device <NUM> when the assembly <NUM> is coupled with the disposal station <NUM>. During the waste disposal protocol, the coupler of the charging station <NUM> couples with the charging coupler <NUM> to provide a connection between the assembly <NUM> and the charging station <NUM>. The electric source can be, for example, a power outlet, an uninterruptible power supply, a power conditioning system, a DC power system, or any other suitable type of electric source. The electrically integrated disposal station <NUM> is configured to transfer electrical energy from the electric source to the energy storage device <NUM> when the assembly <NUM> is coupled with the charging station <NUM>. In some embodiments, the disposal station <NUM> is configured to inductively transfer electric power to the assembly <NUM> to charge the energy storage device <NUM>.

Upon initiation of the waste disposal protocol for reasons previously described (e.g., waste threshold signal, user input), the controller <NUM> sends several signals to components of the assembly <NUM> and the assembly <NUM> is configured to execute the waste disposal protocol according to the signals, thereby autonomously emptying and cleaning the canister <NUM> of the waste collection unit <NUM> at the disposal station <NUM> and, in some embodiments, autonomously charging the energy storage device <NUM> at the disposal station <NUM> and/or the charging station <NUM>. Without limitation, the controller <NUM> is configured to send a waste disposal movement signal to the motor <NUM> connected to the powered wheel <NUM>. The powered wheel <NUM> automatically moves the assembly <NUM> away from the patient <NUM> upon receiving the waste disposal movement signal. The powered wheel <NUM> automatically navigates the assembly <NUM> to the disposal station <NUM> after moving away from the patient <NUM>.

The controller <NUM> may be configured to send a manifold signal to the indicator <NUM> upon initiation of the waste disposal protocol. Upon receiving the manifold signal, the indicator <NUM> is configured to prompt the user to remove the disposable manifold from the manifold receiver <NUM> and dispose of the disposable manifold upon receiving the manifold signal. The assembly <NUM> can include a manifold sensor in communication with the controller <NUM> and situated near the manifold receiver <NUM>. The manifold sensor is configured to detect whether the disposable manifold is in contact with the manifold receiver <NUM>. The controller <NUM> will only send the manifold signal to the indicator <NUM> if the manifold sensor detects that the disposable manifold is in contact with the manifold receiver <NUM>. The controller <NUM> is configured to send the waste disposal movement signal after the disposable manifold is removed and disposed of.

The controller <NUM> may be further configured to prevent initiation of the waste disposal protocol during the medical procedure. More specifically, the controller <NUM> is configured to prevent initiation of the waste disposal protocol to prevent the assembly <NUM> from moving from the patient <NUM> while end effectors, suction lines <NUM>, or other implements connected to the assembly <NUM> are in use to prevent movement of the assembly <NUM> and the end effectors, suctions tubes or other implements connected thereto away from the patient <NUM> from disrupting the surgical procedure. Prevention of the waste disposal protocol also prevents the assembly <NUM> from breaking a sterile field when moving away from the patient <NUM>, thereby preserving sterility and safety during the medical procedure. For example, if the waste disposal protocol would otherwise be initiated in response to receiving the waste level signal from the waste sensor <NUM> or in response to determining that the amount of the medical waste has reached the threshold level, the controller <NUM> may delay providing the waste disposal signal until after the surgical procedure. In other words, the controller <NUM> is configured to prevent or delay initiation of the waste disposal protocol during the medical procedure unless the waste disposal protocol is initiated as a result of user input. For example, the controller <NUM> can be configured to delay providing the waste disposal signal while the suction pump <NUM> is actively suctioning waste. In some embodiments, the user can override prevention of initiation of the waste disposal protocol by actuating the user input device.

Similar to the waste disposal protocol, the controller <NUM> can be configured to prevent initiation of the charging protocol during the medical procedure if, for example, the controller <NUM> receives the energy storage device characteristic signal from the waste sensor <NUM> during the medical procedure. Among other advantages, the controller <NUM> prevents the assembly <NUM> from moving from the patient <NUM> while end effectors, suction lines <NUM>, or other implements connected to the assembly <NUM> are in use and/or to avoid breaking a sterile field. In some embodiments, the user can override prevention of initiation of the charging protocol by actuating the user input device. Yet with initiation of the charging protocol prevented, for example during the medical procedure, it may be desirable or necessary to supply power to the assembly <NUM>. For example, should the energy storage characteristic be undesirably low relative to anticipated remaining time (and corresponding energy consumption of the assembly <NUM>) of the medical procedure, it will be necessary to supply power to the assembly <NUM> to, among other functions of the assembly <NUM>, avoid inadvertent loss of suction from the suction pump <NUM>. Therefore, in some embodiments, the assembly <NUM> includes an energy supply device (not shown) configured to receive power from an energy source and supply the power to the assembly <NUM>. For example, the energy supply device may be a cord extending from any suitable structure of the assembly <NUM> such as the lower frame <NUM>, the upper frame <NUM>, or the vertical chassis <NUM>. The base <NUM> can have any suitable shape. A plug at the end of the cord is configured to couple with an outlet associated with a station, for example the charging station <NUM>, and/or a wall of the medical facility. Additionally or alternatively, the energy storage device <NUM> may be replaceable with another energy storage device <NUM>. In one example, the energy storage device <NUM> is an external battery (e.g., a Lithium-ion battery) capable of being decoupled from the remainder of the assembly <NUM>. Complementary contacts between the battery and a battery receiver are disengaged, and a replacement battery is disposed within the battery receiver with corresponding contacts engaged to supply the supply power to the assembly <NUM>. In such a situation where energy supply device and/or the replacement energy storage device <NUM> is utilized, the controller <NUM> may be configured to provide a notification to, for example, a hub controller <NUM>. In manners to be described, the hub controller <NUM> polls each of the controllers <NUM> of the additional assemblies to receive information regarding the amount of energy in each of the energy storage devices <NUM>. The hub controller <NUM> can then select one of the additional assemblies to navigate to the duty station to relieve the assembly <NUM> with the purportedly lower energy storage characteristic. Moreover, the controller <NUM> may also provide a notification to the user.

The memory component <NUM> is configured to store a disposal schedule for scheduling initiation of the waste disposal protocol. Times to schedule initiation of the waste disposal protocol include, for example, an end of scheduled hours of surgery for an operating wing of a hospital, or a time prior to scheduled hours of surgery for an operating wing of the hospital. The controller <NUM> of the disposal station <NUM> is configured to initiate the waste disposal protocol as scheduled according to the disposal schedule. For example, a hospital may have an operating wing having several operating rooms staffed for scheduled operations between <NUM> a. and <NUM> p. The disposal schedule can include scheduled initiation of the waste disposal protocol at <NUM> a. and <NUM>:<NUM> p. in order to conveniently have the assembly <NUM> autonomously empty and clean the canister <NUM> of the assembly <NUM> and/or recharge the energy storage device <NUM> without the waste disposal protocol or the charging protocol conflicting with scheduled medical procedures. Any other suitable times may be scheduled in the disposal schedule for initiation of the waste disposal protocol, such as in between scheduled medical procedures. The controller <NUM> can be configured to initiate the waste disposal protocol without actuation of the user input if the waste disposal protocol is initiated during a scheduled time according to the disposal schedule. In some embodiments, the disposal schedule corresponds to a hospital network system, such as an operation scheduling system, a staff scheduling system, a resource management system, an electronic medical record (EMR), a combination thereof, or any other suitable hospital network system. The disposal schedule may be stored at other memory locations other than memory component <NUM>. The EMR is a computer-based system for storage and transfer of hospital data such as patient data, resource data, device data, and other types of data relevant to operation of the hospital. Scheduled surgical procedures may be stored in the EMR and transferred from the EMR to the memory component <NUM> of the assembly <NUM> via a hospital network. The disposal schedule can be configured to correspond to the scheduled surgical procedures, such as by scheduling the waste disposal procedure to be initiated before the scheduled surgical procedures begin, after the scheduled surgical procedures end, between the surgical procedures, or a combination thereof. As such, the memory component may be dynamically linked to the EMR such that as new procedures are scheduled, the controller <NUM> appropriately initiates the charging and/or disposal protocol.

The memory component <NUM> is configured to store a charging schedule. The charging schedule includes one or more times to initiate the charging protocol. The controller <NUM> is configured to initiate the charging protocol according to the charging schedule. Similarly to the disposal schedule, the one or more times to initiate the charging can correspond to an end time of the medical procedure. For example, in some embodiments the charging schedule can correspond to a medical procedure schedule of an operating wing of a health care facility, the medical procedure schedule including beginning times and expected end times for each of the medical procedures. The charging schedule can correspond such that the controller <NUM> initiates the charging protocol at appropriate times between the medical procedures, thereby enabling the energy storage device <NUM> to be substantially charged as necessary for the medical procedures. In other embodiments, the charging schedule can correspond to an end of daily operations for the operating wing. The charging schedule can correspond such that the controller <NUM> initiates the charging protocol at or near the end of daily operations for the operating wing, thereby enabling the energy storage device <NUM> to be substantially charged before operations start on a following day. In some embodiments, the disposal schedule corresponds to a hospital network system such as the EMR.

At some times, the canister <NUM> of the assembly <NUM> needs to be emptied and cleaned quickly, for example in between or during scheduled medical procedures. However, quick emptying and cleaning of the canister <NUM> of the assembly can leave some amount of the medical waste and/or bacteria or toxic material in the canister <NUM> of the assembly. As such, at other times the canister <NUM> of the assembly <NUM> needs to be emptied and cleaned more thoroughly, such as overnight or after an end of day for a surgical wing. As such, in some embodiments, the waste disposal protocol includes a plurality of disposal modes. Each of the disposal modes includes a different amount of time the assembly <NUM> and the disposal station <NUM> are to be coupled while removing the medical waste from the waste collection unit <NUM>. The controller <NUM> can be configured to automatically select one of the disposal modes. The controller <NUM> can select one of the disposal modes based on an amount of the medical waste within the waste collection unit <NUM>, the amount of medical waste to be removed from the waste collection unit <NUM>, a type of medical procedure that the assembly was used for, a type of medical waste inside the container, a length of time the medical waste has been stored in the canister <NUM>, or a combination thereof. By way of non-limiting example, the waste disposal protocol can include a quick docking mode, a normal docking mode, and an extended docking mode. When the controller <NUM> initiates the waste disposal protocol with the quick docking mode, the assembly <NUM> can be configured to couple to the disposal station <NUM> for approximately five minutes. The quick docking mode is suitable for emptying and cleaning the canister <NUM> of the assembly in between or during medical procedures. When the controller <NUM> initiates the waste disposal protocol with the normal docking mode, the assembly <NUM> can be configured to couple to the docking station for approximately thirty minutes, thereby more effectively emptying and cleaning the canister <NUM> of the assembly than the quick docking mode. The normal docking mode is suitable for emptying and cleaning the canister <NUM> of the assembly before or after a scheduled day of medical procedures, such as at morning or at night. When the controller <NUM> initiates the waste disposal protocol with the extended docking mode, the assembly <NUM> can be configured to couple to the disposal station <NUM> for approximately two hours, thereby more effectively emptying and cleaning the canister <NUM> of the assembly than the quick or normal docking modes. The extended docking mode is suitable for periodically emptying and cleaning the canister <NUM> of the assembly, such as weekly, biweekly, monthly, quarterly, or biannually. The above identified times for each of the modes are merely exemplary with any length of time for each of the modes being contemplated by the present disclosure.

In some embodiments, the disposal modes also include different types or amounts of disinfectant or detergent to be used by the disposal station <NUM> to clean the canister <NUM> of the assembly during the waste disposal protocol. The controller can automatically select the amounts and/or types of disinfectants or detergents based on the type of medical waste collected, or a type of procedure that the assembly was used for, for example, some medical procedures collect large amounts of blood while other medical procedures collect large amounts of saline. The controller <NUM> can use a sensor to determine a type and/or amount of medical waste, such as determining that a large amount of blood has been collected or that the assembly <NUM> is used in a medical procedure during which large amounts of blood are typically collected. In response, the controller <NUM> can initiate the waste disposal protocol with a disposal mode using disinfectants and/or detergents appropriate for cleaning large amounts of blood from the canister <NUM> of the assembly.

The controller <NUM> may be configured to select one of the disposal modes based on a user input or the disposal schedule, thereby allowing a user to select one of the disposal modes while initiating the disposal procedure. In embodiments where the assembly <NUM> includes a plurality of user inputs, each of the user inputs can be configured to enable the controller <NUM> to initiate the waste disposal protocol with a different disposal mode of the plurality of disposal modes. For example, one of the user inputs can be configured to enable to controller <NUM> to initiate the waste disposal protocol with the quick disposal mode upon actuation of the one user input. Other of the user inputs can be configured to enable the controller <NUM> to initiate the waste disposal protocol with the normal disposal mode upon actuation of the other user input. Still another of the user inputs can be configured to enable the controller <NUM> to initiate the waste disposal protocol with the extended disposal mode upon actuation of the other user input. In some embodiments, a user can actuate the user input device <NUM> to configure one or more of the disposal modes. For example, the user can actuate one user input of the user input device <NUM> to configure the quick disposal mode to run for three minutes, and actuate another user input of the user input device <NUM> to initiate the disposal protocol with the quick disposal mode. Configurations of the disposal modes may be stored in the memory component <NUM>.

It is readily appreciated that the assembly <NUM> must be capable of performing autonomous movement to execute the aforementioned protocols, particularly movement within a complex and often crowded environment. Referring now to <FIG> and <FIG>, in some embodiments, a locator network <NUM> is configured to track position of the assembly <NUM> and position of the disposal station <NUM> and/or the charging station <NUM>. <FIG> shows a block diagram of the locator network <NUM>, the autonomous waste collection assembly <NUM>, and the disposal station <NUM>. Tracking position of the assembly <NUM> and position of the disposal station <NUM> and/or the charging station <NUM> facilitates the controller <NUM> navigating the assembly <NUM> to the disposal station <NUM> and/or the charging station <NUM>. The locator network <NUM> can send signals to the assembly <NUM> enable the controller <NUM> to be aware of the position of the assembly <NUM>, particularly within the medical facility. The locator network <NUM> can also send signals to the assembly <NUM> to enable the controller <NUM> to be aware of the position of the disposal station <NUM> and/or the charging station <NUM>. The controller <NUM> is configured to navigate the assembly <NUM> to the disposal station <NUM> and/or the charging station <NUM> based upon signals received from the locator network <NUM>. The locator network <NUM> can include a hub controller <NUM>, a memory component <NUM>, and a transceiver <NUM>. The hub controller <NUM> is configured to execute computer-executable instructions to perform the functions of the locator network <NUM>. The hub controller <NUM> can be a microprocessor, a microcontroller, a field programmable gate array (FPGA), a system on a chip (SoC), or any other suitable type of controller for executing the functions of the locator network <NUM>. The memory component <NUM> of the locator network <NUM> is in communication with the hub controller <NUM> and is configured to store data and instructions related to functions of the locator network <NUM>. The locator network <NUM> is configured to send signals to the assembly <NUM> and receive signals from the assembly via the transceiver <NUM>. In some embodiments, the assembly <NUM> includes a transceiver <NUM> configured to send signals to the transceiver <NUM> of the locator network <NUM> and receive signals from the transceiver <NUM> of the locator network <NUM>.

The medical waste collection system <NUM> includes a plurality of locator sensors <NUM> in communication with the locator network <NUM>. The locator sensors <NUM> can be in wired or wireless communication with the locator network <NUM>. The locator sensors <NUM> can be optical, infrared, sonographic, or any other suitable detection-based technology configured to wirelessly detect a device at a distance. The locator sensors <NUM> can be mounted to walls and/or the ceiling within hallways of the medical facility, or can be situated at any other suitable position within the medical facility. <FIG> shows an exemplary layout of the locator sensors <NUM> situated in an operating wing of a hospital. The locator sensors <NUM> can be configured to detect a tracking device coupled to the assembly <NUM>. Further, the locator sensors <NUM> can be configured to detect a tracking device of the disposal station <NUM> and/or the charging station <NUM>. The tracking devices can include, for example, GPS units and RFID chips. The controller <NUM> is configured to receive a current location input signal and a disposal location input signal from the locator network <NUM> within the medical facility. The current location input signal is based on a current location of the assembly <NUM>. The disposal location input signal is based on a disposal location of the disposal station <NUM>. In some embodiments, the controller <NUM> is configured to receive a charging location input signal from the locator network <NUM> within the medical facility. The charging location input signal is based on a charging location of the charging station <NUM>.

The controller <NUM> is configured to navigate the assembly <NUM> to the disposal station <NUM> and/or the charging station <NUM> based on the current location input signal and the disposal location input signal. The controller <NUM> navigates the assembly <NUM> according to the current location input signal and the disposal location input signal and/or the charging location input signal. The controller <NUM> is configured to navigate the assembly <NUM> by selectively powering the motor <NUM> of the powered wheel <NUM> to move and steer the assembly <NUM> toward the disposal location and/or the charging location.

In some embodiments, the system <NUM> includes a plurality of disposal stations <NUM>, as shown in <FIG>, as well as one or more charging stations <NUM>. The controller <NUM> may be further configured to receive a current location input signal as well as disposal location input signals for each of the disposal stations <NUM> and charging location input signals for each of the charging stations <NUM>. Upon initiating the waste disposal protocol, the controller <NUM> is configured to navigate the assembly <NUM> to one of the disposal stations <NUM> according to the corresponding disposal location input signal. The controller <NUM> can decide to which of the disposal stations <NUM> to navigate based on factors such as distance, time, and whether another assembly <NUM> is already performing the waste disposal protocol at one or more of the disposal stations <NUM>. For example, the system <NUM> can include first and second paths <NUM>, <NUM> to the disposal stations <NUM>. The controller <NUM> may be configured to use decision-making logic to determine whether to navigate to the first path <NUM> or the second path <NUM>. The controller <NUM> may decide to navigate to the first path <NUM> rather than the second path <NUM> due to a lesser distance between the assembly <NUM> and the disposal station <NUM> via the first path <NUM> compared to a greater distance between the assembly <NUM> and the disposal station <NUM> via the second path <NUM>.

With continued reference to <FIG>, in some embodiments the memory component <NUM> is configured to store a location map. The location map includes a layout of at least a portion of the medical facility, the layout being comprehendible by the controller <NUM>. The controller <NUM> selectively powers the motor <NUM> by calculating a trajectory based upon the current location input signal and the disposal location input signal and/or the charging location input signal with respect to the location map. The controller <NUM> is configured to selectively power the motor <NUM> to follow the trajectory. The controller <NUM> is configured to calculate the trajectory based upon the current location input signal and the disposal location input signal when the waste disposal protocol is initiated such that the controller <NUM> navigates the assembly <NUM> to the disposal station <NUM>. Alternatively, the controller <NUM> is configured to calculate the trajectory based upon the current location input signal and the charging location input signal when the charging protocol is initiated such that the controller <NUM> navigates the assembly <NUM> to the charging station <NUM>.

In some embodiments, the memory component <NUM> is configured to store a plurality of defined paths <NUM> within the medical facility. The defined paths <NUM> are predefined paths, for example, paths along one or more hallways of an operating wing of a hospital, between locations in the medical facility. The defined paths <NUM> can be predefined paths between operating rooms and the disposal station <NUM> and/or the charging station <NUM>. The controller <NUM> is configured to navigate the assembly <NUM> to the disposal station <NUM> and/or the charging station <NUM> along one of the defined paths <NUM>. The controller <NUM> is configured to navigate the assembly <NUM> to the disposal station <NUM> and/or the charging station <NUM> based on a distance between the current location and the disposal location. For example, the defined paths <NUM> can include the first path <NUM> between an operating room and a first disposal station <NUM> and the second path <NUM> between the operating room and a second disposal station <NUM>. Upon initiating the waste disposal protocol, the controller <NUM> can determine whether the assembly <NUM> is positioned at the first operating room or the second operating room based on the current location input signal. The controller <NUM> can determine whether to navigate the assembly <NUM> to the first disposal station <NUM> along the first path <NUM> or to the second disposal station <NUM> along the second path <NUM>. In some embodiments, the defined paths <NUM> include a plurality of paths between each of the operating rooms and each of the disposal stations <NUM> and/or charging stations <NUM>.

One or more spatial awareness sensors <NUM> may be provided and in communication with the controller <NUM>. An embodiment of the assembly <NUM> including one spatial awareness sensor <NUM> is described herein for simplicity of description. The spatial awareness sensor <NUM> is configured to sense objects obstructing the assembly <NUM> while the assembly <NUM> is navigating to the disposal station <NUM> and/or the charging station <NUM>, such as along one of the defined paths <NUM>. The spatial awareness sensor <NUM> can be a capacitive sensor, a capacitive displacement sensor, a Doppler Effect sensor, an eddy-current sensor, an inductive sensor a magnetic sensor, an optical sensor, a radar device, a sonar device, a lidar device, a combination thereof, or any other suitable type of sensor. The controller <NUM> is configured to direct the assembly <NUM> to deviate from the path in response to the sensed obstruction <NUM>. After deviating from the path, the controller <NUM> is configured to navigate the assembly <NUM> around the obstruction <NUM> to continue to the destination, i.e., the disposal station <NUM> or the charging station <NUM>, once the assembly <NUM> has navigated around the obstruction <NUM>. The controller <NUM> can determine that the obstruction <NUM> cannot be navigated around, in which case the controller <NUM> is configured to determine an alternate path to the disposal station <NUM> or the charging station <NUM>, or to navigate to a different disposal station <NUM> or charging station <NUM>. The sensed obstruction <NUM> can be, for example, a doctor, a nurse, other hospital personnel, a patient <NUM>, a wheelchair, a hospital bed, a cabinet, or any other obstruction <NUM> that may be present in the medical facility. Upon sensing the obstruction <NUM>, the controller <NUM> is configured to direct the assembly <NUM> to deviate in order to prevent the assembly <NUM> from colliding with the sensed obstruction <NUM> while navigating to the disposal station <NUM> and/or the charging station <NUM> during the waste disposal protocol or the charging protocol. In some embodiments, the spatial awareness sensor <NUM> is also configured to assist in aligning the assembly <NUM> with the disposal station <NUM>. For example, the spatial awareness sensor <NUM> can detect location of the disposal station <NUM> relative the assembly <NUM> when the assembly <NUM> is near the disposal station <NUM>. The controller <NUM> can then send signals to the motor <NUM> of the powered wheel <NUM> to bring the counterposing coupler <NUM> near the coupler <NUM> based upon the signals from the spatial awareness sensor <NUM>.

It is readily appreciated that the autonomous movement of the assembly <NUM> and the additional automated features of the system <NUM> of the present disclosure advantageously relieves hospital personnel from suspending their duties to carry out many tasks previously incumbent on them to perform. In certain situations, however, it may be desirable to operate the assembly <NUM> in the absence of the autonomous movement and/or automated features. In other words, it may be desirable for the user to "opt out" of an autonomous mode to operate the assembly <NUM> in what may be considered a manual mode. Exemplary instances or situations where the manual mode may be desired include servicing the assembly <NUM>, "one off" or unexpected uses, repositioning of the assembly <NUM> within the medical facility or more particularly the operating room, and avoiding congestion within hallways of the medical facility during especially busy times. For example, it may be necessary to reposition the assembly <NUM> within the operation room, and the powered wheel <NUM> may provide resistance to such movement. As opposed to programming or inputting the needed movement, it may be easier to simply maneuver the assembly <NUM> manually to the desired position. The actuation of the assembly <NUM> between the autonomous and manual modes may include the user input device <NUM> receiving an input from the user. In the autonomous mode, for example, the assembly <NUM> may include engagement of a clutch mechanism <NUM> (see <FIG>) with the motor <NUM> of the powered wheel <NUM> that prevents the user from manually moving (e.g., pushing) the assembly <NUM> along the floor surface. The clutch mechanism <NUM> is in communication with the controller <NUM> and the user input device <NUM>. As the assembly <NUM> moves from the autonomous mode to the manual mode, the clutch mechanism <NUM> may disengage from the motor <NUM> to permit the powered wheel <NUM> to move freely along with remaining wheels <NUM> of the assembly <NUM>. In another example, provided adequately stability is maintained by the assembly <NUM>, a lift mechanism <NUM> (see <FIG>) coupled to the powered wheel <NUM> and in communication with the controller <NUM> and the user input device <NUM>. As the assembly <NUM> moves from the autonomous mode to the manual mode, for example consequent to an input to the user input device <NUM>, the lift mechanism <NUM> moves the powered wheel <NUM> away from the floor surface such that the powered wheel <NUM> is no longer contacting the same. Should the remaining wheels <NUM> be non-powered, the assembly <NUM> may be manually moved freely along the floor surface. The assembly <NUM> may be repeatedly moved between the autonomous and manual modes as desired.

Referring to <FIG> and <FIG>, in some embodiments, the assembly <NUM> is a first autonomous medical waste collection assembly <NUM> and the medical waste collection system <NUM> includes a second autonomous medical waste collection assembly <NUM>. The second assembly <NUM> includes a base, a plurality of wheels coupled to the base and including a powered wheel, a waste collection unit coupled to the base and including a canister and a suction pump in fluid communication with the canister, a vacuum regulator in communication with the suction pump, a counterposing coupler coupled to the base, and a controller. The base, the plurality of wheels, the waste collection unit, the counterposing coupler <NUM>, and the controller of the second assembly <NUM> may be configured similarly to the base <NUM>, the plurality of wheels <NUM>, the waste collection unit <NUM>, the counterposing coupler <NUM>, the charging coupler <NUM>, and the controller <NUM> of the first assembly <NUM>. The second assembly <NUM> may be substantially similar to the first assembly <NUM> in both structure and function.

The disposal stations <NUM> and the charging station <NUM> can each only facilitate execution of the disposal procedure for a limited number of the assemblies simultaneously. For example, in some embodiments, only one of the assemblies <NUM>, <NUM> can be coupled with each of the disposal stations <NUM> at a time. As such, for example, the first assembly <NUM> coupled with the disposal station <NUM> must decouple from the disposal station <NUM> before the second assembly <NUM> can couple with the disposal station <NUM> to execute the disposal protocol. If the controller <NUM> of the first assembly <NUM> initiates the disposal protocol while the second assembly <NUM> is executing the disposal protocol, a conflict may occur where the second assembly <NUM> is occupying the disposal station <NUM> to which the controller <NUM> of the first assembly <NUM> is trying to navigate the first assembly <NUM> to execute the disposal protocol. Similarly, if the controllers <NUM> of the first and second assemblies <NUM>, <NUM> initiate the disposal protocol at similar times, a conflict may occur where each of the first and second assemblies <NUM>, <NUM> are navigating the first and second assemblies114, <NUM>, respectively, to execute the disposal protocol at the disposal station <NUM>. Similar issues may arise with regard to the charging stations <NUM>. To resolve such conflicts, in some embodiments, the first and second assemblies <NUM>, <NUM> are each adapted to be removably coupled to the charging in an interchangeable manner such that the first and second assemblies <NUM>, <NUM> form a queue if waste disposal protocols of the first and second assemblies <NUM>, <NUM> have each been initiated and are concurrently active. The queue facilitates one or more of the assemblies <NUM>, <NUM> waiting until other of the assemblies <NUM>, <NUM> have finished executing the disposal protocol before coupling with the disposal station <NUM>. The queue can be stored in one or more of the memory components <NUM> of the assemblies <NUM>, <NUM>, the memory component of the locator network <NUM>, or a combination thereof. Likewise, in certain embodiments, a singular one of the first and second waste assemblies <NUM>, <NUM> can be coupled to the charging at one time. In such embodiments, the controller of the second assembly <NUM> is configured to queue if the first assembly <NUM> is positioned at the charging station <NUM>. The second assembly <NUM> can queue by suspending the charging protocol of the second assembly <NUM> and waiting until the first assembly <NUM> has completed the charging protocol of the first assembly <NUM> before reinitiating or resuming the charging protocol of the second assembly <NUM>. The second assembly <NUM> can navigate near or adjacent to the charging station <NUM> before suspending the waste disposal protocol of the second assembly <NUM>.

The locator network <NUM> is configured to track location of each of the first and second assemblies <NUM>, <NUM> as well as any number of disposal stations <NUM> and/or charging stations <NUM>. The locator network <NUM> is configured to send signals to the controllers of each of the first and second assemblies to make each of the first and second assemblies <NUM>, <NUM> aware of locations of other of the first and second assemblies <NUM>, <NUM>. In some embodiments, the controller of the second assembly <NUM> is configured to receive a first location input signal and a second location input signal from the locator network <NUM>. The first location input signal is based on a first location of the first assembly <NUM>. The second location input signal is based on a second location of the second assembly <NUM>. In some embodiments, the first and second assemblies are each adapted to be removably coupled to the disposal station <NUM> in an interchangeable manner such that the first and second assemblies <NUM>, <NUM> form a queue if waste disposal protocols of the first and second assemblies <NUM>, <NUM> have each been initiated and are concurrently active. In certain embodiments, a singular one of the first and second waste assemblies <NUM>, <NUM> can be coupled to the disposal station <NUM> at one time. In such an embodiment, the controller <NUM> of the second assembly <NUM> is configured to queue if the first assembly <NUM> is positioned at the disposal station <NUM>. The second assembly <NUM> can queue by suspending the waste disposal protocol of the second assembly <NUM> and waiting until the first assembly <NUM> has completed the waste disposal protocol of the first assembly <NUM> before reinitiating or resuming the waste disposal protocol of the second assembly <NUM>. The second assembly <NUM> can navigate near or adjacent to the disposal station <NUM> before suspending the waste disposal protocol of the second assembly <NUM>.

When both of the first and second assemblies initiate the disposal protocol, the hub controller <NUM> may be configured to select one of the first and second assemblies <NUM>, <NUM> to perform the disposal procedure. The other of the first and second assemblies <NUM>, <NUM> that is not selected, can be queued behind the one of the first and second assemblies <NUM>, <NUM> that is selected. The hub controller <NUM> selects the one of the first and second assemblies <NUM>, <NUM> to perform the disposal procedure prior to the other one of the first and second assemblies <NUM>, <NUM>. The hub controller <NUM> may select the one of the first and second assemblies <NUM>, <NUM> based on relative amounts of the medical waste in the waste collection units <NUM> of the first and second waste collection assemblies <NUM>, <NUM>. For example, the hub controller <NUM> can poll each of the controllers <NUM> of the first and second assemblies to receive information regarding the amount of the medical waste contained in each of the canisters of the first and second assemblies <NUM>, <NUM>. The hub controller <NUM> can then select one of the first and second assemblies <NUM>, <NUM> to perform the waste disposal protocol based on the amount of medical waste in the waste collection unit. The hub controller <NUM> can instruct other of the first and second assemblies <NUM>, <NUM> to navigate to an operating room to receive waste during a medical procedure. Similarly, the hub controller <NUM> can poll each of the controllers <NUM> of the first and second assemblies <NUM>, <NUM> to receive information regarding the amount of energy in each of the energy storage devices <NUM> of the first and second assemblies. The hub controller <NUM> can then select one of the first and second assemblies <NUM>, <NUM> to perform the charging protocol. The hub controller <NUM> can instruct other of the first and second assemblies <NUM>, <NUM> to navigate to an operating room to receive waste during a medical procedure. The hub controller <NUM> may also control the queue for the charging protocol or the disposal protocol based on the disposal schedule, the charging schedule, the type of scheduled surgical procedure, the type of medical waste, etc..

At some times, it is expected that a user will initiate the disposal protocol for the first assembly <NUM> during a medical procedure and before completion of the medical procedure. As such, the second assembly <NUM> can be configured to navigate to the location of the first assembly <NUM> in order to continue collecting the medical waste in place of the first assembly <NUM> while the first assembly <NUM> executes the disposal protocol.

In some embodiments, the controller <NUM> of the first assembly <NUM> is configured to provide a replacement signal to the locator network <NUM> in response to actuation of the user input device <NUM>. The user input device <NUM> can be actuated by hospital personnel upon filling of the canister <NUM> of the first assembly <NUM> during a medical procedure. In response to receiving the replacement signal the locator network <NUM> provides the first and second location input signals to the controller <NUM> of the second assembly <NUM>. The controller <NUM> of the first assembly <NUM> can initiate the waste disposal procedure and the second assembly <NUM> can autonomously navigate to the first location to replace the first assembly <NUM> in receiving the medical waste during the medical procedure. The controller of the second assembly <NUM> is configured to instruct movement of the second assembly <NUM> to the first location via the powered wheel of the second assembly <NUM>. The controller of the second assembly <NUM> instructs movement of the second assembly <NUM> to the first location to replace the first assembly <NUM> at the first location.

Referring to <FIG>, a method <NUM> of operating the medical waste collection system <NUM> is shown, the method not forming a part of the invention. At step <NUM>, the waste collection unit <NUM> receives the medical waste from a patient during a medical procedure. To do so, the assembly <NUM> may be positioned near the patient in the medical facility, for example the operating room (see <FIG>). The user provides an input to the user input device <NUM> in communication with the controller <NUM>. The controller <NUM> operates the suction pump <NUM>, and perhaps the vacuum regulator <NUM>, to regulate the level of suction drawn through the suction line <NUM>. The medical waste is stored in at least one of the canisters <NUM>.

In one example, the raw waste level in the canister <NUM>, as detected by the waste sensor <NUM>, exceeds the waste threshold level (step <NUM>). Additionally or alternatively, the energy storage device characteristic of the energy storage device <NUM>, as detected by the energy storage device sensor <NUM>, falls below the energy storage device characteristic threshold (step <NUM>). Additionally or alternatively, a schedule as stored in the memory component <NUM> may indicate a scheduled performing of the disposal protocol and/or the charging protocol (step <NUM>). Additionally or alternatively, the user may provide an input to the user input device <NUM>. The controller <NUM> in communication with the user input device <NUM> receives the input (step <NUM>). For any one or more of the above, the assembly <NUM> autonomously moves to and couples with the station; i.e., the disposal station <NUM> (see <FIG>), the charging station <NUM> (see <FIG>), or the integrated disposal-charging station <NUM> (see <FIG>) (step <NUM>). For example, at step <NUM>, the controller <NUM> actuates powered wheel <NUM> to move the assembly <NUM> to the disposal station <NUM>. Any one or more of the sensors <NUM>, <NUM> may be utilized to facilitate the coupling of the assembly <NUM> with the station <NUM>, <NUM> (step <NUM>). Further, the locator network <NUM> of the medical facility in communication with the controller <NUM> may facilitate navigation of the assembly <NUM> to the station <NUM>, <NUM>, as previously described (step <NUM>).

At step <NUM>, the assembly <NUM> performs the disposal protocol while coupled to the disposal station <NUM>. In particular, the disposal station <NUM> autonomously removes the medical waste from the waste collection unit <NUM>. The disposal station <NUM> may perform a cleaning operation to clean the canisters <NUM> (step <NUM>). Should the station be an integrated disposal-charging station <NUM> (see <FIG>), the charging station <NUM> autonomously performs the charging protocol (step <NUM>). In particular, electric power is transferred from the energy source to the energy storage device <NUM> of the assembly <NUM> (step <NUM>), which may occur simultaneously with the disposal station <NUM> autonomously removing the medical waste from the waste collection unit <NUM>. Otherwise, the controller <NUM> may actuate the powered wheel <NUM> to move the assembly <NUM> to the charging station <NUM>. Alternatively, should the energy storage device <NUM> not need additional electric power, the controller <NUM> may actuate the powered wheel <NUM> to move the assembly <NUM> to return to the duty station or a storage location (step <NUM>). The reversal of steps <NUM> and <NUM> are contemplated in which the assembly <NUM> first couples with the charging station <NUM>. Likewise, should the canister <NUM> not need emptying subsequent to the energy storage device <NUM> receiving electric power, the controller <NUM> may actuate the powered wheel <NUM> to move the assembly <NUM> to return to the duty station or a storage location (step <NUM>).

In certain embodiments, the user input device <NUM> may receive an input from the user as to a disposal mode, for example, a first disposal mode and a second disposal mode. Based on the input from the user, the controller <NUM> in communication with the user input device <NUM> may perform the disposal protocol to the medical waste removed for a first amount of time according to the first disposal mode (steps <NUM> and <NUM>), or for a second amount of time according to the second disposal mode (steps <NUM> and <NUM>). The second amount of time is different than the first amount of time. The cleaning operation (step <NUM>) may be performed in one or both of the first and second disposal modes.

Claim 1:
A medical waste collection system (<NUM>), said system comprising:
a disposal station (<NUM>) comprising:
a housing (<NUM>); and
a coupler (<NUM>) coupled to said housing (<NUM>); and
an autonomous medical waste collection assembly (<NUM>, <NUM>, <NUM>) comprising:
a base (<NUM>) adapted to be positioned near a patient (<NUM>);
wheels (<NUM>) coupled to said base (<NUM>) with at least one of said wheels (<NUM>) being powered to move said base (<NUM>) along a floor surface;
a waste collection unit (<NUM>) coupled to said base (<NUM>) for receiving medical waste from the patient (<NUM>) including:
a canister (<NUM>) for holding the medical waste; and
a suction pump (<NUM>) in fluid communication with said canister (<NUM>) and configured to draw a suction on said canister (<NUM>);
a counterposing coupler (<NUM>) coupled to said base (<NUM>) with said counterposing coupler (<NUM>) adapted to be removably coupled with said coupler (<NUM>) of said disposal station (<NUM>);
a controller (<NUM>); and
a user input device (<NUM>) in communication with said controller (<NUM>), said user input device (<NUM>) being adapted to provide a user input signal in response to being actuated by a user,
wherein said controller (<NUM>) is operable to initiate a waste disposal protocol in response to receiving said user input signal, said waste disposal protocol comprising transmitting a movement signal to said powered wheel for automatically moving said autonomous medical waste collection assembly (<NUM>, <NUM>, <NUM>) away from the patient (<NUM>) to said disposal station (<NUM>) such that said coupler (<NUM>) couples with said counterposing coupler (<NUM>) to provide a connection between said autonomous medical waste collection assembly (<NUM>, <NUM>, <NUM>) and said disposal station (<NUM>).