Device for loosening bones from a meat piece such as ribs from a belly piece of slaughtered animal

A bone loosening or bone removing system comprising:

• a device for loosening at least one bone from a meat piece of a slaughtered animal where at least one end of said at least one bone is exposed, said device comprising:
• at least one counter hold configured to support the device towards the meat piece;
• at least one movable pull bar;
• at least one string configured to loosen said at least one bone when being pulled along said at least one bone, wherein said string is fastened to said pull bar;
• at least one longitudinal holding-down bar configured to hold down said at least one bone while loosening said at least one bone, wherein said holding-down bar is substantially parallel to said pull bar;
• at least one loader configured to feed said string around an exposed portion of said at least one bone before loosening said at least one bone;
• and
• an attachment device configured to connect the device to a robot arm, and
• a robot comprising at least one working robot arm configured to connect to the device via the attachment device and manage the device in a process for loosening said at least one bone from said a meat piece of a slaughtered animal;
• and
• at least one scanner configured to obtain scanning information when scanning at least one meat piece, wherein said scanner is configured to localizes one or more of:
• a presence of any bones located close to a surface of the at least one meat piece, a location of any bones located close to a surface of the at least one meat piece, or a size of any bones located close to the surface of each of the at least one meat piece, and
• at least one processor configured to process said scanning information for said at least one meat piece and compute working paths for said robot arm including said device;
• and
• a robot arm controller configured to manage said at least one robot arm based on working paths information received from said processor.