Robotic control system for needle sorting and feeder apparatus

Abstract

A control system for a needle singulation and infeed apparatus that automatically picks up surgical needles in random, un-oriented positions on a transport conveyor or like device, and places them in oriented positions for suture attachment at a fully automated needle swaging station. The apparatus employs one or more robot devices for picking up the needles and placing them in individual precision engagement devices for sequential conveyance to an automatic swaging machine. After gripping the needle, and, depending upon the orientation of the needle with respect to the robot gripper, the robot gripper can pick the needle and move to a location where a mechanical finger is fixedly positioned. The robot is programmed to move to the mechanical finger and tap the needle held by the robot gripper against the finger to orient or rotate the needle in the proper direction prior to placing the needle in the precision engagement device. This, obviates the need for a further needle orienting step downstream of the robot pick and place location and ensures the high-speed transport of highly oriented needles for the automatic swaging operation.