Patent ID: 12193451

DETAILED DESCRIPTION OF THE EMBODIMENTS

FIG.1schematically depicts an embodiment of the system1. The system1is especially configured for separating an intestine10, especially a small intestine10, from a bowel package19. The bowel package19comprises a package remainder17and a membrane11connecting the intestine10to the package remainder17. Therefore, it may also be described herein that the system1(and the method) may be configured for separating the intestine10from the membrane11. The system1especially comprises a retaining zone2comprising a retaining location21, a separation zone3, a sensing zone5and a collecting zone8. The system further comprises a transporting element41.

In the embodiment, (the package remainder17of) the bowel package19is arranged at a retaining element20at a retaining location21(in the retaining zone2). The second intestine end14is at least attached to the membrane11of the bowel package19at the retaining location21. The second intestine end14may already have been cut from the package remainder17.

The transporting element41is especially configured for engaging with a first intestine end13and especially configured for moving the intestine10in a direction from the retaining zone2to the collecting zone8, wherein the intestine10is moved via the sensing zone5through the separation zone3(arranged downstream from the sensing zone5). The system1comprises a sensor51for sensing in the sensing zone5a parameter of the intestine10related to a connection location15connecting the intestine10to the membrane11.

Further a control system6is depicted. The control system is functionally coupled to the system1or is part of the system1. The control system6is at least configured for controlling positioning of a mobile separation device31during moving the intestine10such that the mobile separation device31separates the intestine10in the separation zone30from the membrane11, especially at a separation location35(being determined by the control system6). The separation location35, at a predetermined longitudinal intestine position12, is based on the connection location15determined from the parameter sensed in the sensing zone5at the predetermined longitudinal intestine position12. The depicted embodiment of the system1is further configured for straightening the membrane11(at least partly) in the sensing zone5and in the separation zone3. This may further facilitate the determination of the connection location15and the separation at the separation location35. In the depicted embodiment at least a first membrane part11acomprising the sensing area56being sensed (seeFIG.2A) and the separation location35at which the intestine10is concurrently being separated from the bowel package19may be straightened (configured for straightening). Straightening is especially based on moving the intestine10in combination with gravity acting on the at least partly filled intestine10.

The embodiment comprises the mobile separation device31. The separation device31is especially configured mobile along a path39or in a predetermined space (only the path39is indicated). Moreover, the depicted embodiment comprises a linear guiding system38defining the path39. The separation device may be coupled to or comprising the linear guiding system38. The path39is not necessary a physical track. The path39may also not be straight in further embodiments. The path39may e.g. comprise a path/track of a robotic arm connected to or being part of the separation device31.

The system1further comprises a sensor51, which may be part of a sensor system50. The sensor51is especially configured for sensing at a sensing area56(seeFIG.2a) the parameter related to the connection location15. Herein, the location downstream of the sensor51or downstream of the sensor zone5especially relates to a location downstream of a location being sensed by the sensor51. The sensor51may be arranged further remote from the location being sensed (the sensing area56). However, it will be understood that the location being sensed by the sensor51is more relevant than the physical location of the sensor51. At least the sensing area56is especially arranged in the sensing zone5.

In the depicted embodiments, the separation device31comprises a rotating blade cutter32. Also the embodiment depicted inFIG.2acomprises a rotating blade cutter32. A rotating blade cutter32as well as e.g. a static blade cutter, an oscillating blade cutter, and a cutting wire may cut the membrane11by a direct physical contact between the (cutting member, such as blade34or wire of the) separation device31and the membrane11. In alternative embodiments, the separation device31may comprise a cutting member such as a beam or jet that may impinge/act on the membrane11and providing sufficient energy to the membrane11that the beam or jet may cut the membrane11. Examples of a separation device31comprising a beam or jet are a waterjet cutting device33as depicted inFIG.2band a laser cutting device.

InFIG.2afurther the first direction in which the intestine10is moved by the transporting element41is indicated by the (single) arrow. In the embodiment, the longitudinal intestine axis18(at the separation location35) is parallel to the first direction. Yet in further embodiments, the first direction and the longitudinal intestine axis18may define an angle α. That angle α, though, may in embodiments be rather small, such as less than 25°, or less than 10°. In the figure, the angle α defined by the intestine axis18and the blade34of the rotating blade cutter32is depicted. That angle α is in embodiments in the range of 0-90°, such as in the range of 60-90°. In the depicted embodiments ofFIG.1andFIG.2a, the angle α is indicated as about 45°, especially for illustrative reasons. Yet in further embodiments, the angle α is substantially (almost) 90°.FIG.2afurther illustrates by the double headed arrow that in the embodiment the separation device31may be moved along path39which is in the embodiment substantially perpendicular to the first direction and to the intestine axis18at the separation location35. For the given embodiment the double headed arrow especially indicates the second direction that may alternate during operation (such as between the up and down direction).

In the embodiment ofFIG.2aalso a radiation source52is schematically depicted. The radiation source52is configured for emitting/radiating (source) radiation54in a direction of the intestine10, especially to the sensing area56. The radiation54may in embodiments comprise one or more of infrared radiation and visible light radiation and ultraviolet radiation. The radiation source52may e.g. comprise one or more Light Emitting Diodes (LEDs) providing the radiation54. At least part of the source radiation54may be sensed by the sensor51comprising a radiation sensor53(as transformed radiation54). Another part of the source radiation54may be absorbed by the intestine10and the membrane11, especially wherein the intestine10and the membrane11may absorb different amounts or e.g. frequencies of the radiation54. Based on a distribution of the radiation54sensed over the sensing area56the intestine10may be distinguished from the membrane11. In embodiments, the system1is configured for sensing (transformed) radiation54reflected by the intestine10and the membrane11. The embodiment ofFIG.2ais configured for sensing (transformed) radiation54transmitted through the intestine10and the membrane11. In the embodiment, the radiation source52and the radiation sensor53are configured at opposite sides of the intestine10. In embodiment the parameter may comprise (a distribution of) an amount or level of the radiation54sensed by the radiation sensor53over the sensing area56.

It is noted that (although not clearly visible inFIG.2a) the retaining element20is especially configured for allowing free movement of the intestine10. In the depicted embodiment, the intestine10is arranged pivotably at the retaining element20. In other embodiments, the retaining element20may e.g. comprise a tray that is swingingly arranged at a (physical) pivot point (of the system1(not depicted in the figures)).

In specific embodiments, the sensor system50comprises a vision system. The sensor51may be configured for sensing a shadow of an intestine10being arranged between the sensor51and the radiation source52, and the radiation source52may be configured for radiating (emitting) visible light radiation. As such, especially the at least partly filled intestine10attached to the membrane11may provide the shadow.

FIG.2afurther also depicts an embodiment of the transporting element41. The transporting element41comprises two rotating (rotatable) transporting elements41(or members) comprising intestine engagement elements42configured at the circumferential surface44. The intestine engagement elements42may e.g. comprise (rubber) fingers imposing a friction force on the intestine10and therewith moving the intestine10when rotating. The intestine engagement elements42may thus provide a pulling force onto the intestine10to move the intestine10. The transporting element41may in embodiments comprise (only) one single rotatable transport element41, see e.g.FIG.2b.

InFIG.2b, another embodiment of the transporting element41is depicted. The transporting element41comprises a rotating transporting element41with a recess45(in the circumferential surface44) for receiving the intestine10. Although not visible, the transporting element41may also comprise an intestine engagement element42. The circumferential surface/the surface44of the recess45(indicated by the dotted line) may e.g. comprise a rough surface44and/or a pattern or relief that may engage with the (wall of the) intestine10. The surface44may comprise a textured surface44.

FIG.2bfurther depicts some distances described herein (depicted in relation to embodiments comprising a waterjet cutter33, but they may also relate to other types of separation devices31). The distance d1, indicated inFIG.2b, indicates the distance between separation location35and the connection location15(for the same longitudinal intestinal position12) and especially relates to the part (or strip) of the membrane11that is not separated from the intestine10. Preferably all membrane11would be removed from the intestine10. However, for practical reasons this is hardly possible, especially at the desired transport velocities of the intestine10. In embodiments, the transporting element41is configured for moving the intestine10at a velocity of at least 1 m/s. Therefore, in embodiments, the control system6is configured for controlling positioning of the separation device31wherein the distance d1between the separation location35at any longitudinal intestine position12and the connection location15for the (same) longitudinal intestine position12is especially equal to or larger than 0 mm and e.g. equal to or smaller than 25 mm, such as ≤10 mm, especially≤5 mm.

The distance d2indicated in the figure indicates the (minimal) distance between the retaining location21and the separation zone3, especially the separation location35. It is noted that in other embodiments, in which the separation device21directly contacts the intestine during cutting (such as given inFIG.2a), d2also may indicate the (minimal) distance between the retaining location21and the separation element31(such as the blade34). In embodiments, the (minimal) distance d2is in the rage of 0-30 cm.

InFIG.3a further embodiment of the system1is depicted. The embodiment (further) comprises prearrangement zone7comprising an intestine receiving location73and a package receiving location74. The system1further comprises the transfer system75comprising an intestine receiving element71for receiving a first intestine end13at the intestine receiving location73(the first intestine end13already being separated from the bowel package19). The transfer system75further comprises the (movable) retaining element20, wherein the retaining element20is further configured for receiving the bowel package19, especially the package remainder17, (comprising a second intestine end14) at the bowel receiving location74. The transfer system75is configured for moving the intestine receiving element71from the intestine receiving location73to a location of the transporting element41and for transferring the first intestine end13to the transporting element41, especially wherein the first intestine end13is engaged with the transporting element41. To move the intestine receiving element71, the intestine receiving element71of the embodiment is coupled to a first conveyor belt77. The transfer system75is further configured for moving the movable retaining element20(comprising the bowel package19/the package remainder17) from the bowel receiving location74to the retaining zone2. In the embodiment, the system1comprises a second conveyor belt78and the retaining element20is coupled to the second conveyor belt78. The first conveyor belt77especially extends from the intestine receiving location73to a location adjacent to the transporting element41. The second conveyor belt78especially extends from bowel package receiving location74to a location adjacent to or comprising the retaining location21.

In alternative embodiments, the transfer system75further comprises a bowel package receiving element72(only the location thereof is indicated in the figure) for receiving the bowel package19at a bowel receiving location74. The bowel package receiving element72may have any arbitrary shape able to support the bowel package19, and may, e.g., also comprise a hook as indicated in the figure in relation to the retaining element20. In the alternative embodiments, the transfer system75may further be configured for moving the bowel package receiving element72from the bowel receiving location74to the retaining location21and for transferring the bowel package19from the bowel package receiving element72to the retaining element20at the retaining location21. Also such embodiments may comprise the second conveyor belt78, especially wherein the bowel receiving element72is coupled to the second conveyor belt78. Such system1may further comprise a transfer element for transferring the bowel19from the bowel package receiving element72to the retaining element20at the retaining location21(not shown).

InFIG.4an embodiment of the transporting element41comprising a coupling receiving element49is depicted. The coupling receiving element49is configured for engaging with (such as receiving) a couple element79attached to the intestine10. The coupling receiving element49may e.g. have a shape (e.g. a recess) that corresponds to a shape of the couple element79. Yet, engaging with the couple element79may in further embodiments be based on a magnetic coupling and the coupling receiving element49may e.g. attract the couple element79. The couple element79is especially configured for not damaging the intestine10when being used (such as during attaching or removing). The system1further comprises a coupling removing element48. As such, the system1is configured for detaching the couple element79from the intestine10during moving the intestine10.

The system1may be used in the method of the invention. In the method especially a first intestine end13is separated from the bowel package19; the first intestine end13is provided to a transporting element41and the bowel package19(or the package remainder17) is provided to a retaining element20at a retaining location21; the intestine10is moved in a direction from the retaining location21to the collecting zone8(herein also indicated as the first direction) by the transporting element41; and (i) a parameter related to a connection location15of a membrane11of the bowel package19to the intestine10is sensed in the sensing zone5, especially (configured) upstream of the transporting element41and downstream of the retaining zone2. The connection location15is especially determined as a function of a longitudinal intestine position12based on the sensed parameter. The intestine10is (further downstream of the sensing zone5) separated from the bowel package19/from the membrane11with a mobile separation device31(at a separation location35located at the membrane11) by moving the mobile separation device31(along a path39). Especially, for each longitudinal intestine position12the separation location35is based on the connection location15, Moreover, during sensing and separating, the intestine10may be moved continuously (in the first direction).

Further, in embodiments, radiation54is emitted to the sensing area56and sensed with the sensor51downstream from the intestine10relative to a propagation of the radiation54, and the connection location15is determined based on an amount of radiation54being sensed over the sensing area56as a function of a longitudinal intestine position12.

The term “plurality” refers to two or more. Furthermore, the terms “a plurality of” and “a number of” may be used interchangeably.

The terms “substantially” or “essentially” herein, and similar terms, will be understood by the person skilled in the art. The terms “substantially” or “essentially” may also include embodiments with “entirely”, “completely”, “all”, etc. Hence, in embodiments the adjective substantially or essentially may also be removed. Where applicable, the term “substantially” or the term “essentially” may also relate to 90% or higher, such as 95% or higher, especially 99% or higher, even more especially 99.5% or higher, including 100%. For numerical values it is to be understood that the terms “substantially”, “essentially”, “about”, and “approximately” may also relate to the range of 90%-110%, such as 95%-105%, especially 99%-101% of the values(s) it refers to.

The term “comprise” also includes embodiments wherein the term “comprises” means “consists of”.

The term “and/or” especially relates to one or more of the items mentioned before and after “and/or”. For instance, a phrase “item1and/or item2” and similar phrases may relate to one or more of item1and item2. The term “comprising” may in an embodiment refer to “consisting of” but may in another embodiment also refer to “containing at least the defined species and optionally one or more other species”.

Furthermore, the terms first, second, third and the like in the description and in the claims, are used for distinguishing between similar elements and not necessarily for describing a sequential or chronological order. It is to be understood that the terms so used are interchangeable under appropriate circumstances and that the embodiments of the invention described herein are capable of operation in other sequences than described or illustrated herein.

The devices, apparatus, or systems may herein amongst others be described during operation. As will be clear to the person skilled in the art, the invention is not limited to methods of operation, or devices, apparatus, or systems in operation.

It should be noted that the above-mentioned embodiments illustrate rather than limit the invention, and that those skilled in the art will be able to design many alternative embodiments without departing from the scope of the appended claims.

In the claims, any reference signs placed between parentheses shall not be construed as limiting the claim.

Use of the verb “to comprise” and its conjugations does not exclude the presence of elements or steps other than those stated in a claim. Unless the context clearly requires otherwise, throughout the description and the claims, the words “comprise”, “comprising”, and the like are to be construed in an inclusive sense as opposed to an exclusive or exhaustive sense; that is to say, in the sense of “including, but not limited to”.

The article “a” or “an” preceding an element does not exclude the presence of a plurality of such elements.

The invention may be implemented by means of hardware comprising several distinct elements, and by means of a suitably programmed computer. In a device claim, or an apparatus claim, or a system claim, enumerating several means, several of these means may be embodied by one and the same item of hardware. The mere fact that certain measures are recited in mutually different dependent claims does not indicate that a combination of these measures cannot be used to advantage.

The invention also provides a control system that may control the device, apparatus, or system, or that may execute the herein described method or process. Yet further, the invention also provides a computer program product, when running on a computer which is functionally coupled to or comprised by the device, apparatus, or system, controls one or more controllable elements of such device, apparatus, or system. The invention further applies to a device, apparatus, or system comprising one or more of the characterizing features described in the description and/or shown in the attached drawings. The invention further pertains to a method or process comprising one or more of the characterizing features described in the description and/or shown in the attached drawings.

The various aspects discussed in this patent can be combined in order to provide additional advantages. Further, the person skilled in the art will understand that embodiments can be combined, and that also more than two embodiments can be combined. Furthermore, some of the features can form the basis for one or more divisional applications.