  The dependence on finite reserves of raw materials and the production of
waste are two unsolved problems of the traditional linear economy. Healthcare,
as a major sector of any nation, is currently facing them. Hence, in this
paper, we report theoretical and practical advances of robotic reprocessing of
small medical devices. Specifically, on the theory, we combine compartmental
dynamical thermodynamics with the mechanics of robots to integrate robotics
into a system-level perspective, and then, propose graph-based circularity
indicators by leveraging our thermodynamic framework. Our thermodynamic
framework is also a step forward in defining the theoretical foundations of
circular material flow designs as it improves material flow analysis (MFA) by
adding dynamical energy balances to the usual mass balances. On the practice,
we report on the on-going design of a flexible robotic cell enabled by
deep-learning vision for resources mapping and quantification, disassembly, and
waste sorting of small medical devices.
