Robotic pharmaceutical preparation system with a mobile platform

Abstract

The system is a pharmaceutical preparation system defining a first axis and a second axis intersecting each other, and includes at least one platform including at least one container receiving module configured to receive a first container; a first mechanism operably connected to the platform to linearly displace the platform along the first axis; a manipulator configured to hold and manipulate a second container; a second mechanism operably connected to the manipulator to linearly displace the manipulator along the second axis; and a controller configured to a. instruct the second mechanism to linearly displace the manipulator; b. instruct the first mechanism to linearly displace the platform; and c. synchronize the operation of the first and second mechanisms to enable a fluid interface between the first container received by the at least one container receiving module and the second container held by the manipulator.

Description

Technical Field

[0001] This application relates to a robotic pharmaceutical preparation system, and more specifically to a pharmaceutical preparation system with a movable platform.

Background Art

[0002] US9433558B2 discloses "a drug mixing device for transferring a drug using a syringe, including a drug cassette for holding a drug container, a lifting part for lifting the drug cassette to an intermediate position or a lower position of the device body while maintaining a horizontal posture, a first holding part held by the device body, and a second driving part for driving a plunger of the syringe held by the first holding part to transfer the drug."

Summary of the Invention

[0003] According to aspects of some embodiments, a pharmaceutical preparation system defining a first axis and a second axis that intersect each other, at least one platform including at least one container receiving module configured to receive a first container, a first mechanism operably connected to the platform to linearly displace the platform along the first axis, a manipulator configured to hold and operate a second container, a second mechanism operably connected to the manipulator to linearly displace the manipulator along the second axis, a controller, a. instructing the second mechanism to linearly displace the manipulator, b. instructing the first mechanism to linearly displace the platform, c. A pharmaceutical preparation system is provided, comprising a controller configured to synchronize the operation of the first and second mechanisms so as to enable a fluid interface between the first container received by the at least one container receiving module and the second container held by the manipulator.

[0004] In some embodiments, the first and second axes lie on the same plane.

[0005] In some embodiments, the platform is movable only along the first axis, and the manipulator is movable only along the second axis.

[0006] In some embodiments, the first axis constitutes the vertical axis of the system, and the second axis constitutes the horizontal axis of the system.

[0007] In some embodiments, the first mechanism includes a lift configured to raise and lower the platform along the vertical axis, and the second mechanism includes a moving mechanism configured to drive the manipulator along the horizontal axis.

[0008] In some embodiments, the controller is configured to instruct the moving mechanism to move the manipulator to an axial position corresponding to the axial position of the at least one container receiving module, and then to instruct the lifting mechanism to raise or lower the platform to obtain the fluid interface.

[0009] In some embodiments, the at least one container receiving module includes at least one of the following: an IV bag holder in which the first container constitutes an IV bag, and a vial holder in which the first container constitutes a vial.

[0010] In some embodiments, the second container includes a syringe assembly, where the manipulator includes one or more grippers for grasping the syringe assembly and a plunger flange receiver for operating the plunger of the syringe assembly.

[0011] In some embodiments, the second mechanism is configured to move the manipulator between a home position and at least one working position, where at the home position the manipulator does not interfere with the movement of the platform, and at the working position the manipulator is positioned at an axial position along the second axis corresponding to the axial position of the at least one container receiving module.

[0012] In some embodiments, the system includes a plurality of container receiving modules, wherein the second mechanism is configured to move the manipulator between a plurality of working positions associated with the plurality of container receiving modules.

[0013] In some embodiments, the platform defines recesses into which the manipulator fits or penetrates when the platform is aligned with the manipulator, and the manipulator is in the origin position.

[0014] In some embodiments, the controller is configured to instruct the movement of the second mechanism only when the platform is raised or lowered to a position that does not interfere with the movement of the manipulator.

[0015] In some embodiments, the system further includes a system infrastructure defining a top and bottom parallel to the platform, and a connecting portion extending vertically between the top and bottom.

[0016] In some embodiments, the connection may be formed from one or more parts, and at least one of the one or more parts may be detachably connected to at least one of at least another of the one or more parts and at least a portion of the system infrastructure. In some embodiments, the detachably connected portion may be connected to the top and may be detachably connected together with the top to another portion of the connection or the system infrastructure. For example, the detachably connected portion may be formed as a module and may be attached to and detached from the system in a modular manner. This facilitates assembly / disassembly of the system in or out of the hood and facilitates cleaning and maintenance of the system.

[0017] In some embodiments, the platform is configured to be raised and lowered by the lift along at least a portion of the length of the connection portion of the infrastructure.

[0018] In some embodiments, the manipulator is movable by the moving mechanism along at least a portion of the length of the bottom of the infrastructure.

[0019] In some embodiments, the system includes a linear rail extending along the portion of the length of the bottom, wherein the moving mechanism includes a linear motor for driving the manipulator along the rail.

[0020] In some embodiments, the system includes a plurality of imagers arranged and configured for one or more of the following: detection of the presence of the first and / or second containers, and detection of fluid-related parameters of the first and / or second containers.

[0021] In some embodiments, the controller is configured to receive image data from the plurality of imagers and to instruct the first and second mechanisms based on the received image data.

[0022] In some embodiments, the platform dimension along the second axis of the system is at least three times the dimension along the first axis and at least two times the dimension along a third axis perpendicular to the first and second axes.

[0023] In some embodiments, the platform includes a rectangular contour.

[0024] According to aspects of some embodiments, a housing defining an internal volume, a work surface disposed within the internal volume, an access window formed within the housing and leading from outside the hood to the work surface, a pharmaceutical preparation system disposed on the work surface, the system comprising at least one platform including at least one container receiving module configured to receive a first container, a first mechanism operably connected to the platform to linearly displace the platform along a first axis, a manipulator configured to hold and manipulate a second container, a second mechanism operably connected to the manipulator to linearly displace the manipulator along a second axis transverse to the first axis, The first mechanism is configured to move the platform between at least a first level at which the at least one container receiving module is manually accessible through the access window and a second level at which the at least one container receiving module is disposed away from the access window and inaccessible to a user, providing a pharmaceutical preparation hood.

[0025] In some embodiments, the system a. The second mechanism is instructed to linearly displace the manipulator, b. The first mechanism is instructed to displace the platform in a linear manner. c. Includes a controller configured to synchronize the operation of the first and second mechanisms so as to enable a fluid interface between the first container received by the at least one container receiving module and the second container held by the manipulator.

[0026] In some embodiments, the at least one platform is parallel to the work surface.

[0027] In some embodiments, the first axis is a vertical axis for both the system and the hood, and the second axis is a horizontal axis for both the system and the hood.

[0028] In some embodiments, the first container comprises a vial or IV bag, and the second container comprises a syringe assembly.

[0029] In some embodiments, the platform at the second level is further away from the work surface than the first level.

[0030] In some embodiments, the longitudinal dimension of the access window is parallel to the second axis, where the longitudinal dimension is at least three times longer than the transverse dimension of the access window.

[0031] In some embodiments, the system includes a plurality of container receiving modules, wherein at least at the first level, the plurality of container receiving modules are arranged linearly along the platform parallel to the length dimension of the access window.

[0032] In some embodiments, the plurality of container receiving modules are positioned at a depth in the hood that is directly within reach of the user's hand, located in front of the access window.

[0033] In some embodiments, the system is not permanently fixed to the hood and can be removed from the hood.

[0034] In some embodiments, the second mechanism is configured to move the manipulator between a home position and at least one working position, where the manipulator does not interfere with the movement of the platform at the home position, and the second container is manually accessible through the access window.

[0035] In some embodiments, at the origin position, the manipulator and the second container do not interfere with access to the multiple container receiving modules of the platform.

[0036] In some embodiments, at the origin position of the manipulator, at least in a front view of the system, the manipulator is positioned laterally to the platform along the second axis of the system.

[0037] In some embodiments, the manipulator is positioned between the access window and the platform along the depth axis of the system.

[0038] In some embodiments, the access window is defined on the front panel of the hood housing, where the first axis along which the platform moves is parallel to the plane defined by the front panel.

[0039] In some embodiments, the access window is shaped and sized to allow a user to reach their hand across the plane of the front panel and onto the platform.

[0040] In some embodiments, if the platform is the first level, at least the upper surface of the platform is accessible through the access window.

[0041] According to some embodiments, a pharmaceutical preparation system having a shape and size that fits into a hood, A platform including at least one container receiving module configured to receive a first container and A first mechanism operably connected to the platform for moving the platform along at least a first axis, A manipulator configured to hold and manipulate a second container, The manipulator includes a second mechanism operably connected to the manipulator for moving the manipulator along a second axis that traverses at least the first axis, The first mechanism provides a pharmaceutical preparation system configured to move the platform between a first level in which at least one container receiving module is accessible to a user and a second level in which at least one container receiving module is inaccessible to a user.

[0042] In some embodiments, the first mechanism is configured such that the first and second levels are selected depending on the size and location of the access window of the hood in which the system is located.

[0043] According to some embodiments, a pharmaceutical preparation system that defines a vertical axis and a horizontal axis, A platform on which a vial holder is mounted and which is configured to hold and rotate at least one vial, A lift mechanism movably connected to the platform so as to raise and lower the platform along the vertical axis, It is a controller, a. The lift mechanism is instructed to raise or lower the platform, b. The vial holder is instructed to rotate the vial to an upright orientation for injecting fluid into the vial or an inverted orientation for drawing fluid from the vial. c. A pharmaceutical preparation system is provided, comprising a controller configured to synchronize the operation of the lift mechanism and the vial holder such that the level to which the platform is moved correlates with either or both of the orientation of the vial and the presence of one or more components connected to the vial and aligned vertically.

[0044] In some embodiments, the components include an adapter connected to the vial, a syringe, or a cap for the vial.

[0045] In some embodiments, the system A syringe manipulator configured for holding and manipulating a syringe assembly, The invention further includes a moving mechanism operably connected to the syringe manipulator for moving the syringe manipulator along the horizontal axis, Here, the controller further, a. The movement mechanism is instructed to move the syringe manipulator along the horizontal axis, b. The operation of the lift mechanism, the transfer mechanism, and the vial holder is configured to be synchronized to enable a fluid interface between the syringe assembly received by the syringe manipulator and the vial received by the vial holder.

[0046] In some embodiments, the controller controls the vial holder and the syringe manipulator. a. Hold the vial in an upright orientation for injecting fluid from the syringe assembly into the vial. b. The vial is configured to be instructed by the syringe assembly to hold the vial in an inverted orientation for drawing fluid from the vial.

[0047] In some embodiments, the controller is configured to synchronize the simultaneous movement of the platform along the vertical axis, the syringe manipulator along the horizontal axis, and the vial holder.

[0048] In some embodiments, the vial holder comprises a body and a frame that holds the vial in the body, wherein the movement of the vial holder includes either or both of the rotation of the body around its long axis, or the pivoting of the frame relative to the body.

[0049] In some embodiments, the controller is configured to synchronize the movement of the syringe manipulator and position the syringe manipulator to the side of the platform as the platform is being lowered to the bottom of the system.

[0050] In some embodiments, the controller is configured to synchronize the movement of the vial holder frame to invert the vial when the syringe is connected to the vial, and simultaneously lower the platform to allow working space below the top of the system for the syringe to be fitted.

[0051] In some embodiments, the controller is configured to raise the platform until the top of the system presses against the plunger of the syringe in order to inject the fluid from the syringe into the vial.

[0052] In some embodiments, the controller is configured to set the degree to which the platform is raised in accordance with the distance the plunger needs to be pressed to inject a controlled volume of fluid from the syringe into the vial.

[0053] According to some embodiments, A rigid system infrastructure including a top, a bottom substantially parallel to the top, and a connecting portion extending between the top and bottom along a vertical axis, A platform comprising at least one container receiving module configured to receive at least one fluid container, A pharmaceutical preparation system is provided, which includes a lift mechanism configured as part of the connection and operably connected to the connection to raise and lower the platform along the vertical axis relative to the connection.

[0054] In some embodiments, the long axis of the platform is substantially perpendicular to the vertical axis.

[0055] In some embodiments, multiple container receiving modules are arranged along the long axis of the platform.

[0056] In some embodiments, if the length of the platform measured along the long axis of the platform is "D", then the connection and the platform intersect each other at least in a front view of the system within the range of 0.1D to 0.9D.

[0057] In some embodiments, at least in a front view of the system, the connection and the platform intersect each other at the substantial center of the platform.

[0058] In some embodiments, the lift mechanism includes a servo motor housed within the connection.

[0059] In some embodiments, the top portion extends laterally on both sides of the connection portion, where a first portion on one side of the connection portion is configured to press the plunger of the syringe against the top portion when the syringe is brought close to the top portion by the platform, and a second portion on the opposite side of the connection portion includes an imager.

[0060] In some embodiments, the infrastructure is shaped and sized to fit into a standard hood.

[0061] In some embodiments, the top and the connecting portion define a T-shape, and the bottom and the connecting portion define an inverted T-shape.

[0062] In some embodiments, the connection may be formed from one or more parts, and at least one of the one or more parts may be detachably connected to at least one of at least another of the one or more parts and at least a portion of the system infrastructure. In some embodiments, the detachably connected portion may be connected to the top and may be detachably connected together with the top to another portion of the connection or the system infrastructure. For example, the detachably connected portion may be formed as a module and may be attached to and detached from the system in a modular manner. This facilitates assembly / disassembly of the system in or out of the hood and facilitates cleaning and maintenance of the system.

[0063] According to some embodiments, a fluid transfer assembly for use in a pharmaceutical preparation system, An IV bag holder defining at least two positions for receiving an IV bag, wherein the at least two positions are arranged linearly along the vertical axis of the IV bag holder, and each of the at least two positions is associated with a specified function of the received IV bag. A syringe manipulator configured to hold and operate a syringe assembly, A movement mechanism is operably connected to the syringe manipulator to move the syringe manipulator along an axis parallel to the vertical axis of the IV bag holder, and the syringe manipulator is movable between the at least two positions of the IV bag, The present invention provides an assembly including a controller configured to instruct the movement mechanism to move the syringe manipulator between the at least two positions of the IV bag based on a designated function of the IV bag.

[0064] In some embodiments, the designated functions associated with the at least two positions of the IV bag include at least two of the following: an IV bag filled with a diluent from which the diluent is drawn; an empty IV bag from which a prepared drug is injected; an IV bag partially filled with a diluent to receive a drug requiring dilution; and an empty IV bag to receive excess gas and / or fluid.

[0065] In some embodiments, the IV bag holder is mounted on a platform that is movable along an axis perpendicular to the longitudinal axis by a lift mechanism.

[0066] According to some embodiments, a mechanism for rotating and aligning a vial assembly that defines a non-circumferential projection extending radially outward from its top, A cylindrical shaft extending from a support beam and having a lumen sized to receive at least the top of the vial assembly, the cylindrical shaft including a slit shaped to match the non-circumferential projection of the vial assembly, such that the top of the vial assembly can be fitted into the lumen of the shaft only when rotated and aligned with the projection, The present invention provides a mechanism including an actuator configured to rotate the vial assembly by rotating the cylindrical shaft around its long axis when the top of the vial assembly is received into the lumen of the shaft.

[0067] In some embodiments, the top of the vial assembly includes a vial adapter, where the non-circular projection constitutes part of the vial adapter.

[0068] In some embodiments, the cylindrical shaft and its actuator, as well as the frame mounted on the top of the actuator, together define a vial aligner assembly, the vial aligner assembly being movable relative to a fixed contact sensor, where the frame of the vial aligner assembly is typically positioned adjacent to the sensor and in contact with the frame.

[0069] In some embodiments, the actuator is configured to rotate the cylindrical shaft when the contact sensor provides an indication that the frame is no longer in contact with the sensor, and the actuator is configured to continue rotating the cylindrical shaft until the projection aligns with the slit, allowing the vial aligner assembly to return to a position where the frame re-contacts the sensor.

[0070] In some embodiments, the vial assembly is moved at least indirectly by a platform configured to be raised and lowered, where the raising of the platform causes the projection to press against the vial aligner assembly, thereby moving the frame away from the sensor.

[0071] In some embodiments, the platform's ascent automatically stops based on the indication that the frame is no longer in contact with the sensor.

[0072] In some embodiments, the cylindrical shaft is movable within the frame in a direction perpendicular to the long axis of the shaft.

[0073] In some embodiments, the cylindrical shaft is spaced apart from the inner wall of the frame in a direction perpendicular to the long axis of the shaft, and the spacing between the cylindrical shaft and the frame allows the cylindrical shaft to move within the frame in a direction perpendicular to the long axis of the shaft.

[0074] In some embodiments, the actuator is spaced apart from the inner wall of the frame in a direction perpendicular to the long axis of the shaft, and the spacing between the actuator and the frame allows the cylindrical shaft to move within the frame together with the actuator.

[0075] According to some embodiments, a method for operating a pharmaceutical preparation system defining a first axis and a second axis intersecting each other, the system comprising at least one platform including at least one container receiving module configured to receive a first container, and a manipulator configured to hold and manipulate at least one second container, the method being, The manipulator is moved along the second axis to an axial position corresponding to the axial position of the at least one container receiving module, The present invention provides a method comprising moving the platform along the first axis to obtain a fluid interface between the first container received by the at least one container receiving module and the second container held by the manipulator.

[0076] In some embodiments, the first axis constitutes a vertical axis, and the second axis constitutes a horizontal axis, where the movement of the platform includes raising and lowering the platform along the vertical axis.

[0077] According to some embodiments, a method for operating a pharmaceutical preparation system contained in a hood including an access window, wherein the pharmaceutical preparation system includes at least one platform including a plurality of container receiving modules, and the method is The platform is raised and lowered to a first level accessible through the access window of the hood, such that the plurality of container receiving modules are arranged along the platform parallel to the length of the access window. Reaching the container receiving module through the access window, place the container on it and lower it down. The present invention provides a method that includes raising and lowering the platform to at least a second level in which the plurality of container receiving modules are positioned away from the access window.

[0078] According to some embodiments, The system includes a pharmaceutical preparation system that defines a first axis and a second axis that intersect with each other, and the system is A platform comprising at least one container receiving module configured to receive a first container, A first mechanism movably connected to the platform for linearly displacing the platform along the first axis, A manipulator configured to hold and manipulate a second container, A second mechanism operably connected to the manipulator for linearly displacing the manipulator along the second axis, It is a controller, a. The second mechanism is instructed to linearly displace the manipulator, b. The first mechanism is instructed to displace the platform in a linear manner. c. A controller configured to synchronize the operation of the first and second mechanisms so as to enable a fluid interface between the first container received by the at least one container receiving module and the second container held by the manipulator, The kit includes a hood that defines an enclosure of a shape and size that houses the pharmaceutical preparation system, wherein the hood or cabinet has a work surface on which the pharmaceutical preparation system is placed.

[0079] In some embodiments, the hood includes an opening leading to the work surface, wherein the first mechanism is configured to linearly displace the platform between a first position in which the platform is accessible through the opening and a second position in which the platform is inaccessible through the opening.

[0080] According to aspects of several embodiments, a manipulator for holding and manipulating a container in a pharmaceutical preparation system is provided, comprising a gripper and at least one actuation mechanism, wherein the gripper is for receiving at least a portion of the container, and is displaceable between a closed state in which the gripper at least partially grips the container and an open state in which the gripper allows at least unrestricted removal of the container from itself, the gripper includes a limiting mechanism configured to allow at least one of the following in the closed state of the gripper: limited removal of the container from the gripper and limited intake of the container into the gripper, and the at least one actuation mechanism is configured for at least one of the following: displacing the gripper from the closed state to the open state and displacing the gripper from the open state to the closed state.

[0081] In some embodiments, in the closed state of the gripper, the limiting mechanism allows at least one of the limited removal and the limited insertion of the container by applying a first force to the container, and in the open state, the gripper allows at least unrestricted removal of the container from the gripper by applying a second force to the container, wherein the second force is smaller than the first force.

[0082] In some embodiments, the gripper includes a plurality of gripping members, at least one of which is configured to engage with the container in the closed state, and the gripping members together define a gripping space for receiving the portion of the container, where the gripping space is expanded in the open state.

[0083] In some embodiments, the limiting mechanism includes at least one limiting element that protrudes into the gripping space in the closed state, wherein the at least one limiting element, in the closed state, at least partially, interferes with at least one of the removal of the container from the gripping space and the entry of the container into the gripping space, thereby enabling the corresponding at least one of the restricted removal of the container from the gripper and the restricted entry of the container into the gripper.

[0084] In some embodiments, the at least one operating mechanism is configured to displace the gripper from the open state to the closed state by displacing at least one limiting element to expand the gripping space.

[0085] In some embodiments, the manipulator further includes a limiting biasing mechanism configured to bias the at least one limiting element toward the gripping space.

[0086] In some embodiments, the limiting biasing mechanism includes a spring.

[0087] In some embodiments, the at least one operating mechanism is configured to selectively displace the at least one limiting element in the opposite direction to the gripping space.

[0088] In some embodiments, the at least one limiting element protrudes into the gripping space from a corresponding one of the gripping members.

[0089] In some embodiments, the at least one operating mechanism is configured for at least one of the following: displacing at least one of the gripping members toward another of the gripping members to displace the gripper to the closed state; and displacing at least one of the gripping members toward another of the gripping members to displace the gripper to the open state.

[0090] In some embodiments, the manipulator further includes a gripper biasing mechanism configured to bias at least one of the gripping members in one of a first gripper biasing direction extending from the gripping space to the at least one gripping member and a second gripper biasing direction extending from the at least one gripping member to the gripping space.

[0091] In some embodiments, the at least one operating mechanism is configured to selectively displace the at least one gripping member in one of the first and second gripper biasing directions.

[0092] In some embodiments, each of the gripping members includes a corresponding inner surface and an opposite outer surface that at least partially define the gripping space, and the gripper biasing mechanism is configured to bias at least one of the gripping members in the first gripper biasing direction extending from the corresponding inner surface to the corresponding outer surface, wherein the at least one actuation mechanism is configured to engage with the corresponding outer surface to selectively displace the at least one gripping member in the direction opposite to the first gripper biasing direction.

[0093] In some embodiments, in the closed state, the at least one operating mechanism maintains the at least one gripping member in a first position associated with the closed state, and the actuator is configured to move the at least one gripping member to a second position associated with the open state under the influence of the gripper biasing mechanism in order to displace the gripper to the open state.

[0094] In some embodiments, the gripping member is formed as a jaw, and the actuator is formed as a bracket positioned radially outward with respect to the jaw.

[0095] According to some embodiments, a manipulator for holding and manipulating a container in a pharmaceutical preparation system is provided, comprising a gripper and a limiting biasing mechanism, wherein the gripper has a gripping space for receiving at least a portion of the container and includes a limiting mechanism configured to allow at least one of limited removal of the container from the gripping space and limited incorporation of the container into the gripping space, and the limiting biasing mechanism is configured to bias the limiting mechanism into the gripping space.

[0096] In some embodiments, the limiting mechanism enables at least one of the limited removal and / or limited re-entry by applying a first force to the container, wherein the first force is greater than the force required for at least one of the limited removal and / or limited re-entry without the limiting mechanism.

[0097] In some embodiments, the limiting mechanism includes at least one limiting element protruding into the gripping space, wherein the at least one limiting element at least partially interferes with at least one of the removal of the container from the gripping space and the entry of the container into the gripping space, thereby enabling the corresponding at least one of the restricted removal of the container from the gripping space and the restricted entry of the container into the gripping space.

[0098] In some embodiments, the at least one limiting element is configured to interfere by contacting the container during at least one of the removal of the container from the gripping space and the insertion of the container into the gripping space.

[0099] In some embodiments, the limiting biasing mechanism is configured to bias the at least one limiting element toward the gripping space.

[0100] In some embodiments, the limiting biasing mechanism includes a spring.

[0101] In some embodiments, the at least one limiting element is configured to be displaced against the biasing of the limiting biasing mechanism during at least one of the removal of the container from the gripping space and the entry of the container into the gripping space, thereby enabling the corresponding at least one of the restricted removal of the container from the gripping space and the restricted entry of the container into the gripping space.

[0102] In some embodiments, the gripper includes a plurality of gripping members that define the gripping space, wherein the at least one limiting element protrudes into the gripping space from a corresponding one of the gripping members.

[0103] In some embodiments, the limiting mechanism includes a snap-fit ​​mechanism.

[0104] In some embodiments, the limiting mechanism takes the form of opposing rolling balls, each positioned in a socket of a gripping member, the rolling balls are typically biased inward into the gripping space.

[0105] It should be noted that all features described in this specification in relation to a particular embodiment are applicable to any of the other embodiments.

[0106] As used herein, a “container receiving module” may include a module that receives, holds, and optionally moves one or more containers, such as vials, IV bags, syringes, and / or other containers suitable for containing and / or transferring fluids. A container receiving module is a permanent part of a pharmaceutical preparation system and may be permanently mounted, for example, on the system's platform. An example of a container receiving module may include, for example, a vial holder (referred to herein as the “vial manipulator”) described in U.S. Provisional Application No. 63 / 444,962, filed on 12 February 2023, which is incorporated herein by reference and is titled “Vial Manipulator for Use in a Robotic Pharmaceutical Preparation System.” Another example of a container receiving module may include an IV bag holder.

[0107] As used herein, “manipulator” may include a structure and / or mechanism configured to controllly interact with at least one container (e.g., a container placed on the system) and / or other components or structures of the pharmaceutical preparation system. The manipulator may be configured to move at least one container. The manipulator includes, for example, the transfer and / or insertion of fluids (e.g., injection). It may be configured to cause or facilitate a fluid transfer process, for example, the transfer of fluid from one container to another. The manipulator may include an actuator, for example, a motor that facilitates its operation.

[0108] In one example, a syringe manipulator may include an actuator for pulling or pushing the plunger of a syringe. Although manipulators are described herein primarily in the context of syringe manipulators, manipulators may be configured to receive and operate other types of fluid containers, such as vials, IV bags, tubing, and / or other suitable containers.

[0109] As used herein, “vial” includes a resealable container, for example, made of glass or plastic, containing a drug in liquid or powder form. A vial may be a single-use vial. A vial may be tubular or bottle-shaped, having a neck close to its opening. A vial may have a cap on top.

[0110] As used herein, “vial assembly” includes vials alone or vials fitted with vial adapters. A partition for at least partially sealing access to the vial may be located as part of the vial itself and / or as part of the vial adapter. The partition includes a membrane, such as a perforated membrane or a membrane having a sealed path defined throughout it.

[0111] A vial adapter may be used as part of a vial assembly as described herein. A vial adapter includes a device that can be attached to a vial to facilitate the transfer of the vial itself (by grasping the adapter instead of the vial) and / or the transfer of fluid into or from the vial. A vial adapter may provide sealed access to the contents of the vial. A vial adapter may be a single-use, sterile device. In this application, the terms “vial” and “vial assembly” are used interchangeably.

[0112] As referred to herein, fluids typically include drugs, diluents, saline solutions, water, or any other fluids for pharmaceutical preparation.

[0113] As used herein, “syringe assembly” includes a syringe alone (such as a standard syringe) or a syringe with a connector attached. The syringe connector is coupled to the hub of the syringe. The syringe connector may provide sealed access and facilitate fluid transfer. Partitions may be configured as part of the syringe connector or attached to the syringe connector, so that the two partitions may interface with each other through engagement of the syringe assembly and the vial assembly. In this application, the terms “syringe” and “syringe assembly” are used interchangeably. The syringe may generally be replaced with any suitable container capable of injecting and / or aspirating fluid (e.g., an IV bag used with a pump, a tube used with a pump, etc.).

[0114] As used herein, “container” includes a container alone or a syringe to which a container assembly is formed by the attachment of a connector. In this application, the terms “container” and “container assembly” are used interchangeably.

[0115] The above-described aspects and features of the subject matter of this disclosure, as well as additional aspects and features, are further specified in the embodiments of the subject matter of this disclosure presented below.

[0116] 1. A pharmaceutical preparation system that defines a first axis and a second axis that intersect each other, A platform comprising at least one container receiving module configured to receive a first container, A first mechanism movably connected to the platform for linearly displacing the platform along the first axis, A manipulator configured to hold and manipulate a second container, A second mechanism operably connected to the manipulator for linearly displacing the manipulator along the second axis, It is a controller, a. The second mechanism is instructed to linearly displace the manipulator, b. The first mechanism is instructed to displace the platform in a linear manner. c. A pharmaceutical preparation system comprising a controller configured to synchronize the operation of the first and second mechanisms so as to enable a fluid interface between the first container received by the at least one container receiving module and the second container held by the manipulator.

[0117] 2. The system according to Embodiment 1, wherein the first and second axes lie on the same plane.

[0118] 3. The system according to Embodiment 1 or Embodiment 2, wherein the platform is movable only along the first axis and the manipulator is movable only along the second axis.

[0119] 4. The system according to any of the embodiments, wherein the first axis constitutes the vertical axis of the system, and the second axis constitutes the horizontal axis of the system.

[0120] 5. The system according to Embodiment 4, wherein the first mechanism includes a lift configured to raise and lower the platform along the vertical axis, and the second mechanism includes a moving mechanism configured to drive the manipulator along the horizontal axis.

[0121] 6. The system according to Embodiment 5, wherein the controller is configured to instruct the moving mechanism to move the manipulator to an axial position corresponding to the axial position of the at least one container receiving module, and then instruct the lifting mechanism to raise or lower the platform to obtain the fluid interface.

[0122] 7. The system according to any of the embodiments, wherein the at least one container receiving module includes at least one of an IV bag holder in which the first container constitutes an IV bag, and a vial holder in which the first container constitutes a vial.

[0123] 8. The system according to any of the embodiments, wherein the second container includes a syringe assembly, and the manipulator includes one or more grippers for gripping the syringe assembly, and a plunger flange receiver for operating the plunger of the syringe assembly.

[0124] 9. The system according to any of the embodiments, wherein the second mechanism is configured to move the manipulator between a home position and at least one working position, the manipulator does not interfere with the movement of the platform at the home position, and the manipulator is positioned at an axial position along the second axis corresponding to the axial position of the at least one container receiving module at the working position.

[0125] 10. The system according to Embodiment 9, comprising a plurality of container receiving modules, wherein the second mechanism is configured to move the manipulator between a plurality of working positions associated with the plurality of container receiving modules.

[0126] 11. The system according to Embodiment 9 or 10, wherein the platform defines recesses for the manipulator to fit into or pass through when the platform is aligned with the manipulator, and the manipulator is in the origin position.

[0127] 12. The system according to Embodiment 5 or any one of Embodiments 6 to 11 dependent on Embodiment 5, wherein the controller is configured to instruct the movement of the second mechanism only when the platform is raised or lowered to a position that does not interfere with the movement of the manipulator.

[0128] 13. The system according to Embodiment 5 or any one of Embodiments 6 to 12, if dependent on Embodiment 5, further comprising a system infrastructure defining a top and a bottom parallel to the platform, and a connecting portion extending vertically between the top and the bottom.

[0129] 14. The system according to embodiment 13, wherein the platform is configured to be raised and lowered by the lift along at least a portion of the length of the connection portion of the infrastructure.

[0130] 15. The system according to embodiment 13 or 14, wherein the manipulator is movable by the moving mechanism along at least a portion of the length of the bottom of the infrastructure.

[0131] 16. The system according to embodiment 15, comprising a linear rail extending along the portion of the length of the bottom, wherein the moving mechanism comprises a linear motor for driving the manipulator along the rail.

[0132] 17. The system according to any of the embodiments, comprising a plurality of imagers arranged and configured for one or more of the following: detection of the presence of the first and / or second containers, and detection of fluid-related parameters of the first and / or second containers.

[0133] 18. The system according to embodiment 17, wherein the controller is configured to receive image data from the plurality of imagers and to instruct the first and second mechanisms based on the received image data.

[0134] 19. The system according to any of the embodiments, wherein the platform dimensions of the system along the second axis are at least three times the dimensions along the first axis and at least twice the dimensions along the third axis perpendicular to the first and second axes.

[0135] 20. The system according to any one of Embodiments 1 to 19, wherein the platform includes a rectangular contour.

[0136] 21. The system according to Embodiment 13 or any one of Embodiments 14 to 20 dependent on Embodiment 13, wherein the connection portion may be formed from one or more parts, and at least one of the one or more parts is detachably connectable to at least one of at least another of the one or more parts and at least a part of the system infrastructure.

[0137] 22. The system according to embodiment 21, wherein at least one portion of the connecting part is connected to the top and is detachably attached thereto.

[0138] 23. A pharmaceutical-prepared food, A housing that defines the internal volume, A work surface arranged within the aforementioned internal volume, An access window formed within the housing, extending from the outside of the hood to the work surface, The system includes a pharmaceutical preparation system disposed on the work surface, and the system is A platform comprising at least one container receiving module configured to receive a first container, A first mechanism movably connected to the platform for linearly displacing the platform along a first axis, A manipulator configured to hold and manipulate a second container, The present invention includes a second mechanism operably connected to the manipulator for linearly displacing the manipulator along a second axis that traverses the first axis, The first mechanism is configured to move the platform between at least one container receiving module which is manually accessible through the access window and a second level which is located away from the access window and inaccessible to the user, in order to provide a pharmaceutical preparation hood.

[0139] 24. The system described above is a. The second mechanism is instructed to linearly displace the manipulator, b. The first mechanism is instructed to displace the platform in a linear manner. c. The hood according to Embodiment 23, comprising a controller configured to synchronize the operation of the first and second mechanisms in order to enable a fluid interface between the first container received by the at least one container receiving module and the second container held by the manipulator.

[0140] 25. The hood according to embodiment 23 or 24, wherein the at least one platform is parallel to the work surface.

[0141] 26. The hood according to any one of embodiments 23 to 25, wherein the first axis is a vertical axis for both the system and the hood, and the second axis is a horizontal axis for both the system and the hood.

[0142] 27. The hood according to any one of embodiments 23 to 26, wherein the first container comprises a vial or IV bag, and the second container comprises a syringe assembly.

[0143] 28. The hood according to any one of embodiments 23 to 27, wherein the platform at the second level is further away from the work surface than at the first level.

[0144] 29. The hood according to any one of embodiments 23 to 28, wherein the length of the access window is parallel to the second axis and the length is at least three times longer than the short dimension of the access window.

[0145] 30. The hood according to Embodiment 29, wherein the system includes a plurality of container receiving modules, and at least at the first level, the plurality of container receiving modules are arranged linearly along the platform parallel to the length dimension of the access window.

[0146] 31. The hood according to embodiment 30, wherein the plurality of container receiving modules are arranged at a depth of the hood that is directly accessible to the user's hand, located in front of the access window.

[0147] 32. The hood according to any one of embodiments 24 to 31, wherein the system is not permanently fixed to the hood and can be removed from the hood.

[0148] 33. The hood according to any one of embodiments 23 to 32, wherein the second mechanism is configured to move the manipulator between a home position and at least one working position, the manipulator does not interfere with the movement of the platform at the home position, and the second container is manually accessible through the access window.

[0149] 34. The hood according to embodiment 33, wherein, at least in a front view of the system, the manipulator is positioned laterally to the platform along the second axis of the system at the origin position of the manipulator.

[0150] 35. The hood according to any one of embodiments 23 to 34, wherein the access window is defined on the front panel of the hood housing, and the first axis on which the platform moves is parallel to the plane defined by the front panel.

[0151] 36. The hood according to embodiment 35, wherein the access window is shaped and sized to allow a user to reach their hand across the plane of the front panel and onto the platform.

[0152] 37. The hood according to any one of embodiments 23 to 36, wherein, if the platform is the first level, at least the upper surface of the platform is accessible through the access window.

[0153] 38. A pharmaceutical preparation system having a shape and size that fits into a hood, A platform comprising at least one container receiving module configured to receive a first container, A first mechanism operably connected to the platform for moving the platform along at least a first axis, A manipulator configured to hold and manipulate a second container, The manipulator includes a second mechanism operably connected to the manipulator for moving the manipulator along a second axis that traverses at least the first axis, The first mechanism is configured to move the platform between a first level in which at least one container receiving module is accessible to a user and a second level in which at least one container receiving module is inaccessible to a user.

[0154] 39. The system according to embodiment 38, wherein the first mechanism is configured to select the first and second levels according to the size and location of the access window of the hood in which the system is located.

[0155] 40. A pharmaceutical preparation system that defines a vertical axis and a horizontal axis, A platform on which a vial holder is mounted and which is configured to hold and rotate at least one vial, A lift mechanism movably connected to the platform so as to raise and lower the platform along the vertical axis, It is a controller, a. Instruct the lift mechanism to raise or lower the platform. b. The vial holder is instructed to rotate the vial to an upright orientation for injecting fluid into the vial or an inverted orientation for drawing fluid from the vial. c. A system including a controller configured to synchronize the operation of the lift mechanism and the vial holder such that the level to which the platform is moved correlates with either or both of the orientation of the vial and the presence of one or more components connected to the vial and aligned vertically.

[0156] 41. The system according to embodiment 40, wherein the components include an adapter connected to the vial, a syringe, or a cap for the vial.

[0157] 42. Furthermore, A syringe manipulator configured for holding and manipulating a syringe assembly, Includes a moving mechanism operably connected to the syringe manipulator for moving the syringe manipulator along the horizontal axis, The aforementioned controller further, a. The movement mechanism is instructed to move the syringe manipulator along the horizontal axis, b. The system according to embodiment 40 or 41, wherein the operation of the lift mechanism, the transfer mechanism, and the vial holder is configured to synchronize in order to enable a fluid interface between the syringe assembly received by the syringe manipulator and the vial received by the vial holder.

[0158] 43. The controller provides the vial holder and the syringe manipulator, a. Hold the vial in an upright orientation for injecting fluid from the syringe assembly into the vial. b. The system according to Embodiment 42, configured to instruct the syringe assembly to hold the vial in an inverted orientation for drawing fluid from the vial.

[0159] 44. The system according to Embodiment 42 or Embodiment 43, wherein the controller is configured to synchronize the simultaneous movement of the platform along the vertical axis, the syringe manipulator along the horizontal axis, and the vial holder.

[0160] 45. The system according to any one of embodiments 40 to 44, wherein the vial holder comprises a main body and a frame that holds the vial in the main body, and the movement of the vial holder includes either or both of the rotation of the main body about the long axis of the main body and the pivoting of the frame relative to the main body.

[0161] 46. ​​The system according to Embodiment 42 or any one of Embodiments 43 to 45 dependent on Embodiment 42, wherein the controller is configured to synchronize the movement of the syringe manipulator and position the syringe manipulator to the side of the platform when the platform is being lowered to the bottom of the system.

[0162] 47. The system according to Embodiment 42 or any one of Embodiments 43 to 46 dependent on Embodiment 42, wherein the controller is configured to synchronize the movement of the vial holder frame to invert the vial when the syringe is connected to the vial, and simultaneously lower the platform to allow working space below the top of the system for the syringe to be fitted.

[0163] 48. The system according to Embodiment 47, wherein the controller is configured to raise the platform until the top of the system presses against the plunger of the syringe in order to inject the fluid from the syringe into the vial.

[0164] 49. The system according to embodiment 48, wherein the controller is configured to set the degree to which the platform is raised in accordance with the distance over which the plunger needs to be pressed to inject a controlled volume of fluid from the syringe into the vial.

[0165] 50. A pharmaceutical preparation system, A rigid system infrastructure including a top, a bottom substantially parallel to the top, and a connecting portion extending between the top and bottom along a vertical axis, A platform comprising at least one container receiving module configured to receive at least one fluid container, A system comprising: a lift mechanism configured as part of the connection and operably connected to the connection to raise and lower the platform along the vertical axis relative to the connection.

[0166] 51. The system according to embodiment 50, wherein the long axis of the platform is substantially perpendicular to the vertical axis.

[0167] 52. The system according to embodiment 51, wherein multiple container receiving modules are arranged along the long axis of the platform.

[0168] 53. The system according to any one of embodiments 50 to 52, wherein, when the length of the platform measured along the long axis of the platform is "D", the connection and the platform intersect each other at a position within the range of 0.1D to 0.9D, at least in a front view of the system.

[0169] 54. The system according to any one of embodiments 50 to 53, wherein, at least in a front view of the system, the connection portion and the platform intersect each other at the substantial center of the platform.

[0170] 55. The lift mechanism is a system according to any one of embodiments 50 to 54, wherein the lift mechanism includes a servo motor housed within the connection portion.

[0171] 56. The system according to any one of embodiments 50 to 55, wherein the top portion extends laterally on both sides of the connection portion, a first portion on one side of the connection portion is configured to press the plunger of the syringe against the top portion when the syringe is brought close to the top portion by the platform, and a second portion on the opposite side of the connection portion includes an imager.

[0172] 57. The system according to any one of embodiments 50 to 56, wherein the infrastructure is shaped and sized to fit into a standard hood.

[0173] 58. The system according to any one of embodiments 50 to 57, wherein the top and the connecting portion define a T shape, and the bottom and the connecting portion define an inverted T shape.

[0174] 59. The system according to any one of embodiments 50 to 58, wherein the connecting portion is formed from one or more parts, and at least one of the one or more parts is detachably connectable to at least one of at least another of the one or more parts and at least a portion of the rigid system infrastructure.

[0175] 60. The system according to embodiment 59, wherein at least one portion of the connecting part is connected to the top and is detachably attached thereto.

[0176] 61. A fluid transfer assembly for use in a pharmaceutical preparation system, An IV bag holder defining at least two positions for receiving an IV bag, wherein the at least two positions are arranged linearly along the vertical axis of the IV bag holder, and each of the at least two positions is associated with a specified function of the received IV bag. A syringe manipulator configured to hold and operate a syringe assembly, A movement mechanism is operably connected to the syringe manipulator to move the syringe manipulator along an axis parallel to the vertical axis of the IV bag holder, and the syringe manipulator is movable between the at least two positions of the IV bag, An assembly comprising: a controller configured to instruct the movement mechanism to move the syringe manipulator between the at least two positions of the IV bag based on a designated function of the IV bag.

[0177] 62. The assembly according to Embodiment 61, wherein the designated functions associated with the at least two positions of the IV bag include at least two of the following: an IV bag filled with a diluent from which the diluent is drawn; an empty IV bag from which a prepared drug is injected; an IV bag partially filled with a diluent to receive a drug requiring dilution; and an empty IV bag to receive excess gas and / or fluid.

[0178] 63. The assembly according to Embodiment 61 or Embodiment 62, wherein the IV bag holder is mounted on a platform that is movable along an axis perpendicular to the longitudinal axis by a lift mechanism.

[0179] 64. A mechanism for rotating and aligning a vial assembly that defines a non-circumferential projection extending radially outward from its apex, A cylindrical shaft extending from a support beam and having a lumen sized to receive at least the top of the vial assembly, the cylindrical shaft including a slit shaped to match the non-circumferential projection of the vial assembly, such that the top of the vial assembly can be fitted into the lumen of the shaft only when rotated and aligned with the projection, A mechanism including an actuator configured to rotate the vial assembly by rotating the cylindrical shaft around its long axis when the top of the vial assembly is received into the lumen of the shaft.

[0180] 65. The mechanism according to embodiment 64, wherein the top of the vial assembly includes a vial adapter, and the non-circumferential projection constitutes a part of the vial adapter.

[0181] 66. The mechanism according to Embodiment 64 or Embodiment 65, wherein the cylindrical shaft and its actuator, and the frame mounted on the top of the actuator, together define a vial aligner assembly, the vial aligner assembly being movable relative to a fixed contact sensor, and the frame of the vial aligner assembly is typically positioned adjacent to the sensor and in contact with the frame.

[0182] 67. The mechanism according to embodiment 66, wherein the actuator is configured to rotate the cylindrical shaft when an indication is provided by the contact sensor that the frame has ceased to be in contact with the sensor, and the actuator is configured to continue rotating the cylindrical shaft until the projection aligns with the slit, allowing the vial aligner assembly to return to a position where the frame re-contacts the sensor.

[0183] 68. The mechanism according to embodiment 67, wherein the vial assembly is moved at least indirectly by a platform configured to be raised and lowered, and the raising of the platform causes the projection to press against the vial aligner assembly, thereby moving the frame away from the sensor.

[0184] 69. The mechanism according to embodiment 68, wherein the raising of the platform is automatically stopped based on the instruction that the frame is no longer in contact with the sensor.

[0185] 70. The mechanism according to any one of embodiments 66 to 69, wherein the cylindrical shaft is movable within the frame in a direction perpendicular to the long axis of the shaft.

[0186] 71. The mechanism according to embodiment 70, wherein the cylindrical shaft is spaced apart from the inner wall of the frame in a direction perpendicular to the long axis of the shaft, and the spacing between the cylindrical shaft and the frame allows the cylindrical shaft to move within the frame in a direction perpendicular to the long axis of the shaft.

[0187] 72. The mechanism according to embodiment 71, wherein the actuator is spaced apart from the inner wall of the frame in a direction perpendicular to the long axis of the shaft, and the space between the actuator and the frame allows the cylindrical shaft to move together with the actuator within the frame.

[0188] 73. A manipulator for holding and manipulating a container in a pharmaceutical preparation system, comprising a gripper and at least one operating mechanism, The gripper is for receiving at least a portion of the container, and is immobile between a closed state in which the gripper grips the container at least partially and an open state in which the gripper allows at least unrestricted removal of the container from itself, and the gripper includes a limiting mechanism configured to allow at least one of the following in the closed state of the gripper: limited removal of the container from the gripper and limited intake of the container into the gripper. A manipulator wherein the at least one operating mechanism is configured for at least one of displacing the gripper from the closed state to the open state, and displacing the gripper from the open state to the closed state.

[0189] 74. The manipulator according to Embodiment 73, wherein, in the closed state of the gripper, the limiting mechanism allows at least one of the limited removal and the limited incorporation by applying a first force to the container, and in the open state, the gripper allows at least unrestricted removal of the container from the gripper by applying a second force to the container, the second force being less than the first force.

[0190] 75. The manipulator according to embodiment 73 or 74, wherein the gripper comprises a plurality of gripping members, at least one of which is configured to engage with the container in the closed state, the gripping members together define a gripping space for receiving the portion of the container, and in the open state, the gripping space is expanded.

[0191] 76. The manipulator according to Embodiment 75, wherein the limiting mechanism includes at least one limiting element that protrudes into the gripping space in the closed state, the at least one limiting element at least partially, in the closed state, interferes at least one of the removal of the container from the gripping space and the entry of the container into the gripping space, thereby enabling the corresponding at least one of the restricted removal of the container from the gripper and the restricted entry of the container into the gripper.

[0192] 77. The manipulator according to embodiment 76, wherein the at least one operating mechanism is configured to displace the gripper from the open state to the closed state by displacing at least one limiting element to expand the gripping space.

[0193] 78. The manipulator according to embodiment 76 or 77, further comprising a limiting and biasing mechanism configured to bias the at least one limiting element toward the gripping space.

[0194] 79. The manipulator according to embodiment 78, wherein the limiting biasing mechanism includes a spring.

[0195] 80. The manipulator according to embodiment 78 or 79, wherein the at least one operating mechanism is configured to selectively displace the at least one limiting element in the opposite direction to the gripping space.

[0196] 81. The manipulator according to any one of embodiments 76 to 80, wherein the at least one limiting element protrudes into the gripping space from a corresponding one of the gripping members.

[0197] 82. The manipulator according to any one of embodiments 75 to 81, wherein the at least one operating mechanism is configured for at least one of the following: displacing at least one of the gripping members toward another of the gripping members to displace the gripper to the closed state; and displacing at least one of the gripping members toward another of the gripping members to displace the gripper to the open state.

[0198] 83. The manipulator according to any one of embodiments 75 to 82, further comprising a gripper biasing mechanism configured to bias at least one of the gripping members in one of a first gripper biasing direction extending from the gripping space to the at least one gripping member and a second gripper biasing direction extending from the at least one gripping member to the gripping space.

[0199] 84. The manipulator according to embodiment 83, wherein the at least one operating mechanism is configured to selectively displace the at least one gripping member in one of the first and second gripper biasing directions.

[0200] 85. The manipulator according to embodiment 83 or 84, wherein each of the gripping members includes a corresponding inner surface and an opposite outer surface that at least partially define the gripping space, the gripper biasing mechanism is configured to bias the at least one of the gripping members in the first gripper biasing direction extending from the corresponding inner surface to the corresponding outer surface, and the at least one actuation mechanism is configured to engage with the corresponding outer surface to selectively displace the at least one gripping member in the direction opposite to the first gripper biasing direction.

[0201] 86. The manipulator according to embodiment 85, wherein in the closed state, the at least one operating mechanism maintains the at least one gripping member in a first position associated with the closed state, and the actuator is configured to move the at least one gripping member to a second position associated with the open state under the influence of the gripper biasing mechanism in order to displace the gripper to the open state.

[0202] 87. The manipulator according to embodiment 85 or 86, wherein the gripping member is formed as a jaw, and the actuator is formed as a bracket positioned radially outward with respect to the jaw.

[0203] 88. A manipulator for holding and manipulating a container in a pharmaceutical preparation system, comprising a gripper and a limiting biasing mechanism, The gripper has a gripping space for receiving at least a portion of the container and includes a limiting mechanism configured to allow at least one of the limited removal of the container from the gripping space and the limited incorporation of the container into the gripping space, The limiting biasing mechanism is configured to bias the limiting mechanism toward the gripping space, in a manipulator.

[0204] 89. The manipulator according to Embodiment 88, wherein the limiting mechanism enables at least one of the limited removal and the limited retraction by applying a first force to the container, and the first force is greater than the force required for at least one of the limited removal and the limited retraction without the limiting mechanism.

[0205] 90. The manipulator according to Embodiment 88 or 89, wherein the limiting mechanism includes at least one limiting element protruding into the gripping space, the at least one limiting element at least partially interfering with at least one of the removal of the container from the gripping space and the incorporation of the container into the gripping space, thereby enabling the corresponding at least one of the restricted removal of the container from the gripping space and the restricted incorporation of the container into the gripping space.

[0206] 91. The manipulator according to Embodiment 90, wherein the at least one limiting element is configured to interfere with the container by contacting it during at least one of the removal of the container from the gripping space and the introduction of the container into the gripping space.

[0207] 92. The manipulator according to embodiment 90 or 91, wherein the limiting biasing mechanism is configured to bias the at least one limiting element toward the gripping space.

[0208] 93. The manipulator according to embodiment 92, wherein the limiting biasing mechanism includes a spring.

[0209] 94. The manipulator according to embodiment 92 or 93, wherein the at least one limiting element is configured to be displaced against the biasing of the limiting biasing mechanism in at least one of the removal of the container from the gripping space and the entry of the container into the gripping space, thereby enabling the corresponding at least one of the restricted removal of the container from the gripping space and the restricted entry of the container into the gripping space.

[0210] 95. The manipulator according to any one of embodiments 90 to 94, wherein the gripper includes a plurality of gripping members that define the gripping space, and the at least one limiting element protrudes into the gripping space from a corresponding one of the gripping members.

[0211] 96. The limiting mechanism is a manipulator according to any one of embodiments 88 to 95, wherein the limiting mechanism includes a snap-fit ​​mechanism.

[0212] 97. The manipulator according to any one of embodiments 88 to 96, wherein the limiting mechanism is in the form of opposing rolling balls, each positioned in a socket of each gripping member, the rolling balls being normally biased inward into the gripping space. [Brief explanation of the drawing]

[0213] To better understand the subject matter disclosed herein and to illustrate how it may be implemented, embodiments will be described with reference to the drawings as non-limiting examples. The drawings are described below. [Figure 1A] This is a schematic diagram of a pharmaceutical preparation system according to an embodiment of the subject matter of this disclosure, including a platform movable along a vertical axis and a manipulator movable along a horizontal axis. [Figure 1B] This is a flowchart of a general method for operating the pharmaceutical preparation system shown in Figure 1A, according to an embodiment of the subject matter of this disclosure. [Figure 1C] Figure 1A is a schematic diagram of a pharmaceutical preparation system showing a fluid interface between two containers according to an embodiment of the subject matter of this disclosure. [Figure 2] Figure 1A is a schematic diagram of the control system in a pharmaceutical preparation system according to an embodiment of the subject matter of this disclosure. [Figure 3A] This is a schematic diagram of a pharmaceutical preparation system located within a hood according to an embodiment of the subject matter of the present disclosure, in which a platform and a manipulator are shown in two positions relative to the access opening of the hood. [Figure 3B]This is a schematic diagram of a pharmaceutical preparation system located within a hood according to an embodiment of the subject matter of the present disclosure, in which a platform and a manipulator are shown in two positions relative to the access opening of the hood. [Figure 3C] This is a schematic diagram of a pharmaceutical preparation system located within a hood according to an embodiment of the subject matter of the present disclosure, in which a platform and a manipulator are shown in two positions relative to the access opening of the hood. [Figure 4A] This is a flowchart of a general method for operating a pharmaceutical preparation system located in a hood, according to an embodiment of the subject matter of this disclosure. [Figure 4B] This is a flowchart illustrating an exemplary method for operating the pharmaceutical preparation system according to the method shown in Figure 4A. [Figure 5] This is an illustrative diagram showing user access to a pharmaceutical preparation system located within a hood, according to an embodiment of the subject matter of this disclosure. [Figure 6] This is a front view of a pharmaceutical preparation system relating to an example of the subject matter of this disclosure. [Figure 7A] Figure 6 is a bottom view of the system shown. [Figure 7B] Figure 6 is a side cross-sectional view of the system shown. [Figure 8] For example, Figure 6 is a magnified view of the manipulator in the system shown. [Figure 9] This is a flowchart illustrating a detailed method for operating a pharmaceutical preparation system located within a hood, relating to an example of the subject matter of this disclosure. [Figure 10A] This is an illustrative diagram showing the use of multiple imagers in a pharmaceutical preparation system, relating to an example of the subject matter of this disclosure. [Figure 10B] This is an illustrative diagram showing the use of multiple imagers in a pharmaceutical preparation system, relating to an example of the subject matter of this disclosure. [Figure 11] This is an enlarged view of a part of a pharmaceutical preparation system including a vial aligner, according to an embodiment of the subject matter of this disclosure. [Figure 12] This is a schematic diagram of a pharmaceutical preparation system, including a platform movable along vertical and horizontal axes, according to another embodiment of the subject matter of this disclosure. [Figure 13] This is a schematic diagram of a pharmaceutical preparation system, according to another embodiment of the subject matter of this disclosure, which includes a plurality of platforms, each independently movable along a vertical axis, and a manipulator movable along a horizontal axis. [Figure 14] This is a schematic diagram of a pharmaceutical preparation system according to another embodiment of the subject matter of the present disclosure, in which a manipulator is movable along a horizontal axis and is positioned on a platform that is movable along a vertical axis. [Figure 15] This is a schematic diagram of a pharmaceutical preparation system according to another embodiment of the subject matter of the present disclosure, in which a container receiving module is movable along a horizontal axis and a manipulator mounted on or connected to a platform moves along a vertical axis together with the platform. [Figure 16] This is a schematic diagram of a fluid transfer assembly including an IV bag holder on which a plurality of IV bags are arranged, according to an embodiment of the subject matter of the present disclosure. [Figure 17A] This is a front view of a hood accessible through an access window for a pharmaceutical preparation system according to an embodiment of the subject matter of this disclosure. [Figure 17B] This is a schematic side view of a hood accessible through an access window for a pharmaceutical preparation system according to an embodiment of the subject matter of this disclosure. [Figure 18] This is a schematic diagram of the infrastructure of a pharmaceutical preparation system including a mobile platform, according to several embodiments. [Figure 19] This is a front view of a pharmaceutical preparation system including infrastructure of the type shown in Figure 18, according to several embodiments. [Figure 20] Examples of system infrastructure connections according to several embodiments are shown, where the side walls of the connections have been removed for the visibility of internal components. [Figure 21A] This figure shows the automatic movement of system components occurring simultaneously along at least two system axes, according to some embodiments. [Figure 21B]This figure shows the automatic movement of system components occurring simultaneously along at least two system axes, according to some embodiments. [Figure 21C] This figure shows the automatic movement of system components occurring simultaneously along at least two system axes, according to some embodiments. [Figure 21D] This figure shows the automatic movement of system components occurring simultaneously along at least two system axes, according to some embodiments. [Figure 21E] This figure shows the automatic movement of system components occurring simultaneously along at least two system axes, according to some embodiments. [Figure 21F] This figure shows the automatic movement of system components occurring simultaneously along at least two system axes, according to some embodiments. [Figure 22A] This figure shows the operation of an exemplary vial alignment mechanism according to several embodiments. [Figure 22B] This figure shows the operation of an exemplary vial alignment mechanism according to several embodiments. [Figure 22C] This figure shows the operation of an exemplary vial alignment mechanism according to several embodiments. [Figure 22D] This figure shows the operation of an exemplary vial alignment mechanism according to several embodiments. [Figure 23A] This is a perspective view of a manipulator in a pharmaceutical preparation system relating to an example of the subject matter of this disclosure. [Figure 23B] Figure 23A is a magnified view of part P1 of the manipulator. [Figure 23C] Figure 23A is a perspective view of the gripper of the manipulator. [Figure 23D] This is a cross-sectional view of the gripper in Figure 23C along the line C1-C1 in Figure 23C. [Figure 24A] This is a top perspective view of a gripper of a manipulator shown in a closed state, relating to an example of the subject matter of this disclosure. [Figure 24B] Figure 24A is an enlarged view of part P2 of the gripper. [Figure 24C]Figure 24A is a partially exploded view of the gripper. [Figure 24D] Figure 24C is an enlarged view of part P3 of the gripper. [Figure 24E] This is a cross-sectional view of the gripper shown in Figure 24D, along the line C2-C2 in Figure 24D. [Figure 24F] Figure 24A is a top perspective view of the gripper in the closed position. [Figure 24G] Figure 24F is an enlarged view of part P4 of the gripper. [Figure 24H] Figure 24F is a partially exploded view of the gripper. [Figure 24I] Figure 24H is an enlarged view of part P5 of the gripper. [Figure 24J] This is a cross-sectional view of the gripper shown in Figure 24I, along the line C3-C3 in Figure 24I. [Figure 25A] This is a front perspective view of a pharmaceutical preparation system relating to an example of the subject matter of this disclosure. [Figure 25B] Figure 25A is a front perspective view of a portion of the connection points of the system infrastructure disassembled from the pharmaceutical preparation system. [Figure 25C] Figure 25B is a rear perspective view of a portion of the connection section shown. [Modes for carrying out the invention]

[0214] The pharmaceutical preparation system described herein can be said to occupy at least partially a three-dimensional volume. The system includes components that are generally movable along at least two intersecting first and second axes. Optionally, one or more components are movable only along the first axis, and one or more other components are movable only along the second axis. In some cases, the first axis constitutes the vertical axis of the system, and the second axis constitutes the horizontal axis of the system.

[0215] One of the system components described above may include other elements that define a platform, such as a table, board, stage, or horizontal plane (optionally, a flat top surface). Generally, the platform extends to a plane that intersects the first axis of the system, which constitutes the vertical axis in some examples. Optionally, the plane defined by the platform is perpendicular to the vertical axis.

[0216] Multiple container receiving modules can be mounted on or connected to the platform. The container receiving modules may be permanently fixed to the platform to function as an immovable part of a system that can be used for multiple purposes. Examples of container receiving modules associated with a platform may include:

[0217] A vial holder configured to receive and hold at least one vial. The vial holder may further be configured to move the vial, for example, to swivel the vial and / or to swivel the vial and / or change its orientation, and optionally to maintain the vial in a selected orientation (e.g., upright orientation, inverted orientation). The vial holder may consist, for example, a body and a frame or gripper rotatably connected to the body and configured to grip and swivel the vial and / or invert the vial relative to the vial holder body.

[0218] An IV bag holder configured to receive and hold at least one IV bag. The IV bag holder may include a designated surface on which a bag can be mounted or placed, a hanger (e.g., a hook) for holding the bag, and / or other elements suitable for holding and / or supporting the bag.

[0219] A syringe holder configured to receive and hold at least one syringe.

[0220] Another system component described above may include a manipulator. The manipulator may be configured to receive and manipulate at least one container, optionally a container of a different type from at least one of the containers received by a container receiving module associated with the platform. The manipulator is generally not mounted on or connected to the platform. In an exemplary system, the manipulator is a syringe manipulator configured to hold the syringe and manipulate the syringe by including a plunger actuator that can pull or push the syringe plunger relative to the syringe barrel, for example. Figure 1A shows an example of a pharmaceutical preparation system 101, where the platform is 103 and the manipulator is 105. In this example, the manipulator holds and manipulates a container 106, such as a syringe.

[0221] Multiple container receiving modules 107 are mounted on a platform and each is configured to receive at least one container 108. The container receiving modules include, for example, an IV bag holder and a vial holder. In an exemplary application of the system, as detailed in Figure 1B, containers such as vials and IV bags are placed on the container receiving modules, and a syringe is placed on the manipulator. The manipulator is then moved along the horizontal axis (X-axis) to an axial position corresponding to the axial position of a selected container receiving module located on the platform (step 111). The platform is then raised and lowered along the vertical axis (Z-axis) to obtain an interface between the container on the selected container receiving module and the container held on the manipulator (in this case, the syringe) (step 113). Once the interface is obtained, fluid transfer can be performed, for example, by operating the plunger of the syringe.

[0222] In an exemplary process, the syringe manipulator is moved to an axial position P1 corresponding to the axial position of the container receiving module that constitutes the IV bag holder along the horizontal axis. Thereafter, the platform is lowered so that a fluid interface between the syringe and the IV bag is obtained, for example, via the spike of the IV bag. By actuating the plunger, fluid (e.g., a diluent such as saline) is aspirated from the bag by the syringe. Thereafter, the platform is raised to remove the bag, and the syringe manipulator is further moved to an axial position P2 corresponding to the axial position of the container receiving module that constitutes the vial holder along the horizontal axis. Next, the platform is lowered so that a fluid interface is obtained between the syringe and the vial. By actuating the plunger, the fluid can be injected from the syringe into the vial. FIG. 1C schematically shows this stage of the process, showing the fluid interface obtained between the first container 106 (e.g., a syringe) held by the manipulator and another second container 108 (e.g., a vial received in the vial holder) received by the container receiving module. As shown, the fluid interface occurs when the manipulator is moved to the axial position P2 of the vial holder.

[0223] The order of steps is not limited. For example, the manipulator may be moved before, after, or simultaneously with the platform movement.

[0224] The platform and the manipulator may each be operably connected to a mechanism configured to move them along their respective axes. As schematically shown in FIG. 2, in some embodiments, the platform is moved (lifted and lowered) along a vertical axis by a first mechanism 201 that constitutes a lift mechanism, and the manipulator is moved along a horizontal axis by a second mechanism 203 that constitutes a movement mechanism and is configured to slide, transfer, or drive the manipulator along the horizontal axis in some embodiments. Each of the mechanisms includes an actuator such as a motor. The motor may be a servo motor, a hydraulic motor, a pneumatic motor, an electric motor, a magnetic motor, a mechanical actuator such as a spring, a piston, and combinations thereof.

[0225] The system further includes or is operably connected to a controller 205. The controller may be configured to communicate with the lift mechanism and the movement mechanism (e.g., via wired and / or wireless communication) to instruct their operations. The controller may include, but is not limited to, the timing of the movement, the duration of the movement, the speed of the movement, the direction of the movement (e.g., up and down of the lift mechanism, left and right of the movement mechanism), the degree of the movement, and / or other parameters. The controller may be configured to set the parameters of the movement generated by the mechanism. The controller may be configured to synchronize the two mechanisms to obtain a fluid interface between one or more containers of the container receiving module of the platform and the container of the manipulator (e.g., a syringe). Synchronization of the two mechanisms makes it possible to provide an interface through which fluid communication between their respective containers of the platform and the manipulator is possible. Since each of the platform and the manipulator is generally movable along a single axis, such an interface is more easily obtained compared to a system in which, for example, one component needs to be moved along one or more axes to interface with another component.

[0226] In some examples, the system may have one or more imagers 207 positioned or configured to acquire image data such as image data relating to the position and / or state of the platform, manipulator, container receiving module and / or container itself, and the controller instructs the mechanism based on the image data received from the imagers.

[0227] Generally, the control of the movement of a platform and / or manipulator, for example, the determination of the degree of movement along an axis, can be performed using position data. Position data can be acquired by one or more imagers and / or by actuators of the associated mechanism (e.g., via motor encoders). In some embodiments, feedback on the position of the platform and / or manipulator is acquired using one or more of the following: image data collected by one or more imagers, instructions from sensors such as sensors, motion sensors, contact sensors, acceleration sensors or other types of sensors, operating parameters associated with the movement actuators such as motor current consumption and motor speed, and / or other methods that can determine the position. In some embodiments, the next movement of the platform and / or manipulator can be controlled based on the obtained position feedback.

[0228] For example, the pharmaceutical preparation systems described herein can be used in an optionally sterile, controlled environment provided to reduce or prevent exposure to harmful gases and / or substances. Examples of such environments may include hoods such as standard fume hoods, cleanrooms, biosafety cabinets, isolators, or any other suitable enclosure (e.g., housing) in which environmental conditions can be controlled.

[0229] Alternatively, for example, if the system is used for the preparation of non-hazardous drugs, the system may be used in an open or uncontrolled environment. For example, the system can be used in hospital wards, clinics, pharmacies, and / or other environments.

[0230] In an example of a system used within a hood, the dimensions and total mass of the system may be suitable for fitting the system into the hood so that it is mounted on the working surface of the hood. In some cases, the system may be positioned on the working surface of the hood and operated by connecting the system to a power source configured inside and / or outside the hood.

[0231] Generally, the system is accessible through the hood opening (for example, to load and unload containers) when the platform and manipulator are at the level of the opening. The opening can be formed as a window, slit, hole, glove box, passage, and / or any other suitable structure that allows direct or indirect access to the internal volume of the hood from outside the hood. Optionally, the user can reach their hand through the opening at least partially. Alternatively, the user can reach their hand into the glove box and approach the system with gloves. In such examples, containers are loaded and unloaded by a drawer or passage leading into and out of the internal volume of the hood.

[0232] Figures 3A–C show an example of such a system, designated 301, located within a hood 303. The system includes infrastructure that serves as the support frame for the system and generally consists of a top 307, a bottom 309, and a connecting section 311 extending between the top and bottom. As shown, the top and bottom are parallel to each other and parallel to the platform 313, and the connecting section is perpendicular to these parts and extends between them. The bottom is detachably located on the working surface 314 of the hood.

[0233] In some embodiments, the platform moves vertically along at least a portion of the length of the connection, and the manipulator moves laterally along at least a portion of the length of the bottom. In other embodiments, the manipulator may move along the top.

[0234] In some examples, the system may include only one of the top and bottom sections on which the manipulator moves. For example, in some examples, the manipulator may move along the top section, and the system may not include a bottom section. In some examples, the manipulator may move along the bottom section, and the system may not include a top section. It should be understood here that the top section, connection section, and bottom section may be of any shape, structure, and size suitable for enabling the movement of the corresponding manipulator and platform.

[0235] In this example, the hood 303 is shown to include an access window 315. In Figure 3A, the platform is raised to a level inaccessible through the window. More specifically, container receiving modules on the platform, such as the IV bag holder 317 and vial holder 319, are positioned at a level inaccessible through the window, for example, so that they are out of reach of the user. In Figures 3B-C, the platform is lowered to a level where the container receiving modules are accessible through the window.

[0236] Here, referring to the system's manipulator 321, for example, a syringe manipulator, the manipulator can move along the bottom of the infrastructure between an origin position, two examples of which are shown in Figures 3B-C, and multiple working positions, one of which is shown in Figure 3A.

[0237] At the origin position, the manipulator does not interfere with the movement of the platform along the vertical axis, thereby allowing the platform to be lowered to the same level as the manipulator. This can be achieved, for example, by a platform having a recess (not shown) that spans the thickness of the platform, through which the manipulator extends when the platform is lowered, as shown in Figure 3B. Alternatively, in another example, this can be achieved by a platform that is sufficiently short along its horizontal dimension to allow the manipulator to be positioned adjacent to (beside) the platform, as shown in Figure 3C.

[0238] At the working position, the manipulator is positioned at one of the axial positions along the horizontal axis corresponding to the axial position of the selected container receiving module. This allows for an interface between the container held by the manipulator (e.g., syringe) and the container held by the container receiving module (e.g., IV bag, vial) as the platform is lowered toward the manipulator.

[0239] In some embodiments, the container receiving modules are arranged linearly on the platform, so that when the platform is raised to a level where the modules are accessible through the hood windows, the containers of all modules can be loaded and unloaded with virtually no internal movement of system components. This allows a user standing near the windows to manually access all container receiving modules using the same approach to the windows. Furthermore, when the manipulator is in its home position, the manipulator is positioned at the same level as the platform and can similarly access to load and unload containers such as syringes. Accessing the system modules to load and unload containers using the same approach (e.g., only once during the system's operating cycle) may include potential advantages such as improved safety because all containers can be loaded before the operating cycle, eliminating the need to load and unload containers in the middle of the cycle, and the hood opening can be kept closed throughout the entire operating cycle, allowing the system to operate continuously without interruption. A general method of using a system positioned within a hood is shown in Figure 4A. The platform is raised and lowered by a lift mechanism to a first level where the container receiving modules of the platform are accessible through the hood windows, and positioned along the platform parallel to the length of the windows (step 451). For example, the hood window is rectangular and extends along at least a portion of the hood's length, and the system platform is configured such that the container receiving modules are positioned along the length of the window, at least when the platform is at window level. Such an arrangement allows the user easy access to all of them, as the container receiving modules are aligned along the length of the window and easily within reach. The user places and unloads containers from the container receiving modules and / or manipulators, for example, at least one vial into the vial holder, at least one IV bag into the IV bag holder, and at least one syringe into the manipulator (step 453). The platform is raised and lowered to a second level where the container receiving modules are positioned away from the access window and are inaccessible to the user (step 455).In that respect, the system can be operated to automatically carry out the drug preparation process.

[0240] An exemplary method relating to the general method in Figure 4A is shown in Figure 4B. The manipulator is moved, if necessary, to its origin position which constitutes an axial position in which the manipulator does not interfere with the raising and lowering of the platform (step 401).

[0241] Next, in step 403, the platform is lowered to the level of the access window (or other opening) in the hood and aligned with the manipulator (step 403). The user accesses the system through the window to place and / or lower containers such as vials, IV bags, and / or syringes (step 405). In one example, the user places a syringe on the manipulator, places at least one vial on a vial holder located on the platform, and places at least one IV bag on an IV bag holder located on the platform. When the manipulator is in the origin position, it does not obstruct access to one of the platforms or modules of the platform. In some embodiments, the manipulator is positioned (and moved horizontally) in the space between the access window and the platform with respect to the depth axis of the system.

[0242] The platform is raised along the vertical axis to a level higher than the access window, where the container receiving module of the platform is inaccessible to the user (step 407). Moving the platform away from the window can potentially improve user safety and product safety for the following reasons: When the platform is moved to an inaccessible volume of the hood, the user cannot manually access the system module, reducing the user's exposure to toxic or harmful gases or substances, reducing the user's exposure to needles or other harmful mechanical components and moving parts of the machine, and reducing the formulation's exposure to contamination from the environment (e.g., dust) and / or contamination from the user.

[0243] The system automatically performs a fluid transfer process and / or other processes (step 409) to prepare a pharmaceutical product. Once the pharmaceutical product is prepared, the ready product may be removed and the method may be repeated, optionally to place a new container on the system.

[0244] In the illustration of FIG. 5, user 501 stands in front of hood 503 in which pharmaceutical preparation system 505 is disposed. As shown, the bottom 507 of the system infrastructure is located on the work surface 509 of the hood. The infrastructure may be fixed to the hood or, alternatively, may be removably disposed within the hood such that, for example, the system can be easily transferred between hoods or moved to different areas within the same hood.

[0245] Referring again to the system, the connection 511 of the infrastructure extends vertically from the bottom and terminates at the top 513 of the infrastructure. The platform 515 of the system is movable relative to the connection and, in this example, includes vial holder 517 and IV bag holder 519 located thereon. Syringe manipulator 521 is located below the platform and is configured to move horizontally along the bottom of the infrastructure.

[0246] In this example, the hood includes a window 523, optionally a transparent window through which at least a portion of the system is visible. The bottom of the window can be at least partially opened (or at least openable) to allow access to the system. In the example shown, the system may be disposed at a level higher than the openable portion of the window and be inaccessible to the user.

[0247] In some examples, as shown in FIGS. 17A - B, window 1701 of hood 1703 is disposed on front panel 1705 of the hood housing. Generally, the front panel may include an insulated inaccessible portion 1704 and an accessible portion 1706 in which the window (or other access opening or path for the user) is defined.

[0248] In some examples, the windows are typically closed and can be opened controllably only at selected times and / or for selected periods of the system's operating cycle, for example, to allow the loading and / or unloading of containers onto and / or onto the system's container receiving module.

[0249] In some embodiments, when the platform 1707 is lowered to the level of a window (schematically shown in Figure 17B), the platform is located on or adjacent to the bottom 1709 of the system infrastructure, which is easily accessible to users, for example, when a container receiving module on the platform is located in front of the front panel 1705 (optionally, thereby the platform is located directly on the working surface 1711 of the hood). In some examples, at least the upper surface 1715 of the platform is parallel to the working surface of the hood.

[0250] In some examples, the vertical axis 1713 along which the platform is moved is parallel to the plane 1717 on which the front panel is located. When the platform is lowered along the vertical axis to become accessible, the platform is moved to a position where the top surface of the platform is lower than the inaccessible portion 1704 of the front panel.

[0251] When the platform is lowered to an accessible position, a user in front of the hood can, for example, place a container into the system, such as a plurality of container receiving modules located on the platform, a syringe manipulator, or other, and / or remove it from there, by inserting their hand 1716 across the plane 1717, for example, along or parallel to the depth axis 1714. In some embodiments, when the platform is lowered to an accessible position, the syringe manipulator 1719 is moved axially to or beyond the side edge 1721 of the platform so that the manipulator does not obstruct access to the platform.

[0252] In some embodiments, the system may be configured according to the specific hood size and / or arrangement. For example, the levels between which the platform moves may be selected according to the size and location of the hood's access window. The motors driving the platform's movement are programmed according to the selected levels.

[0253] Exemplary pharmaceutical preparation systems and their components are shown in Figures 6-8. According to some embodiments, the system 601 includes an infrastructure comprising a top 603 and a bottom 605 defining surfaces parallel to each other, and a connecting portion 607 extending perpendicularly between the top and bottom. In some embodiments, the infrastructure is sized to fit inside a laboratory hood, for example, on the working surface of the hood. The infrastructure may be small enough and light enough to be manually lifted and placed in the hood. For example, the dimensions of the infrastructure, such as a width 611 measured along the horizontal axis, a height 613 measured along the vertical axis, and a depth (not shown) measured along axes perpendicular to the horizontal and vertical axes, are selected to be small enough to fit inside a standard hood, optionally the working surface of the hood. In some cases, when the system is placed inside a hood, it does not occupy more than 80%, 70%, 60%, 50%, or an intermediate value less than or equal to the available working volume of the hood.

[0254] As further shown in the systems of Figures 6-8, the platform 609, which defines surfaces parallel to the top and bottom, is configured to be raised and lowered along at least a portion of the length of the connection by a lift mechanism. In this example, the platform includes a container receiving module constituting an IV bag holder 617 and a vial holder 619, both mounted on the top surface of the platform.

[0255] The lift mechanism for raising and lowering the platform, as shown in the cross-sectional view of Figure 7B, includes a motor such as a linear servo motor 633 having an elongated screw 635 that extends longitudinally within the infrastructure connection. The platform is slidably connected to the elongated screw via an optionally L-shaped extension 637 extending from the rear surface of the platform. The lift mechanism may be configured to raise or lower the platform by a maximum distance, for example, 200 mm, 350 mm, 450 mm, or an intermediate value, greater than or less than that.

[0256] In this case, a manipulator 621 configured to move and operate the syringe 623 is slidably connected to the bottom of the infrastructure. As can be seen in Figure 7A, the manipulator's movement mechanism includes a linear motor 625 to which the manipulator is connected via a coupling 627. The coupling is mounted on a linear rail 629 and driven relative to the rail by a chain mechanism 631. As shown in Figure 8, the manipulator itself includes a plunger flange receiver 639 which includes a housing defining one or more recesses 641 into which a plunger flange can be fitted, and a gripper (or holder) 643 configured to hold the top of the syringe, such as a syringe hub, barrel, or syringe connector when in use. The plunger flange receiver is operably connected to a linear servo motor 645 which can raise and lower the plunger flange receiver to draw fluid into or inject fluid from the syringe barrel.

[0257] In some embodiments, the manipulator includes an illumination component 622, such as an LED array located behind the syringe. The illumination component can facilitate imaging of the syringe for the purpose of evaluating the volume of fluid in the syringe.

[0258] In some examples, the connection may generally be formed of one or more parts, and at least one of these parts may be detachably connectable to another of these parts and / or to part of the rigid system infrastructure. In some examples, at least part of the top of the system may be connectable to a detachably attachable part of the connection, and thus assembled and disassembled together. The connection, formed of one or more detachably attachable parts, imparts modularity to the system, allowing these parts of the system to be modularly assembled to the hood and modularly disassembled from there.

[0259] In the examples shown in Figures 25A-C, the pharmaceutical preparation system 2501 and its components are illustrated. According to some embodiments, the system 2501 includes infrastructure including a top 2503, a bottom 2505, and a connecting section 2507 extending between the top and bottom, a platform 2509 including a container receiving module, and a manipulator 2521. It should be understood that the system 2501 may include some or all features of the pharmaceutical preparation systems according to the various embodiments described herein. The descriptions of the components of the pharmaceutical preparation systems described herein (e.g., the top, bottom, connecting section, platform, and manipulator) also apply to the corresponding components of the system 2501.

[0260] In addition to including the features of the connection of the pharmaceutical preparation system described herein, the connection 2507 is modularly formed of two parts 2507A and 2507B that are detachably attached to each other. The first part 2507A is detachably attached to the second part 2507B, but the first part 2507 can be assembled to the second part 2507B after the system has been placed inside the hood. The first part 2507 can also be disassembled from the second part 2507B for cleaning and / or maintenance purposes. The top 2503 is connected to the detachable (first) part 2507A and can be assembled and disassembled together with it. This enables easy and rapid assembly, disassembly, and / or maintenance of the system inside the hood. As can be seen in Figure 25C, the detachable part 2507A can be assembled and disassembled by assembly means 2510, which include nuts, bolts and screws in the illustrated example. In some examples, the assembly means may include any mechanical, electromechanical, electronic / electrical, magnetic means, or a combination thereof, which are generally known to facilitate the quick and easy assembly and disassembly of detachable parts. In some examples, the assembly means may include a snap-fit ​​mechanism.

[0261] In an exemplary use of the system (for example, when placed inside a hood), the following process may be performed, as shown in the flowchart of Figure 9.

[0262] Lower the platform to a level accessible through a window or other opening in the hood (step 901). Open the window (step 903). The user (e.g., laboratory researchers, nurses, pharmacists, physicians and / or other medical or laboratory personnel) prepares the system by placing containers, for example, one or more vials and one or more IV bags on each container receiving module on the platform (step 905), and placing at least one container, such as a syringe, on the manipulator.

[0263] The platform is raised to a level where it is no longer accessible through the window (step 907). The syringe manipulator is moved along the horizontal axis to an axial position corresponding to the axial position of at least one IV bag placed on the IV bag holder (step 909). The platform is lowered again to obtain a fluid interface between the syringe held by the manipulator and the IV bag. The fluid (e.g., a diluent such as saline) is then drawn from the IV bag into the syringe (by the action of the syringe plunger) (step 911).

[0264] The platform is raised again. Optionally, the alignment of the vials held in the vial holder is adjusted by rotating the vials with a vial aligner configured at the top of the infrastructure, as further described herein in Figure 10 (step 913).

[0265] The syringe manipulator is moved along the horizontal axis to another axial position corresponding to the axial position of the vial held in the vial holder (step 915). The vial is then inverted by the holder so that it is held in an inverted orientation (step 917), and the platform is lowered to connect the syringe (held in the manipulator) to the inverted vial (step 919).

[0266] Disconnect the syringe from its connection to the manipulator, maintaining its connection to the vial (step 921). Optionally, rotate the vial holder around its own axis to change the position of the vial and the syringe connected to it (step 923). Raise the platform to push the plunger flange of the syringe against the pusher element (or generally designated surface) configured on the top of the infrastructure to inject the fluid from the syringe into the vial (step 925). (Optionally, the rotation of the vial holder is performed to move the vial and syringe to a position directly below the pusher).

[0267] The vial holder is rotated again, inverting the vial to an inverted position. The platform is then lowered to reconnect the syringe to the syringe manipulator (step 927).

[0268] The platform is raised, and the vial is removed from the syringe. The vial holder then inverts the vial to an upright orientation and shakes the vial by swirling each vial to mix its contents (step 929). At this stage, the vial may contain the prepared drug.

[0269] Optionally, lower the platform and invert the vial again in the vial holder to an inverted orientation. The syringe is reconnected to the vial, and the syringe plunger is activated to draw the ready drug from the vial into the syringe (step 931).

[0270] Raise the platform and move the syringe manipulator horizontally to the axial position corresponding to the IV bag position (step 933). Optionally, the IV bag to be filled is in a different position than the first IV bag from which the diluent was drawn.

[0271] Lower the platform and connect the syringe to the selected IV bag, then activate the plunger to inject the prepared drug into the IV bag (step 935).

[0272] Label the filled IV bag to mark, for example, its contents, preparation time, details of the patient who received the drug, expiration date, and / or other relevant data (step 937).

[0273] The platform is lowered again to the level of the access window. The window is opened, and the container, including the IV bag filled with the ready-to-use drugs, can be lowered (step 939).

[0274] In some embodiments, the prepared drug may be received or retained in a syringe, or alternatively, injected into the same or a different vial.

[0275] The steps described and the order in which they are performed are provided merely as examples, and the use of the system should not be limited to the methods described above.

[0276] In the described system, multiple processes can be performed throughout the entire preparation while the system's containers remain held by the same holder on which they are mounted. For example, a vial placed on a vial holder remains held by the vial holder throughout the entire process of injecting a diluent into the vial, shaking the vial, and aspirating the prepared drug from the vial. In another example, an IV bag remains held in the same position on the bag holder during a later stage of the process, during aspirating fluid from the bag and optionally injecting fluid into the bag. In yet another example, at least one vial is shaken while a fluid transfer process (e.g., aspirating and injecting fluid) is performed on at least one other vial.

[0277] By keeping the container in the same holder throughout the entire process between system loading and unloading, system complexity is reduced, loading / unloading is facilitated, preparation time is shortened (because there is no need to move the container between different positions in the system), and a more compact arrangement with generally smaller occupied space is provided.

[0278] Furthermore, in the described system, the fluid interface can synchronize the movement of the platform and manipulator, each configured to move along a single axis. This facilitates system control and reduces complexity.

[0279] Furthermore, different container receiving modules on the platform can be used simultaneously, thereby potentially reducing preparation time. In one example, a syringe manipulator can approach an IV bag on a bag holder and aspirate / inject fluid from / into it, while simultaneously shaking vials that have previously been injected with diluent by a vial holder.

[0280] Furthermore, raising and lowering the platform can provide a selective interface between the platform's container receiving module and other parts or components of the system configured or generally connected to the top and bottom of the infrastructure. For example, as further described below, the platform may be raised to move vials (held in vial holders located on the platform) to a vial aligner extending from the top of the infrastructure. Generally, moving the platform allows for different operations on containers at different height levels.

[0281] In some examples of pharmaceutical preparation systems, one or more imagers (e.g., 2, 3, 4, 5, 7, 10, an intermediate number, or more or less) may be used. Generally, the imagers may be mounted on or connected to the inner walls of the system infrastructure, platform and / or hood to provide image data such as detecting the volume of fluid in a container, detecting the presence of a container, detecting the location of the container, container receiving module, platform, manipulator, detecting fluid-related parameters, and / or other.

[0282] In the example shown in Figures 10A and 10B, the first imager 1001 is positioned in a location suitable for imaging the IV bag 1003 placed on the IV bag holder 1005. The first imager 1001 may be configured, for example, at the top of the infrastructure. The data acquired by the imager may include the presence of the IV bag, the volume of fluid in the IV bag, the labeling data of the IV bag, and / or other parameters related to the IV bag. The second imager 1009 is positioned in a location suitable for imaging the manipulator 1011 and the container (e.g., a syringe) held by the manipulator. The second imager 1009 may be positioned, for example, at the upright extension 1013 at the bottom of the infrastructure. The imager 1009 may be configured, for example, for detecting the volume of fluid in the syringe, detecting the relative position of the manipulator (e.g., along the horizontal axis), and / or detecting other parameters related to the manipulator and / or syringe.

[0283] In some embodiments, the extension 1013 and / or system infrastructure can generally function to hold the illumination and / or sensing components of the safety light curtain to protect access to the system.

[0284] The third imager 1015 is positioned to be suitable for imaging a vial located, for example, at the infrastructure connection 1017. The imager may be configured to detect the presence of the vial, the alignment of the vial (in situations where the vial or vial adapter is not rotationally symmetric), the volume of fluid in the vial, and / or other parameters related to the vial.

[0285] As described above, if the vial or the vial adapter attached thereto is not rotationally symmetric, it may be necessary to rotate the vial to align it. In the example of a sealed fluid transfer system, the vial includes an adapter and the syringe includes a connector, and the sealed connection between the two passages is achieved only by a specific rotational alignment of the adapter. In this case, the vial and / or its adapter must be rotated. A mechanism for aligning the vial is described with reference to Figure 11. In the example shown, the vial aligner 1101 is configured on the top 1103 of the infrastructure and is positioned directly above the vial 1105 held in the vial holder 1107 (or in a position where the vial holder can rotate the vial, thereby aligning the vial below the vial aligner). The vial aligner includes a cylindrical shaft 1109 extending downward from the top of the infrastructure (or optionally, another support beam) toward the bottom of the infrastructure. The cylindrical shaft includes slits 1111 formed along a portion of the shaft wall for fitting into each projection 1113 of the vial adapter 1115. The cylindrical shaft can be fitted into the adapter by raising the platform until the top of the adapter is received within the shaft. The vial assembly (vials and adapters) can then be rotated around the long axis of the assembly by rotating the shaft around the long axis of the assembly, thereby aligning the vial assembly in a selected rotational alignment. Optionally, the vials can also be rotated by the vial aligner even if the vials remain held in the frame of the vial holder (more specifically, held in the clamp arms 1117 of the frame). An actuator for rotating the shaft is optionally located within the top of the infrastructure and connected to the cylindrical shaft. This may include a motor (not shown), such as a stepper motor.

[0286] The rotation of the vial aligner shaft 1109 may be controlled based on image data received from one or more imagers positioned and configured to image the vial. In one use case, the current rotational orientation of the vial is evaluated based on the acquired image, and then the vial aligner shaft is rotated (e.g., according to a selected number of steps of a stepper motor) so that the slit 1111 is positioned directly above the projection of the vial adapter. Subsequently, the platform is raised to insert the vial adapter at least partially onto the shaft to a degree sufficient to allow the vial adapter to rotate (with the vial) as the shaft rotates. At that stage, the vial assembly (including the vial and its adapter) may be rotated at a selected angle so that, for example, the projection is oriented in a direction that can later engage with a syringe connector and / or other container or adapter having a particular connection orientation. The projection may be in the form of any non-circular projection extending from the vial assembly in a particular radially outward direction.

[0287] In some cases, following the alignment of the first vial, another (e.g., second) vial held in the holder can be positioned below the vial aligner by rotating the body 1119 of the vial holder around its axis, and the alignment process may be repeated for the second vial.

[0288] An exemplary vial alignment mechanism is shown in Figures 22A–D. The vial aligner assembly includes a cylindrical shaft 2201 connected to a rotary motor 2203 via a bearing 2205. A frame 2207 is located on top of the motor. In use, the platform is raised to move the vial assembly (vials and their adapters) into the vial aligner. If the projection 2209 of the vial adapter is not aligned with the slit 2211 of the cylindrical shaft, as shown in Figure 22A, the platform continues to rise, and the projection lightly pushes the vial aligner assembly (including the cylindrical shaft, bearing, motor, and frame) upward against the external housing 2213 of the system infrastructure, as shown in Figure 22B.

[0289] When the vial assembly is pushed upward by the projection, the frame moves away from the sensor 2215, which is normally at the level of the frame and in contact with the frame. At this stage, the sensor, which is a contact-based sensor (e.g., an electrically conductive sensor), is no longer in contact with the frame and an instruction is provided. Based on the provided instruction, the platform rise automatically stops, and the vial aligner motor begins to rotate the cylindrical shaft. The rotation of the cylindrical shaft continues until the slit aligns with the projection (see Figure 22C), thereby allowing the vial aligner assembly to "drop" back down, and the projection penetrates deeper into the slit (see Figure 22D). When the vial aligner assembly returns to its lower position, the sensor makes contact with the frame again.

[0290] If no sensor instructions are provided, it may be implied that the cylindrical shaft is initially oriented so that the slots align with the protrusions, and that rotation of the cylindrical shaft is not necessary.

[0291] For example, the potential advantages of the vial alignment mechanism described with reference to Figures 22A-D include the ability to control the movement (up / down) of the platform and the rotation of the cylindrical shaft to the same instruction from the sensor.

[0292] In addition to rotation, the cylindrical shaft 2201 may be configured to move in a horizontal direction perpendicular to the long axis of the shaft 2201. For example, as can be seen in Figures 22A-D, there is a gap S1 between the shaft and the inner wall 2207A of the frame 2207. The gap S1 extends in a direction perpendicular to the long axis of the shaft (in the illustrated example, this direction is horizontal) and gives the shaft within the frame 2207 a certain degree of freedom along the direction perpendicular to the long axis of the shaft.

[0293] In the illustrated example, there is a gap S2 between the actuator (motor 2203 in the illustrated example) and the inner wall 2207A of the frame 2207. Similar to gap S1, gap S2 extends in a direction perpendicular to the shaft's long axis and provides a certain degree of freedom to the actuator (along the shaft) within the frame 2207 along the direction perpendicular to the shaft's long axis. In some examples, only the shaft is movable within gap S1, and in some examples, both the shaft and the motor are movable within the frame in a direction perpendicular to the shaft's long axis.

[0294] In the illustrated example, in addition to rotating the shaft, the motor 2203 functions as a driver that moves the shaft 2201 and the motor 2203 in a direction perpendicular to the long axis of the shaft. The motor 2203, functioning as a driver, may be configured to move the shaft 2201 and the motor 2203 in a direction perpendicular to the long axis of the shaft, independently of the rotation of the shaft 2201.

[0295] In some examples, the vial alignment mechanism may include a driver that is independent of and separate from the motor for moving either or both of the shaft 2201 and the motor 2203.

[0296] The degrees of freedom of the shaft 2201 along the direction perpendicular to the long axis of the shaft (either alone or together with the motor 2203) facilitate, for example, the effective alignment of the shaft 2201 with respect to the vial while the vial is fitted into the vial aligner, and / or, for example, the effective alignment of the shaft 2201 with the vial while the vial is aligned.

[0297] In some cases, the vial aligner assembly can be controlled using, for example, a contact sensor, as described above, either or both of image data and / or sensor data.

[0298] This disclosure is not limited to a vertically movable platform and a horizontally movable manipulator. Several alternative system configurations are shown in Figures 12–15. In Figure 12, the platform 1201 includes a plurality of container receiving modules 1203 which are movable along both vertical and horizontal axes. A manipulator 1205, for example, a syringe manipulator, is positioned below the platform in a stationary position. In use, a fluid interface between a container held by the manipulator (e.g., a syringe) and a container held by the container receiving module can be obtained by moving the platform horizontally to align the selected container with the syringe, and then lowering the platform until the fluid interface is obtained.

[0299] In Figure 13, each of the multiple container receiving modules 1301 is separately positioned on its own platform 1303, and each of the multiple platforms is independently movable along the vertical axis to obtain a fluid interface with a horizontally moving manipulator 1305.

[0300] In Figure 14, the manipulator 1401 (e.g., a syringe manipulator) is positioned above (e.g., opposite to below) a platform 1403 that includes multiple container receiving modules. In use, the manipulator can move horizontally to an axial position corresponding to the axial position of a selected container receiving module above the platform, after which the platform can be raised to obtain a fluid interface.

[0301] In Figure 15, the manipulator 1501 is located on or connected to a platform 1503 that is movable along a vertical axis, and a plurality of container receiving modules 1505, optionally positioned along the bottom of the infrastructure, are each independently movable horizontally. During use, the selected container receiving module may be moved to an axial position corresponding to the axial position of the manipulator. The platform may be lowered to obtain a fluid interface between the container (e.g., syringe) held by the manipulator and the container of the selected container receiving module.

[0302] Figure 16 shows a fluid transfer assembly that can be used as part of a drug preparation system. The fluid transfer assembly comprises a bag holder 1601 that defines multiple positions for receiving a number of corresponding IV bags 1603, and a syringe manipulator 1605 configured to operate a syringe and, optionally, move. Each of the multiple positions P1 to P3 defined in the bag holder may be associated with a designated function of the bag placed therein, including, for example, a bag for dilution containing a diluent (e.g., saline, water), a bag for receiving a drug which may be empty or partially filled with a diluent, a bag which may be empty for receiving excess gas or flow, and / or other designated functions.

[0303] Selective access of the syringe manipulator to a bag at a specific location may be based on the required specified function of the bag. For example, when it is necessary to obtain a diluent, the system controller may move the syringe manipulator to the interface with a bag at a specific location, such as the bag at location P1 associated with the dilution function, and when it is necessary to fill the bag with a prepared drug, the system controller may move the syringe manipulator to the bag at location P2 associated with the filling function.

[0304] The fluid interface between the syringe held by the manipulator and the IV bag in the holder can be obtained in different systems by one of the following options: moving the syringe manipulator horizontally and the bag holder vertically; moving the bag holder horizontally and the syringe manipulator vertically; moving only the bag holder vertically and horizontally; or moving only the syringe manipulator vertically and horizontally.

[0305] Figure 18 is a schematic diagram of the infrastructure 1801 of a pharmaceutical preparation system including a platform, according to several embodiments. The infrastructure generally consists of a top 1803, a bottom 1805, and a connecting portion 1807 that extends vertically between the top and bottom.

[0306] In some embodiments, the platform 1809 is parallel to the top and bottom and is movable (up or down) relative to the vertical (long axis) of the connection. Multiple container receiving modules 1811 are mounted on the platform and positioned at different axial positions along the platform. By distributing the multiple container receiving modules axially along the platform, the modules are easily accessible without the need to move the modules internally or swap their positions to make them accessible from the hood access window (when the platform is lowered to its accessible position). Typically, the platform is shaped and sized such that the platform dimensions along the horizontal axis of the system are at least twice the platform dimensions along the depth axis and at least three times the platform dimensions along the vertical axis. In some examples, the platform is shaped like a rectangular box, beam, or elongated shelf.

[0307] In some embodiments, platform 1809 is operably connected to a connector 1807, so that, at least in a front view of the infrastructure, the connector and the platform intersect at the substantial center of the platform and in no case at the side edges (1813, 1815) of the platform. In other words, assuming that each side edge defines a plane (two planes facing each other) and a distance D (equal to the length of the platform) exists between these planes, the connector intersects the platform at a position in the range of 0.1D to 0.9D. A connector positioned substantially centrally with respect to the platform is advantageous, for example, compared to a structure in which the connector is located on or adjacent to the side of the platform, by: a. a motor driving the vertical movement of the platform can be housed within the connector and is very close to the moving platform (requiring fewer or no transmission elements, potentially enabling direct drive of the platform); and b. the weight distribution can be improved by extending the platform in two opposing directions relative to the connector, potentially reducing the force moment acting on the platform.

[0308] Figure 19 is a front view of a pharmaceutical preparation system including infrastructure of the type shown in Figure 18, according to several embodiments. In this example, a platform 1901 (in this case, a plurality of IV bags 1903 mounted by IV bag holders 1904) is operably connected to a connector 1905 of the infrastructure, extending such that the long axis of the platform is perpendicular to the long axis of the connector. The connector 1905 extends vertically between the top 1907 and bottom 1909 of the infrastructure, and the platform can move (raise and lower) along the connector. As can be observed, the connector intersects the platform (at least in a front view of the system) at the substantial center of the platform length, thereby causing the platform to extend laterally on both sides of the connector.

[0309] As shown in the illustration, in some embodiments the system may include additional structures or modules mounted along or adjacent to the bottom. In the illustrated example, there is an additional lift mechanism for raising and lowering the vial tray 1911 and / or vial holder 1913 (configured to shake and / or invert multiple vials), a multi-joint robotic arm (SCARA) 1915, a syringe manipulator 1917, and a syringe conveyor 1919 that can be engaged by the syringe manipulator for picking up syringes and / or returning syringes to the conveyor.

[0310] In some embodiments, system components are generally aligned along or adjacent to the bottom in a manner that allows direct access to them when the hood access window is open (for example, for loading and unloading containers). This axial arrangement of system components along the bottom is potentially advantageous because the components are easily accessible and users do not need to reach deep into the hood.

[0311] Figure 20 shows an infrastructure connection in which the side wall of the connection has been removed for the visibility of internal components, according to several embodiments.

[0312] In some embodiments, the connection section 2000 houses one or more mechanisms, electrical connections, and optionally power supply means that enable the movement of the system platform and / or other modules. Optionally, the mechanisms or their components are arranged vertically within the internal volume of the connection section.

[0313] In the illustrated example, the platform lift mechanism includes a motor 2001 connected via a bearing 2003 to an actuator 2005 that moves with the platform (the platform is not shown in this figure). In some embodiments, the motor encoder moves with the actuator along a magnetically encoded strip 2006, monitoring the movement to determine the position of the actuator (and thus the position of the platform).

[0314] Electrical connections (e.g., cables) for supplying power to the motors run inside a chain belt 2007 that moves flexibly with the platform. These electrical connections running inside the chain belt are connected to external power supply means, for example, wall sockets or sockets located within a hood. Additionally or alternatively, internal power supply means, such as batteries, may be provided.

[0315] In some embodiments, mechanisms other than the platform of the system components may be at least partially contained within the connector. Generally, the motors housed within the connector are small, compact, low-power motors suitable for fitting into a connector with a limited volume. In some embodiments, each motor is directly coupled to the component it moves over without intermediate transmission elements. Such direct coupling provides a mechanism with a relatively small volume that can be housed within the internal volume of the connector.

[0316] Figures 21A to 21F show the automatic movement of system components occurring simultaneously along at least two system axes, according to several embodiments.

[0317] In some embodiments, movement in the system involves two or more of the system's vertical, horizontal, and depth axes. In some embodiments, the movement of two or more system components is synchronized, for example, so that one component is moved along one axis while a second component is moved along another axis. Optionally, the movement of at least one of the components is carried out in such a way that the component does not interfere with or hinder the movement of the second component. Such synchronization can provide multiple complex operations of system components within the limited volume of the hood. Another potential advantage of synchronized movement is the ability to selectively move components to a position accessible to the user (e.g., through a window in the hood) while optionally moving other components away from the user. Another potential advantage of synchronized movement is the ability to selectively expose components to one or more imagers of the system, for example, for control and / or verification purposes.

[0318] In the illustrated example, the movement of the platform 2101 is synchronized with the movement of the vial holder 2103 and / or the syringe manipulator 2104. Generally, the platform rises and / or lowers along the vertical axis, the syringe manipulator slides axially along the horizontal axis, and the vial holder rotates around the vial holder body 2105. In addition, the frame or gripper 2107 that holds the vial in the vial holder is configured to rotate the vial to shake or invert it.

[0319] In the detailed process shown, Figure 21A shows that the platform is lowered while the syringe manipulator is moved axially to a position corresponding to the vial holder, thereby fluidly communicating the inverted vial 2109 held in the vial holder with the syringe 2111 held in the syringe manipulator (optionally via the syringe connector). In Figure 21B, the syringe and vial are connected, and the syringe is released from the syringe manipulator. In Figure 21C, the frame 2107 of the vial holder rotates, thereby rotating the vial along the syringe connected to it. Simultaneously with the rotation of the frame, the vial holder rotates, further moving the vial and the connected syringe back (along the depth axis of the system).

[0320] By synchronizing the rotation of the frame and the vial holder, the platform 2101 is lowered to the level shown in Figure 21D. Lowering the platform creates working space below the top of the infrastructure 2115, allowing the syringe (currently connected to the vial and located above the vial) to be inserted below the top.

[0321] More generally, the platform may be raised or lowered depending on the vial orientation (e.g., whether the vial is upright or inverted) and / or depending on components that are fitted perpendicularly to the vial, such as a syringe (if connected to the vial), a vial adapter, a vial cap, or the like.

[0322] Referring again to Figure 21, if the syringe and the vial connected to it are vertically oriented and aligned directly below the top, as shown in Figure 21E, the platform rises again, pressing the plunger 2117 of the syringe against the top, as shown in Figure 21F. This pushes the fluid in the syringe downward into the vial. By setting the degree to which the platform rises, the distance the plunger is pushed is controlled, and thus the amount of fluid transferred into the vial is controlled.

[0323] As further shown in Figures 21A-F, the top portion 2115 of the infrastructure extends on both sides of the connection portion 2119. The first portion 2121 may be located above the vial holder, so that when a syringe connected to the vial is in close proximity, the first portion 2121 pushes the syringe plunger to inject the fluid in the syringe into the vial. The second portion 2123 may be located above the IV bag holder and may include an imager (not shown) for purposes such as imaging a label or other components on the IV bag.

[0324] Hereinafter, with reference to Figure 23A, which shows a manipulator 2310 in a pharmaceutical preparation system 2300 relating to an example of the subject matter of this disclosure. It should be understood that system 2300 may include some or all features of the pharmaceutical preparation systems described herein in various embodiments. The descriptions of the components of the pharmaceutical preparation systems described herein (e.g., top, bottom, connectors, platform, and manipulator) also apply to the corresponding components of system 2300. For example, manipulator 2310 is configured to hold and manipulate a container in a manner similar to the manipulators described herein with respect to the pharmaceutical preparation systems described herein in various embodiments. Generally, the manipulator may be any manipulator for holding any common container in a pharmaceutical preparation system. In some examples, the manipulator may be a syringe manipulator configured for holding and manipulating a syringe assembly and including a plunger flange receiver for operating the plunger of the syringe assembly.

[0325] The manipulator may include a gripper having a gripping space for receiving at least a portion of a container. The manipulator may include a limiting mechanism (e.g., as part of the gripper) configured to allow at least one of limited removal of the container from the gripping space and limited incorporation of the container into the gripping space. The manipulator may also include a limiting biasing mechanism (e.g., as part of the gripper) configured to bias the limiting mechanism into the gripping space.

[0326] For the purposes of this description, restricted removal and restricted incorporation are understood to mean removing and incorporating a container from / into the gripping space by applying a first force to the container (e.g., by any component of the system or manually), where the first force may be greater than the force that would need to be applied to the container to remove / incorporate it from / into the gripping space if no restricting mechanism were present. In other words, restricted removal and restricted incorporation should be understood as interfered removal and incorporation. For example, a restricting mechanism may interfere with the removal / incorporation of the container (e.g., by contact with the container), enabling incorporation / removal by only a predetermined force applied to the container, overcoming a biasing force applied in the incorporation / removal direction, for example, by a biasing mechanism. In some examples, the restricting mechanism may have a structure and shape such that it is displaced relative to the gripping space by the force applied by the container during removal and / or incorporation (to enable restricted removal and / or incorporation). In some examples, the restricting element may have a structure that enables restricted incorporation / removal of the container by allowing the container to slide along at least a portion of the restricting element.

[0327] Generally, the limiting mechanism may include at least one limiting element that restricts access to the container into and / or from the gripping space. At least one limiting element may be biased by a biasing mechanism in a limiting biasing direction toward the gripping space. The limiting biasing direction may extend from at least one limiting element toward the gripping space. At least one limiting element may be positioned in the opposite direction to the limiting biasing direction by the application of a reaction force that counteracts the biasing force. The reaction force may be applied, for example, by the container during removal / removal of the container, thereby enabling the limiting element to allow restricted removal and / or removal of the container toward or from the gripping space. In some examples, the limiting biasing mechanism may include a spring configured to bias the limiting element toward the gripping space. In some examples, the limiting biasing mechanism may include any suitable (electrical, mechanical, magnetic, or a combination thereof) biasing arrangement that biases the limiting mechanism. In some examples, the biasing of the limiting element can be achieved by the structure, material, shape, or a combination thereof of the limiting element. For example, the limiting mechanism may be a structure (having a shape and / or material) that allows for a snap-fit ​​engagement between the container and the gripper.

[0328] Generally, a gripper may include a plurality of gripping members (e.g., clamps, jaws) that define a gripping space, and limiting elements may protrude from the corresponding gripping members toward the gripping space. In some examples, limiting elements may protrude toward the gripping space through sockets formed within the corresponding gripping members. In some examples, at least one limiting element may be in the form of at least one rotatable ball, at least partially positioned on the inner surface of each gripping member and typically biased inward toward the gripping space. In some examples, limiting elements may be separate and independent from the gripping members. It should be understood here that in some examples, the gripping members do not necessarily have to hold the container tightly, and one or more gripping members may engage with the container once the container is received within the gripping space. For example, a manipulator may include a separate holder (e.g., a plunger flange receiver in a syringe manipulator) to hold the container tightly. In contrast, a gripper may operate, for example, to maintain the alignment and / or orientation of the container by having a limiting mechanism stabilize the container and prevent it from falling. Therefore, the first force required to take the container into / out of the gripping space by overcoming the biasing force may be greater than any gravitational (or any other external) force acting on the container that could alter the orientation of the container.

[0329] In the examples shown in Figures 23A-D, the manipulator is a syringe manipulator configured for holding and manipulating a syringe assembly, and includes a gripper (2320) having a plunger flange receiver (2312) for operating the plunger of the syringe assembly, and two gripping members 2322 formed as jaws defining a gripping space (G51). If a part of the syringe assembly (e.g., an adapter or barrel) is positioned within the gripping space, one or more of the gripping members 2322 may engage with that part of the syringe assembly.

[0330] The gripping member 2322 includes a corresponding socket 2324 from which a corresponding limiting element 2332 (constituting a limiting mechanism 2330 in the illustrated example), formed as two opposing rollable balls in the illustrated example, protrudes into the gripping space G51. The limiting biasing mechanism (denoted 2340) includes a spring 2342 operably associated with the corresponding rollable balls 2332 and biasing the rollable balls 2332 toward the gripping space G51. Thus, the rollable balls 2332 restrict access to and from the gripping space G51. If a container (e.g., a syringe assembly) is taken into the gripping space G51 from outside the gripper, for example, in the intake direction D1, the limiting element 2332 interferes with the intake. The limiting element 2332 allows the container to pass through only by the application of a first force in the intake direction D1 that is counteracting the biasing force, and the first force causes the limiting element 2332 to displace away from the gripping space G51 against the biasing force, for example, into the socket 2324. Thus, the limiting mechanism 2330 enables the restricted intake of the container into the gripping space. For example, in the absence of the limiting element, the force required to take the container into the gripping space would be less than the first force because there is no biasing force to overcome.

[0331] Similarly, when a container (e.g., a syringe assembly) is removed from the gripping space G51 to the outside of the gripper, for example in the removal direction D2, the limiting element 2332 interferes with the removal. The limiting element 2332 allows the container to pass only by the application of a first force in the removal direction D2 that is counteracting the biasing force, and the first force causes the limiting element 2332 to displace away from the gripping space G51 against the biasing force, for example into the socket 2324. Thus, the limiting mechanism 2330 allows for the restricted removal of the container from the gripping space. For example, if the limiting element were not present, the force required to remove the container from the gripping space would be less than the first force because there is no biasing force to overcome.

[0332] In the illustrated example, the rolling of the rotatable ball allows the container to move along the crowbar. In some examples, the limiting element does not have to be rotatable and may be configured (by its structure, shape, and / or material) to allow the container to slide along the limiting element. In some examples, the limiting mechanism may have only one limiting element protruding into the gripping space from, for example, a gripping member. For example, the limiting mechanism may include one rotatable ball protruding into the gripping space from a gripping member.

[0333] Hereinafter, with reference to Figures 24A-J showing grippers 2420 of a manipulator for use in a pharmaceutical preparation system, relating to an example of the subject matter of this disclosure. It should be understood that the pharmaceutical preparation system may be any one of the pharmaceutical preparation systems described herein in various embodiments, or any other pharmaceutical preparation system. The manipulator may be any one of the manipulators described herein in various embodiments, or any other manipulator generally configured to hold and manipulate a container. For example, the manipulator may be configured to hold and manipulate a container in a manner similar to the manipulators described herein with respect to the pharmaceutical preparation systems described herein in various embodiments. Generally, the manipulator may be any manipulator for holding any common container in a pharmaceutical preparation system. In some examples, the manipulator may be a syringe manipulator configured to hold and manipulate a syringe assembly, and may include a plunger flange receiver for operating the plunger of the syringe assembly.

[0334] It should be understood here that gripper 2420 may include some or all of the features of gripper 2320, and the above description herein also applies to the corresponding features of gripper 2420.

[0335] Generally, the gripper 2420 may be configured to receive at least a portion of the container. The gripper is displaceable between a closed state in which the gripper grips at least partially the container and an open state in which the gripper allows at least unrestricted removal of the container from the gripper. The gripper may include a limiting mechanism configured to allow at least one of restricted removal of the container from the gripper and restricted intake of the container into the gripper when the gripper is closed.

[0336] For the purposes of this description, restricted removal and restricted retraction are understood to mean removing and retracting a container from / to the gripper by a first force applied to the container (e.g., by any component of the system or manually), where the first force may be greater than the force that would need to be applied to the container to remove / retract it from / to the gripper if no restricting mechanism is present or the gripper is open. In other words, restricted removal and restricted retraction should be understood as interfered removal and retraction. For example, a restricting mechanism may interfere with the retraction / retraction of the container (e.g., by contact with the container), allowing retraction / retraction only by applying a predetermined force to the container in the retraction / retraction direction. In some examples, the restricting mechanism may have a structure and shape such that it is displaced by the force applied by the container during removal and / or retraction (to enable restricted removal and / or retraction). In some examples, the restricting element may have a structure that enables restricted retraction / retraction of the container by causing the container to slide along at least a portion of the restricting element.

[0337] It should be noted here that, for the purposes of this explanation, unrestricted removal and unrestricted incorporation should be understood as removing and incorporating a container from / to the gripper by applying a second force less than a first force to the container (e.g., by any component of the system or manually). For example, in the open state, the limiting mechanism may be displaced so as not to interfere with the removal / incorporation of the container, thereby not restricting the removal / incorporation of the container, and thereby allowing unrestricted removal and / or incorporation of the container from / to the gripper. In other words, in the open state, the removal / incorporation of the container from / to the gripper is without any restriction or resistance, and for this reason, the container can be removed from and incorporated into the gripper by applying a second force less than a first force to the container (e.g., by any component of the system or manually). In some examples, the second force may be as small as the force required to drop the container from the gripper, such as gravity or any other external force.

[0338] The gripper may further include at least one actuation mechanism configured for displacing the gripper from a closed state to an open state, and displacing the gripper from an open state to a closed state. In some examples, the actuation mechanism may be controlled by a controller, such as a system or manipulator controller, to selectively displace the gripper from a closed state to an open state and / or from an open state to a closed state.

[0339] Generally, a gripper may include multiple gripping members (e.g., jaws, clamps) that define the gripping space. The gripping space may be variable, expanding with displacement of the gripper from a closed to an open state and contracting with displacement of the gripper from an open to a closed state. It should be understood here that, in some examples, the gripping members do not need to firmly hold the container in the closed state, and one or more gripping members may engage with the container when the container is received into the gripping space. For example, a manipulator may include another holder for firmly holding the container (e.g., a plunger flange receiver in a syringe manipulator), in contrast to a gripper that operates to maintain the alignment and / or orientation of the container, for example, by a limiting mechanism that does not allow the container to fall. Thus, the first force required to take the container into / out of the gripping space by overcoming biasing forces may be greater than the gravitational (or any other external) force acting on the container that can alter the orientation of the container.

[0340] Generally, the limiting mechanism may include at least one limiting element that, in at least a closed state, protrudes into the gripping space, thereby restricting access to the container into and / or from the gripping space. The at least one limiting element, in a closed state, can allow the corresponding restricted removal and / or restricted removal of the container from and to the gripper by at least partially interfering with the removal and / or removal of the container from and to the gripper (e.g., by contacting the container). In some examples, the limiting mechanism may be the same as the limiting mechanism described above with respect to the manipulator 2310, and all descriptions (general description and illustrated description) apply to the limiting mechanism of the gripper 2420. For example, the gripper may include a limiting biasing mechanism configured to bias at least one limiting element toward the gripping space in a limiting biasing direction extending from at least one limiting element toward the gripping space. In some examples, the gripper does not have to include a limiting biasing mechanism, and at least one limiting element may be actuated by at least one actuation mechanism to be selectively positioned within the gripping space to interfere with the loading / unloading of the container, and to be selectively positioned so as not to interfere with the loading / unloading of the container. In some examples, the gripper may include a limiting biasing mechanism configured to bias at least one limiting element toward the gripping space in a limiting biasing direction extending, for example, from at least one limiting element toward the gripping space. At least one actuation mechanism may be configured to displace at least one limiting element in the opposite direction to the limiting biasing direction (or away from the gripping space) so as to be selectively positioned so as not to interfere with the loading / unloading of the container.

[0341] In some examples, the operating mechanism may be configured to displace the gripper to an open position by expanding the gripping space by either or both of the following: moving at least one gripping member away from at least one other gripping member, and moving at least one limiting element so as not to interfere with the loading / unloading of a container. In some examples, the operating mechanism may be configured to displace the gripper to a closed position by contracting the gripping space by either or both of the following: moving at least one gripping member toward at least one other gripping member, and moving at least one limiting element toward the gripping space so as to interfere with the loading / unloading of a container.

[0342] Generally, a gripper may include a gripper biasing mechanism configured to bias at least one of the gripping members in one of a first gripper biasing direction extending from the gripping space to at least one gripping member, and a second gripper biasing direction extending from at least one gripping member to the gripping space. At least one actuation mechanism may be configured to selectively displace at least one gripping member in the direction opposite to the gripper biasing direction. In some examples, the gripper biasing mechanism may be configured to bias the gripper to an open state by biasing at least one of the gripping members in the first gripper biasing direction extending from the gripping space to the at least one gripping member, and at least one actuation mechanism may be configured to selectively displace the gripper to a closed state. In some examples, the gripper biasing mechanism may be configured to bias the gripper to a closed state by biasing at least one of the gripping members in a second gripper biasing direction extending from the at least one gripping member to the gripping space. At least one actuation mechanism may be configured to selectively displace the gripper to an open position. The gripper biasing mechanism may include a spring.

[0343] Generally, each gripping member may include a corresponding inner surface and an opposite outer surface that at least partially define a gripping space. The gripper biasing mechanism may be configured to bias at least one of the gripping members in a first gripper biasing direction extending from the corresponding inner surface to the corresponding outer surface. At least one actuation mechanism may be configured to engage with the corresponding outer surface to selectively displace at least one gripping member in the direction opposite to the first gripper biasing direction. For example, in the closed state, at least one actuation mechanism is configured to maintain at least one gripping member in a first position associated with the closed state, and at least one actuation mechanism is configured to move at least one gripping member to a second position associated with the open state under the influence of the gripper biasing mechanism in order to displace the gripper to the open state. In some examples, the gripping members may be formed as jaws, and at least one actuation mechanism is formed as a bracket positioned radially outward on the jaws.

[0344] In some examples, at least one actuation mechanism may include a single actuator that actsuates the gripping member and the limiting mechanism (in examples where at least one actuation mechanism actsuates the limiting mechanism). In some examples where at least one actuation mechanism actsuates the limiting mechanism, at least one actuation mechanism may include separate actuators that actuate the gripping member and the limiting mechanism. The actuators may have any structure (electrical, mechanical, magnetic, or a combination thereof) suitable for displacing the gripping member and / or the limiting mechanism in the manner described herein.

[0345] In the example shown in Figures 24A-J, the gripper 2420 has two gripping members 2422 formed as jaws defining a gripping space (let's call it G52). The gripping members 2422 include corresponding sockets 2424 from which corresponding limiting elements 2432 (which constitute the limiting mechanism 2430 in the illustrated example), formed as two opposing rolling balls in the illustrated example, protrude into the gripping space G52. It should be understood that the limiting mechanism 2430 is the same as the gripper and operates in the same manner as the limiting mechanism 2330 described with reference to Figures 23A-D, at least in the closed state of the gripper, and the description of the limiting mechanism 2330 provided above also applies to the limiting mechanism 2430.

[0346] The gripper 2420 includes a limiting biasing mechanism (not shown), which is the same as that of the gripper and operates in the same manner as the limiting biasing mechanism 2340 described with reference to Figures 23A-D, at least in the closed state of the gripper, and the description of the limiting biasing mechanism 2340 provided above also applies to the limiting biasing mechanism of the gripper 2420.

[0347] The gripping member 2422 has an inner surface 2422A that defines the gripping space G52, and an opposite outer surface 2422B. The gripper biasing mechanism (denoted as 2426), which is a spring 2426 in the illustrated example, biases the gripper 2420 to the open state by biasing the gripping members 2422 to separate from each other (Figures 24F-J). The actuation mechanism (denoted as 2450), which is formed with the bracket 2450 in the illustrated example, is positioned radially outward on the jaws 2422. As described below in this specification, the bracket is configured to contact the outer surface 2422B of the jaws and selectively displace the jaws relative to each other, thereby displacing the gripper to the closed state (Figures 24A-E).

[0348] The gripper may be configured such that a spring normally pushes the jaws apart from each other, but a bracket 2450 resists the spring and keeps the jaws closed. As is most evident from 24C-E, in the closed state of the gripper, the bracket 2450 is in the first actuator position AP1 relative to the jaws 2422. The actuating portion 2452 of the bracket 2450 contacts the outer surface 2422B of the jaws, keeping them closed. To displace the gripper to the open state, the bracket 2450 is moved rearward RD (e.g., by a system or manipulator controller, or any other controller) to move the jaws 2422 apart from each other under the biasing force of the spring 2426, thereby expanding the gripping space G52 and displacing the gripper 2420 to the open state (Figures 24F-J).

[0349] As is most evident in Figures 24H-J, with the gripper 2420 in the open position, the bracket 2450 is in the second actuator position AP2 relative to the jaws 2422. To displace the gripper to the closed position, the bracket 2450 is moved forward FD (e.g., by a system or manipulator controller, or any other controller) to displace the jaws 2422 toward each other against the biasing force of the spring 2426, thereby contracting the gripping space G52 and displacing the gripper 2420 to the closed position (Figures 24F-J). It should be understood here that the actuarial portion 2452 of the bracket 2450 is shown to be rotatable on the outer surface 2422B, and in some examples, the actuarial portion 2452 of the bracket 2450 may be slidable on the outer surface 2422B. In some examples, the operating parts 2452 of the bracket 2450 may be configured to move toward and / or toward each other to displace the gripper to a closed and / or open position.

[0350] In operation, when the gripper is closed, the container can be taken into and / or removed from the gripper, i.e., restricted incorporation into and out of the gripper due to the influence of the limiting element 2432. To allow for smooth (unrestricted) incorporation into and out of the gripper, the gripper may be displaced to an open position to enable unrestricted incorporation into and out of the gripper. Potential advantages of unrestricted (also called resistance-free) removal of the container from the gripper include reduced shaking and vibration of the container (and thus reduced shaking and vibration of any fluid contents in the container), reduced risk of mechanical damage to the container and / or gripper, such as breakage, and generally smoother transfer of the container from the gripper.

[0351] It should be understood here that, in some examples, the limiting element may be actuated to displace the gripper in an open position in such a way as not to obstruct the insertion / removal of the container.

Claims

1. A pharmaceutical preparation system that defines a first axis and a second axis that intersect with each other, A platform comprising at least one container receiving module configured to receive a first container, A first mechanism movably connected to the platform for linearly displacing the platform along the first axis, A manipulator configured to hold and manipulate a second container, A second mechanism movably connected to the manipulator for linearly displacing the manipulator along the second axis, It is a controller, a. The second mechanism is instructed to linearly displace the manipulator, b. The first mechanism is instructed to linearly displace the platform, c. A system comprising a controller configured to synchronize the operation of the first and second mechanisms in order to enable a fluid interface between the first container received by the at least one container receiving module and the second container held by the manipulator.

2. The system according to claim 1, wherein the first and second axes lie on the same plane.

3. The system according to claim 1 or 2, wherein the platform is movable only along the first axis, and the manipulator is movable only along the second axis.

4. The system according to any one of the claims, wherein the first axis constitutes the vertical axis of the system, and the second axis constitutes the horizontal axis of the system.

5. The system according to claim 4, wherein the first mechanism includes a lift configured to raise and lower the platform along the vertical axis, and the second mechanism includes a moving mechanism configured to drive the manipulator along the horizontal axis.

6. The system according to claim 5, wherein the controller is configured to instruct the moving mechanism to move the manipulator to an axial position corresponding to the axial position of the at least one container receiving module, and then instruct the lifting mechanism to raise or lower the platform to obtain the fluid interface.

7. The system according to any one of the claims, wherein the at least one container receiving module includes at least one of an IV bag holder in which the first container constitutes an IV bag, and a vial holder in which the first container constitutes a vial.

8. The system according to any one of the claims, wherein the second container includes a syringe assembly, and the manipulator includes one or more grippers for grasping the syringe assembly, and a plunger flange receiver for operating the plunger of the syringe assembly.

9. The system according to any one of the claims, wherein the second mechanism is configured to move the manipulator between a home position and at least one working position, wherein at the home position the manipulator does not interfere with the movement of the platform, and at the working position the manipulator is positioned at an axial position along the second axis corresponding to the axial position of the at least one container receiving module.

10. The system according to claim 9, comprising a plurality of container receiving modules, wherein the second mechanism is configured to move the manipulator between a plurality of working positions associated with the plurality of container receiving modules.

11. The system according to claim 9 or 10, wherein the platform defines recesses for the manipulator to fit into or pass through when the platform is aligned with the manipulator, and the manipulator is in the origin position.

12. The system according to claim 5 or any one of claims 6 to 11 as dependent on claim 5, wherein the controller is configured to instruct the movement of the second mechanism only when the platform is raised or lowered to a position that does not interfere with the movement of the manipulator.

13. The system according to claim 5 or any one of claims 6 to 12 as dependent on claim 5, further comprising a system infrastructure defining a top and a bottom parallel to the platform, and a connecting portion extending vertically between the top and the bottom.

14. The system according to claim 13, wherein the platform is configured to be raised and lowered by the lift along at least a portion of the length of the connection portion of the infrastructure.

15. The system according to claim 13 or 14, wherein the manipulator is movable by the moving mechanism along at least a portion of the length of the bottom of the infrastructure.

16. The system according to claim 15, comprising a linear rail extending along the portion of the length of the bottom, wherein the moving mechanism comprises a linear motor for driving the manipulator along the rail.

17. The system according to any one of the claims, comprising a plurality of imagers arranged and configured for one or more of the following: detection of the presence of the first and / or second containers, and detection of fluid-related parameters of the first and / or second containers.

18. The system according to claim 17, wherein the controller is configured to receive image data from the plurality of imagers and to instruct the first and second mechanisms based on the received image data.

19. The system according to any one of the claims, wherein the platform dimensions of the system along the second axis are at least three times the dimensions along the first axis and at least two times the dimensions along the third axis perpendicular to the first and second axes.

20. The system according to any one of claims 1 to 19, wherein the platform includes a rectangular contour.

21. The system according to claim 13 or any one of claims 14 to 20 as dependent on claim 13, wherein the connection portion is formed from one or more parts, and at least one of the one or more parts is detachably connectable to at least one of at least another of the one or more parts and at least a part of the system infrastructure.

22. The system according to claim 21, wherein at least one portion of the connecting portion is connected to the top portion and is detachably attached thereto.

23. It is a pharmaceutical-prepared food, A housing that defines the internal volume, A work surface arranged within the aforementioned internal volume, An access window formed within the housing, extending from the outside of the hood to the work surface, The system includes a pharmaceutical preparation system disposed on the work surface, and the system is A platform comprising at least one container receiving module configured to receive a first container, A first mechanism movably connected to the platform for linearly displacing the platform along a first axis, A manipulator configured to hold and manipulate a second container, The present invention includes a second mechanism operably connected to the manipulator for linearly displacing the manipulator along a second axis that traverses the first axis, The first mechanism is configured to move the platform between at least one container receiving module which is manually accessible through the access window and a second level which is located away from the access window and inaccessible to the user.

24. The aforementioned system, a. The second mechanism is instructed to linearly displace the manipulator, b. The first mechanism is instructed to linearly displace the platform, c. The hood according to claim 23, comprising a controller configured to synchronize the operation of the first and second mechanisms so as to enable a fluid interface between the first container received by the at least one container receiving module and the second container held by the manipulator.

25. The hood according to claim 23 or 24, wherein at least one platform is parallel to the work surface.

26. The hood according to any one of claims 23 to 25, wherein the first axis is a vertical axis for both the system and the hood, and the second axis is a horizontal axis for both the system and the hood.

27. The hood according to any one of claims 23 to 26, wherein the first container comprises a vial or IV bag, and the second container comprises a syringe assembly.

28. The hood according to any one of claims 23 to 27, wherein the platform at the second level is further away from the work surface than the first level.

29. The hood according to any one of claims 23 to 28, wherein the length of the access window is parallel to the second axis, and the length is at least three times longer than the short dimension of the access window.

30. The hood according to claim 29, wherein the system includes a plurality of container receiving modules, and at least at the first level, the plurality of container receiving modules are arranged linearly along the platform parallel to the length of the access window.

31. The hood according to claim 30, wherein the plurality of container receiving modules are arranged at a depth in the hood that can be directly reached by the user's hand located in front of the access window.

32. The hood according to any one of claims 24 to 31, wherein the system is not permanently fixed to the hood and can be removed from the hood.

33. The hood according to any one of claims 23 to 32, wherein the second mechanism is configured to move the manipulator between a home position and at least one working position, the manipulator does not interfere with the movement of the platform at the home position, and the second container is manually accessible through the access window.

34. The hood according to claim 33, wherein, at least in a front view of the system, the manipulator is positioned laterally to the platform along the second axis of the system at the origin position of the manipulator.

35. The hood according to any one of claims 23 to 34, wherein the access window is defined on the front panel of the hood housing, and the first axis on which the platform moves is parallel to the plane defined by the front panel.

36. The hood according to claim 35, wherein the access window is shaped and sized to allow a user to reach their hand across the plane of the front panel and reach the platform.

37. The hood according to any one of claims 23 to 36, wherein, if the platform is the first level, at least the upper surface of the platform is accessible through the access window.

38. A pharmaceutical preparation system having a shape and size that fits into a hood, A platform comprising at least one container receiving module configured to receive a first container, A first mechanism operably connected to the platform for moving the platform along at least a first axis, A manipulator configured to hold and manipulate a second container, The manipulator includes a second mechanism operably connected to the manipulator for moving the manipulator along a second axis that traverses at least the first axis, The first mechanism is configured to move the platform between a first level in which at least one container receiving module is accessible to a user and a second level in which at least one container receiving module is inaccessible to a user.

39. The system according to claim 38, wherein the first mechanism is configured to select the first and second levels according to the size and position of the access window of the hood in which the system is located.

40. A pharmaceutical preparation system that defines a vertical axis and a horizontal axis, A platform on which a vial holder is mounted and which is configured to hold and rotate at least one vial, A lift mechanism movably connected to the platform so as to raise and lower the platform along the vertical axis, It is a controller, a. The lift mechanism is instructed to raise or lower the platform, b. The vial holder is instructed to rotate the vial to an upright orientation for injecting fluid into the vial or an inverted orientation for drawing fluid from the vial. c. A system comprising a controller configured to synchronize the operation of the lift mechanism and the vial holder such that the level to which the platform is moved correlates with one or both of the orientation of the vial and the presence of one or more components connected to the vial and aligned vertically.

41. The system according to claim 40, wherein the components include an adapter connected to the vial, a syringe, or a cap for the vial.

42. moreover, A syringe manipulator configured for holding and manipulating a syringe assembly, Includes a moving mechanism operably connected to the syringe manipulator for moving the syringe manipulator along the horizontal axis, The aforementioned controller further, a. The movement mechanism is instructed to move the syringe manipulator along the horizontal axis, b. The system according to claim 40 or 41, wherein the operation of the lift mechanism, the transfer mechanism and the vial holder is configured to synchronize in order to enable a fluid interface between the syringe assembly received by the syringe manipulator and the vial received by the vial holder.

43. The controller controls the vial holder and the syringe manipulator, a. Hold the vial in an upright orientation for injecting fluid from the syringe assembly into the vial, b. The system according to claim 42, wherein the syringe assembly is configured to instruct the vial to be held in an inverted orientation for drawing fluid from the vial.

44. The system according to claim 42 or 43, wherein the controller is configured to synchronize the simultaneous movement of the platform along the vertical axis, the syringe manipulator along the horizontal axis, and the vial holder.

45. The system according to any one of claims 40 to 44, wherein the vial holder comprises a main body and a frame that holds the vial in the main body, and the movement of the vial holder includes either or both of the rotation of the main body about the long axis of the main body and the pivoting of the frame relative to the main body.

46. The system according to claim 42 or any one of claims 43 to 45 as dependent on claim 42, wherein the controller is configured to synchronize the movement of the syringe manipulator and position the syringe manipulator to the side of the platform when the platform is being lowered to the bottom of the system.

47. The system according to claim 42 or any one of claims 43 to 46 as dependent on claim 42, wherein the controller is configured to synchronize the movement of the vial holder frame to invert the vial when the syringe is connected to the vial, and at the same time lower the platform to allow working space below the top of the system for the syringe to be fitted.

48. The system according to claim 47, wherein the controller is configured to raise the platform until the top of the system presses against the plunger of the syringe in order to inject the fluid from the syringe into the vial.

49. The system according to claim 48, wherein the controller is configured to set the degree to which the platform is raised in accordance with the distance over which the plunger needs to be pressed to inject a controlled volume of fluid from the syringe into the vial.

50. A pharmaceutical preparation system, A rigid system infrastructure including a top, a bottom substantially parallel to the top, and a connecting portion extending between the top and bottom along a vertical axis, A platform comprising at least one container receiving module configured to receive at least one fluid container, A system comprising: a lift mechanism configured as part of the connection and operably connected to the connection to raise and lower the platform along the vertical axis relative to the connection.

51. The system according to claim 50, wherein the long axis of the platform is substantially perpendicular to the vertical axis.

52. The system according to claim 51, wherein multiple container receiving modules are arranged along the long axis of the platform.

53. The system according to any one of claims 50 to 52, wherein, when the length of the platform measured along the long axis of the platform is "D", the connection portion and the platform intersect each other at a position within the range of 0.1D to 0.9D, at least in a front view of the system.

54. The system according to any one of claims 50 to 53, wherein, at least in a front view of the system, the connection portion and the platform intersect each other at the substantial center of the platform.

55. The lift mechanism includes a servo motor housed within the connection portion, according to any one of claims 50 to 54.

56. The system according to any one of claims 50 to 55, wherein the top portion extends laterally on both sides of the connection portion, a first portion on one side of the connection portion is configured to press the plunger of the syringe against the top portion when the syringe is brought close to the top portion by the platform, and a second portion on the opposite side of the connection portion includes an imager.

57. The system according to any one of claims 50 to 56, wherein the infrastructure is shaped and sized to fit into a standard hood.

58. The system according to any one of claims 50 to 57, wherein the top and the connecting portion define a T shape, and the bottom and the connecting portion define an inverted T shape.

59. The system according to any one of claims 50 to 58, wherein the connecting portion is formed from one or more parts, and at least one of the one or more parts is detachably connectable to at least one of at least another of the one or more parts and at least a portion of the rigid system infrastructure.

60. The system according to claim 59, wherein at least one portion of the connecting portion is connected to the top portion and is detachably attached thereto.

61. A fluid transfer assembly for use in a pharmaceutical preparation system, An IV bag holder defining at least two positions for receiving an IV bag, wherein the at least two positions are arranged linearly along the vertical axis of the IV bag holder, and each of the at least two positions is associated with a specified function of the received IV bag. A syringe manipulator configured to hold and manipulate a syringe assembly, A movement mechanism is operably connected to the syringe manipulator to move the syringe manipulator along an axis parallel to the vertical axis of the IV bag holder, and the syringe manipulator is movable between the at least two positions of the IV bag, An assembly comprising: a controller configured to instruct the movement mechanism to move the syringe manipulator between the at least two positions of the IV bag based on a designated function of the IV bag.

62. The assembly according to claim 61, wherein the designated functions associated with the at least two positions of the IV bag include at least two of the following: an IV bag filled with a diluent from which the diluent is drawn; an empty IV bag from which a prepared drug is injected; an IV bag partially filled with a diluent to receive a drug requiring dilution; and an empty IV bag to receive excess gas and / or fluid.

63. The assembly according to claim 61 or 62, wherein the IV bag holder is mounted on a platform that is movable along an axis perpendicular to the vertical axis by a lift mechanism.

64. A mechanism for rotating and aligning a vial assembly that defines a non-circumferential projection extending radially outward from its apex, A cylindrical shaft extending from a support beam and having a lumen sized to receive at least the top of the vial assembly, the cylindrical shaft including a slit shaped to match the non-circumferential projection of the vial assembly, such that the top of the vial assembly can be fitted into the lumen of the shaft only when rotated and aligned with the projection, A mechanism including an actuator configured to rotate the vial assembly by rotating the cylindrical shaft around its long axis when the top of the vial assembly is received into the lumen of the shaft.

65. The mechanism according to claim 64, wherein the top of the vial assembly includes a vial adapter, and the non-circumferential projection constitutes a part of the vial adapter.

66. The mechanism according to claim 64 or 65, wherein the cylindrical shaft and its actuator, and the frame mounted on the top of the actuator, together define a vial aligner assembly, the vial aligner assembly being movable relative to a fixed contact sensor, and the frame of the vial aligner assembly is typically positioned adjacent to the sensor and in contact with the frame.

67. The mechanism according to claim 66, wherein the actuator is configured to rotate the cylindrical shaft when the contact sensor provides an indication that the frame is no longer in contact with the sensor, and the actuator is configured to continue rotating the cylindrical shaft until the projection aligns with the slit, allowing the vial aligner assembly to return to a position where the frame re-contacts the sensor.

68. The mechanism according to claim 67, wherein the vial assembly is moved at least indirectly by a platform configured to be raised and lowered, and the raising of the platform causes the projection to press against the vial aligner assembly, thereby moving the frame away from the sensor.

69. The mechanism according to claim 68, wherein the raising of the platform is automatically stopped based on the instruction that the frame is no longer in contact with the sensor.

70. The mechanism according to any one of claims 66 to 69, wherein the cylindrical shaft is movable within the frame in a direction perpendicular to the long axis of the shaft.

71. The mechanism according to claim 70, wherein the cylindrical shaft is spaced apart from the inner wall of the frame in a direction perpendicular to the long axis of the shaft, and the spacing between the cylindrical shaft and the frame allows the cylindrical shaft to move within the frame in a direction perpendicular to the long axis of the shaft.

72. The mechanism according to claim 71, wherein the actuator is spaced apart from the inner wall of the frame in a direction perpendicular to the long axis of the shaft, and the gap between the actuator and the frame allows the cylindrical shaft to move together with the actuator within the frame.

73. A manipulator for holding and manipulating a container in a pharmaceutical preparation system, comprising a gripper and an operating mechanism, The gripper is for receiving at least a portion of the container, and is immobile between a closed state in which the gripper grips the container at least partially and an open state in which the gripper allows at least unrestricted removal of the container from itself, and the gripper includes a limiting mechanism configured to allow at least one of the following in the closed state of the gripper: limited removal of the container from the gripper and limited intake of the container into the gripper. A manipulator wherein the at least one operating mechanism is configured for at least one of the following: displacing the gripper from the closed state to the open state, and displacing the gripper from the open state to the closed state.

74. The manipulator according to claim 73, wherein in the closed state of the gripper, the limiting mechanism allows at least one of the limited removal and the limited insertion by applying a first force to the container, and in the open state, the gripper allows at least unrestricted removal of the container from the gripper by applying a second force to the container, wherein the second force is less than the first force.

75. The manipulator according to claim 73 or 74, wherein the gripper comprises a plurality of gripping members, at least one of which is configured to engage with the container in the closed state, the gripping members together define a gripping space for receiving the portion of the container, and in the open state, the gripping space is expanded.

76. The manipulator according to claim 75, wherein the limiting mechanism includes at least one limiting element that protrudes into the gripping space in the closed state, the at least one limiting element at least partially in the closed state interferes at least one of the removal of the container from the gripping space and the entry of the container into the gripping space, thereby enabling the corresponding at least one of the restricted removal of the container from the gripper and the restricted entry of the container into the gripper.

77. The manipulator according to claim 76, wherein the at least one operating mechanism is configured to displace the gripper from the open state to the closed state by displacing at least one limiting element to enlarge the gripping space.

78. The manipulator according to claim 76 or 77, further comprising a limiting biasing mechanism configured to bias the at least one limiting element toward the gripping space.

79. The manipulator according to claim 78, wherein the limiting biasing mechanism includes a spring.

80. The manipulator according to claim 78 or 79, wherein the at least one operating mechanism is configured to selectively displace the at least one limiting element in the opposite direction to the gripping space.

81. The manipulator according to any one of claims 76 to 80, wherein the at least one limiting element protrudes into the gripping space from a corresponding one of the gripping members.

82. The manipulator according to any one of claims 75 to 81, wherein the at least one operating mechanism is configured for at least one of the following: displacing at least one of the gripping members toward another of the gripping members to displace the gripper to the closed state; and displacing at least one of the gripping members toward another of the gripping members to displace the gripper to the open state.

83. The manipulator according to any one of claims 75 to 82, further comprising a gripper biasing mechanism configured to bias at least one of the gripping members in one of a first gripper biasing direction extending from the gripping space to the at least one gripping member and a second gripper biasing direction extending from the at least one gripping member to the gripping space.

84. The manipulator according to claim 83, wherein the at least one operating mechanism is configured to selectively displace the at least one gripping member in one of the first and second gripper biasing directions.

85. The manipulator according to claim 83 or 84, wherein each of the gripping members includes a corresponding inner surface and an opposite outer surface that at least partially define the gripping space, the gripper biasing mechanism is configured to bias at least one of the gripping members in a first gripper biasing direction extending from the corresponding inner surface to the corresponding outer surface, and the at least one actuation mechanism is configured to engage with the corresponding outer surface to selectively displace the at least one gripping member in a direction opposite to the first gripper biasing direction.

86. The manipulator according to claim 85, wherein in the closed state, the at least one operating mechanism maintains the at least one gripping member in a first position associated with the closed state, and the actuator is configured to move the at least one gripping member to a second position associated with the open state under the influence of the gripper biasing mechanism in order to displace the gripper to the open state.

87. The manipulator according to claim 85 or 86, wherein the gripping member is formed as a jaw, and the actuator is formed as a bracket positioned radially outward with respect to the jaw.

88. A manipulator for holding and manipulating a container in a pharmaceutical preparation system, comprising a gripper and a limiting biasing mechanism, The gripper has a gripping space for receiving at least a portion of the container and includes a limiting mechanism configured to allow at least one of the limited removal of the container from the gripping space and the limited incorporation of the container into the gripping space, The limiting biasing mechanism is configured to bias the limiting mechanism toward the gripping space, in a manipulator.

89. The manipulator according to claim 88, wherein the limiting mechanism enables at least one of the limited removal and the limited retraction by applying a first force to the container, and the first force is greater than the force required for at least one of the limited removal and the limited retraction without the limiting mechanism.

90. The manipulator according to claim 88 or 89, wherein the limiting mechanism includes at least one limiting element protruding into the gripping space, the at least one limiting element at least partially interfering with at least one of the removal of the container from the gripping space and the entry of the container into the gripping space, thereby enabling the corresponding at least one of the restricted removal of the container from the gripping space and the restricted entry of the container into the gripping space.

91. The manipulator according to claim 90, wherein the at least one limiting element is configured to interfere with the container by contacting it during at least one of the removal of the container from the gripping space and the introduction of the container into the gripping space.

92. The manipulator according to claim 90 or 91, wherein the limiting biasing mechanism is configured to bias the at least one limiting element toward the gripping space.

93. The manipulator according to claim 92, wherein the limiting biasing mechanism includes a spring.

94. The manipulator according to claim 92 or 93, wherein the at least one limiting element is configured to be displaced against the biasing of the limiting biasing mechanism during at least one of the removal of the container from the gripping space and the entry of the container into the gripping space, thereby enabling the corresponding at least one of the restricted removal of the container from the gripping space and the restricted entry of the container into the gripping space.

95. The manipulator according to any one of claims 90 to 94, wherein the gripper includes a plurality of gripping members that define the gripping space, and the at least one limiting element protrudes into the gripping space from a corresponding one of the gripping members.

96. The limiting mechanism includes a snap-fit ​​mechanism, as described in any one of claims 88 to 95.

97. The limiting mechanism is in the form of opposing rolling balls, each positioned in a socket of each gripping member, and the rolling balls are normally biased inward into the gripping space, according to any one of claims 88 to 96.

Images