Direct drive operation and control in robotic pharmaceutical preparation systems

Abstract

A robotic pharmaceutical preparation system comprising: at least one container receiving module configured to hold at least one container; a motor coupled to the container receiving module to directly drive the movement of the container receiving module along a motion path; a circuit configured to detect the current consumption of at least one motor; and a controller configured to receive an index of current consumption from the circuit, determine if interference exists based on the index, and, if interference is determined to exist, modify the operation of the system.

Description

Technical Field

[0001] This application generally relates to robotic pharmaceutical preparation systems, and more particularly to the direct drive operation and control of one or more container receiving modules of the system.

Background Art

[0002] US9579255B2 states that, “… an automated pharmacy mixing system (APAS) can include a manipulator system for transporting medical containers such as bags, vials, or syringes within a compounding chamber regulated to a pressure lower than atmospheric pressure. In a preferred implementation, the manipulator system is configured to grasp and transport syringes, IV bags, and vials of various shapes and sizes from a storage system within an adjacent chamber regulated to a pressure higher than atmospheric pressure. Various embodiments can include a controller adapted to operate the manipulator system to align the injection ports of the IV bags, vials, or syringes with the injection ports of a fluid transfer station within the chamber. A preferred implementation includes a disinfection system capable of substantially disinfecting the stoppers on the injection ports of the vials or IV bags in preparation for transport to the fluid transfer station.”

Summary of the Invention

[0003] A robotic pharmaceutical preparation system can comprise an automatic or semi-automatic system comprising a manipulator and / or module that is at least partially controlled by a controller. The robotic pharmaceutical preparation system can be operable to perform any activity related to the preparation of a medicament, such as a medicament designated for administration to a patient, including, for example, compounding, dilution, reconstitution, transfer, filling, aspiration, agitation, and / or other processes associated with pharmaceutical preparation.

[0004] Robotic drug preparation systems are configured to receive and optionally manipulate various types of containers, such as drug vials, intravenous (IV) bags, syringes, tubing, and / or other containers suitable for holding and / or transferring fluids and / or powders. In some embodiments, the robotic drug preparation system is configured to receive at least one drug vial, optionally dilute or reconstitute the drug in the vial, optionally agitate the vial, and then aspirate from the vial to obtain a specified amount of the prepared drug. In some cases, the drug is then prepared for administration to a patient, for example, by transferring the drug to a syringe and / or IV bag.

[0005] Pharmaceutical preparation systems can be deployed for the preparation of any type of drug, including hazardous and non-hazardous drugs, prepared within a closed system. In closed fluid transfer systems deployed for the preparation of hazardous drugs, measures are taken to prevent hazardous leakage of fluid and / or fumes from containers such as syringes, vials, and IV bags. Connectors or adapters can be used with containers and / or generally at the fluid transfer interface of the system to ensure alignment during fluid transfer and provide a secure connection.

[0006] Robotic pharmaceutical preparation systems, such as those described herein, can be used within a controlled environment, optionally a sterile environment, to reduce or prevent exposure to harmful gases and / or materials. In some embodiments, the system is used inside a hood with controlled ventilation (such as a fume hood). In some cases, access to the system is provided through an opening in the hood, for example, an access window leading to the hood's work surface.

[0007] In some embodiments, the robotic pharmaceutical preparation system is a collaborative machine with at least some interfaces to a human operator (user). In some embodiments, the user optionally loads a container into the system and / or removes a container from the system by at least partially inserting their hand into a specific part of the system and / or at a specific time in the system's operating cycle. Embodiments of the present disclosure aim to improve user safety and / or reduce risk to system components, including permanent components (e.g., modules) and disposable / single-use components (e.g., containers), by automatically identifying and responding to interference (machine-derived or user-derived).

[0008] According to the aspects of this disclosure, a robotic pharmaceutical preparation system, A container receiving module configured to hold at least one container, A motor coupled to the container receiving module to directly drive the movement of the container receiving module along the motion path, A circuit configured to detect the current consumption of at least one motor, It is a controller, Receiving an indicator of current consumption from the circuit, Based on the indicators, it is determined that interference exists, A robotic pharmaceutical preparation system is provided, comprising a controller configured to correct the system's operation when interference is detected.

[0009] In some embodiments, the coupling between the container receiving module and the motor does not include a transmission element.

[0010] In some embodiments, at least a portion of the container receiving module is directly coupled to the motor.

[0011] In some embodiments, at least a portion of the container receiving module comprises a module housing or an extension of the housing.

[0012] In some embodiments, at least a portion of the container receiving module is coupled to the moving part of the motor.

[0013] In some embodiments, the movable part of the motor constitutes a rotor or forceper.

[0014] In some embodiments, the container receiving module and the motor are coupled in such a way that the container receiving module is passively moved by the motor and cannot move on its own.

[0015] In some embodiments, the circuit is configured as part of the motor driver, and the driver communicates with the controller.

[0016] In some embodiments, the data includes the motor's current consumption level.

[0017] In some embodiments, the data further includes one or more of velocity data, position data, temperature data, and vibration data.

[0018] In some embodiments, the motion path includes a linear motion path or a curved motion path.

[0019] In some embodiments, the interference originates from a mechanical or human source.

[0020] In some embodiments, the interference constitutes an obstruction along the motion path.

[0021] In some embodiments, the indicator includes deviations from a pre-set current consumption limit or range.

[0022] In some embodiments, when the controller determines that interference exists, it is configured to modify the operation of the motor to delay or stop the movement of the container receiving module.

[0023] In some embodiments, when the controller determines that interference exists, it is configured to increase the force applied to the container receiving module by the motor to overcome the interference.

[0024] In some embodiments, when the controller determines that interference exists, it is configured to generate an alert.

[0025] In some embodiments, when the controller determines that interference exists, it is configured to control access to the hood to which the system is positioned. The system according to any one of the preceding claims, wherein at least one container held by the container receiving module comprises a vial, an IV bag, or a syringe.

[0026] In some embodiments, the system further comprises at least one encoder connected to one or both of the motor and the container receiving module to detect the position of the container receiving module.

[0027] In some embodiments, the system further comprises at least one imaging device positioned and configured to acquire one or more images of the container receiving module, at least one container held by the container receiving module, the motor, and one or more regions along the movement path of the container receiving module.

[0028] In some embodiments, the controller is configured to receive the images acquired by the imaging device and, based on the images, identify at least the position of the interference.

[0029] In some embodiments, the controller is configured to receive an image acquired by an image sensor and to determine whether the container is currently being held by a container receiving module.

[0030] In some embodiments, the controller determines that the container is currently being held by the container receiving module, and the controller is configured to modify the motor's operation to delay the movement of the container receiving module.

[0031] In some embodiments, the motion path is divided into multiple segments that differ from each other based on a preset current consumption threshold of the motor.

[0032] In some embodiments, the controller is configured to determine that interference exists in a particular segment of a group of segments if the current consumption is higher than a preset threshold for that segment.

[0033] In some embodiments, the current consumption threshold is defined based on an action or process performed on one or both of the container receiving modules and containers within a particular segment.

[0034] In some embodiments, the action or process includes one of loading a container into or removing a container from a container receiving module, transferring fluid from one container to another, agitating or inverting a container, moving a container from one position to another, or moving at least one part of a container relative to another part of the container.

[0035] In some embodiments, the current consumption threshold is defined based on whether manual user access to a particular segment is enabled or prohibited.

[0036] In some embodiments, the motion path is linear, and each of the multiple segments constitutes an elongated segment of the linear path.

[0037] In some embodiments, the motion path is circular, and each of the multiple segments constitutes a sector of the circular motion path.

[0038] In some embodiments, the system is molded, sized, and configured for use inside a hood, and user access to the system is provided through an access window in the hood.

[0039] In some embodiments, one or more stoppers are pre-positioned along the motion path to stop the movement of the module independently of the motor.

[0040] In some embodiments, the system comprises at least two container receiving modules, each driven by at least two motors, and the controller is configured to synchronize the operation of the at least two motors.

[0041] According to aspects of the present disclosure, a method for controlling the operation of a robotic pharmaceutical preparation system, the system comprising at least one container receiving module configured to hold at least one container, and a motor directly coupled to the container receiving module, the method is: Using a motor to directly drive the movement of the container receiving module along the motion path, To detect the current consumption of the motor, The system controller receives an indicator related to current consumption, Based on the indicators, it is determined that interference exists, A method is provided that includes correcting the operation of the system.

[0042] In some embodiments, the coupling between the container receiving module and the motor does not include a transmission element.

[0043] In some embodiments, at least a portion of the container receiving module is directly coupled to the motor.

[0044] In some embodiments, at least a portion of the container receiving module comprises a module housing or an extension of the housing.

[0045] In some embodiments, at least a portion of the container receiving module is coupled to the moving part of the motor.

[0046] In some embodiments, the movable part of the motor constitutes a rotor or forceper.

[0047] In some embodiments, interference includes obstructions, disturbances, or blockages originating from mechanical or human sources.

[0048] In some embodiments, the indicator includes deviations from a pre-set current consumption limit or range.

[0049] In some embodiments, modifying the operation of the system is possible. a. Modify the motor's operation in order to delay or stop the movement of the container receiving module. b. To overcome interference, increase the force applied to the container receiving module by the motor. c. Generate an alert, including at least one of the above.

[0050] In some embodiments, the container held by the container receiving module comprises a vial, an IV bag, or a syringe.

[0051] In some embodiments, the method further includes dividing the motion path into multiple segments that are different from each other based on a preset current consumption threshold of the motor.

[0052] In some embodiments, the method includes determining that interference exists in a particular segment of a group of segments if the current consumption is higher than a pre-set threshold for that segment.

[0053] As referred to 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. The container receiving module may be a permanent part of a pharmaceutical preparation system. In some embodiments, the container receiving module as a whole is configured to move, for example, as a single unit, and additionally or alternatively, one or more parts of the module are configured to move relative to the other parts of the module, for example, to move at least one container held in the module. In some cases, the container receiving module is configured to move only when coupled to a motor and cannot move independently.

[0054] Examples of container receiving modules may include the following: A vial holder configured to receive and hold at least one vial. The vial holder may optionally be further configured to maintain the vial in a selected orientation (e.g., upright orientation, inverted orientation) to move the vial, for example, to pivot the vial to agitate the vial and / or to change the vial's orientation. The vial holder may consist, for example, of a body and a frame pivotably connected to the body and configured to grip and pivot the vial. In another embodiment, the vial holder may define a surface on which one or more vials are received, for example, a platform or tray. Optionally, the surface may move upward / downward and / or laterally to position the vial in a selected spatial position within the system. • 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 an IV bag can be placed or set, a hanger (e.g., a hook) for holding the IV bag, and / or other elements suitable for holding and / or supporting the IV bag. A syringe holder configured to hold at least one syringe, and optionally to move the syringe. In some embodiments, the syringe holder is configured to engage with a part of the syringe (or syringe assembly), e.g., the plunger of the syringe, to move the engaging portion (optionally, with respect to other syringe portions, e.g., to aspirate or inject fluid). Additionally or alternatively, the syringe holder moves the syringe as a single unit (e.g., the syringe holder moves back and forth along the axis with the syringe).

[0055] As used herein, “vial” may include, for example, a resealable container made of glass or plastic and containing a fluid such as a drug in liquid or powder form. Vials may be single-use vials. Vials may be tubular or bottle-shaped, having a neck portion close to the vial opening. Vials may be capped.

[0056] As referred to herein, a “vial assembly” may include a vial alone or a vial with a vial adapter installed. A partition for at least partially sealing access to the vial may be positioned as part of the vial itself and / or as part of the vial adapter. The partition may include a membrane, such as a pierceable membrane or a membrane having a closable passage defined through it.

[0057] Vial adapters can be used as part of a vial assembly as referred to herein. Vial adapters may include devices that can be installed on a vial to facilitate the transport of the vial itself (by gripping the adapter instead of the vial) and / or to facilitate the transport of fluid into or from the vial. Vial adapters may provide closed access to the contents of the vial. Vial adapters may be single-use, sterile devices. Note that the terms “vial” and “vial assembly” may be used interchangeably throughout this application.

[0058] As referred to herein, fluids typically include pharmaceuticals, diluents, saline solutions, water, or any other fluids used for pharmaceutical preparations. The terms “pharmaceutical” and “drug” may be used interchangeably.

[0059] As used herein, “syringe assembly” may include a syringe alone or a syringe having a connector attached thereto. The syringe connector may be coupled to the hub of the syringe. The syringe connector may provide closed access and facilitate fluid transfer. Partitions may be configured as part of the syringe connector or mounted on the syringe connector so that when the syringe assembly engages with a vial assembly, the two partitions may interface with each other. It should be noted that the terms “syringe” and “syringe assembly” may be used interchangeably throughout this application. It should be further noted that a syringe can generally be replaced by any suitable container (e.g., an IV bag used with a pump, tubing used with a pump, and so on) because it can inject fluid and / or draw fluid.

[0060] As referred to herein, the controller may comprise components configured to operate according to a set of instructions stored in memory readable by the controller, which may be executed by a central processing unit (CPU), one or more processors, a processor unit, a microprocessor, etc. The controller may comprise one or more control circuits. The controller may comprise any means for controlling elements in a robotic pharmaceutical preparation system and may comprise at least one of the controller, a synchronization unit, and a processor.

[0061] The needle may comprise a cannula or any other device configured to penetrate a container and transfer fluid and / or gas through it. The needle may include a sloping or opening on its distal tip, or any other configuration. [Brief explanation of the drawing]

[0062] Examples are described herein only as non-limiting embodiments, with reference to the accompanying drawings, in order to better understand the subject matter disclosed herein and to illustrate how it may actually be carried out.

[0063] [Figure 1] This is a schematic block diagram of a pharmaceutical preparation system according to an embodiment of the present disclosure, in which a container receiving module is moved by a direct-drive actuator. [Figure 2] This is a schematic graph illustrating how the presence of interference along the motion path of a container receiving module is determined by monitoring the motor's current consumption, according to embodiments of the subject matter of this disclosure. [Figure 3] This is a flowchart of a method for determining the presence of interference by monitoring the current consumption of a motor, according to an embodiment of the subject matter of this disclosure. [Figure 4] This invention illustrates the direct drive operation along a linear motion path of a container receiving module constituting a syringe holder, according to an embodiment of the subject matter of this disclosure. [Figure 5]The direct drive operation along a circular motion path of a container receiving module constituting a vial holder (only a portion thereof is shown) according to an embodiment of the subject matter of this disclosure is illustrated. [Figure 6] This disclosure illustrates direct drive operation along a linear motion path of a container receiving module constituting a vial-holding platform, according to embodiments of the subject matter of this disclosure. [Figure 7] This invention illustrates the direct drive operation along a linear motion path of a portion of the container receiving module constituting the syringe holder, according to an embodiment of the subject matter of this disclosure. [Figure 8] This is a flowchart of a method for determining the presence of interference along a motion path divided into multiple segments, according to an embodiment of the subject matter of the present disclosure, where each segment has a different motor current consumption threshold. [Figure 9A] A schematic example of a linear motion path divided into multiple segments, each having a different current consumption threshold, according to an embodiment of the subject matter of this disclosure. [Figure 9B] A schematic example of a circular motion path divided into multiple segments, each having a different current consumption threshold, according to an embodiment of the subject matter of this disclosure. [Figure 10] An embodiment of the linear motion path of a syringe holder, as shown in Figure 4, is shown, according to an embodiment of the subject matter of this disclosure, and is divided into multiple segments characterized by different current consumption thresholds. [Modes for carrying out the invention]

[0064] Figure 1 is a schematic block diagram of a pharmaceutical preparation system according to an embodiment of the present disclosure, in which a container receiving module is moved by a direct-drive actuator.

[0065] The system 101 of this embodiment includes one or more container receiving modules 103, each module configured to receive, hold, and optionally manipulate (e.g., move) at least one container 105 or a portion of a container. Examples of containers received by the container receiving modules include vials, syringes, IV bags, and / or other containers suitable for containing and / or transferring fluids (liquids and / or gases) and / or powders. In some embodiments, the containers are single-use, disposable containers.

[0066] The container receiving module is directly connected to a motor drive unit 107 that drives its motion. The motor drive unit is positioned and configured to move the module along a selected motion path, such as a linear motion path, a circular or otherwise curved motion path, or an otherwise shaped path. The motor drive unit generally consists of a motor 109, a circuit for controlling the motor's speed, direction, and / or torque, a power supply 111, and an encoder 113 configured to sense the motor's speed, position, and / or direction.

[0067] The coupling of the container receiving module to the motor drive unit is direct, with no transmission elements. No intermediate components such as gears or lead screws are present between the module and the motor drive unit. Due to the direct coupling, the amount of force generated by the motor is equivalent to the amount of force acting on the module itself, and no amplification, reduction, or other modifications are performed. The force applied to the moving module directly correlates with the current consumption of the monitored motor.

[0068] Such direct coupling can be advantageous in that there is no backlash (no gaps or idle movement because there are no gaps between these system components), thereby potentially improving accuracy. For example, the module can move from a first position to a second position in a precise manner without overshoot or undershoot. An additional potential advantage of directly coupling the motor to the module may include the absence of intermediate transmission elements (such as gear trains). Thereafter, the overall weight and / or volume of the assembly can be minimized, the structure can be simplified, and heat dissipation from the motor can be made more efficient, compared to, for example, when intermediate transmission elements are used.

[0069] In some embodiments of direct coupling, a portion of the container receiving module (e.g., a portion of the module housing, a container grip, an extension of the grip, or any other portion of the module (not of the container)) is directly connected to the active moving part of the motor, e.g., the motor rotor (in the case of rotational motion) or the motor forcer (in the case of linear motion). Such direct coupling can be achieved, for example, via adhesives, fastening elements (e.g., screws, bolts), fixtures, latches, and / or other suitable fasteners. In some embodiments, the module housing or its direct extension is integral with the moving part of the motor, defining a single unit that moves together as one.

[0070] In some embodiments, the direct-drive motor is supplied with power continuously.

[0071] In some embodiments, one or more stoppers, such as physical sealing elements, are pre-positioned at one or more locations along the module's motion path. The stoppers may be particularly useful to ensure that the module stops moving in situations of power outage or power shortage, for example, when the direct-drive motor is no longer operating but the module could continue its motion inertia. The use of stoppers may enable control of the module's motion independently of the motor.

[0072] In some embodiments, the system comprises multiple container receiving modules, where the motion of each module is driven by one or more motors directly connected to the module. In such an arrangement, the system's controller can be configured to synchronize the motor operations, for example, to control the timing of the motion, enabling interfaces (e.g., fluid interfaces) between the containers held in the modules and preventing collisions between modules and / or between the containers held in the modules. Synchronization of the motor operations of multiple modules (each module directly driven by its motors) can enable the positioning of containers at selected positions at selected timings.

[0073] Returning to system 101, the motor drive unit communicates with the system controller 115. The controller is configured to receive inputs from the motor drive unit, such as position data (e.g., rotation angle, linear displacement) and / or velocity data sensed by the encoder, as well as the motor's current consumption level, and to control the operation of the system accordingly. In some embodiments, the controller may be configured to receive additional inputs, such as motor temperature, motor vibration level, radiation level from the motor, and / or others, and to control the operation of the system based on these inputs.

[0074] Due to the direct coupling of the container receiving module to the motor drive unit, the current consumed by the motor is expected to correlate directly with the force (e.g., torque) applied to the module by the motor. Since the coupling does not involve a transmission element, the current consumption signal is expected to be noise-free (or have very low noise). Based on the current consumption signal (or analysis or calculation thereof, e.g., average current consumption over time, peak current, changes in current consumption, and / or changes in current-related measurements such as the average), the system controller may be configured to determine, as further described herein, the presence of interference, e.g., interference occurring along the motion path of the container receiving module.

[0075] As used herein, “interference” may include any unexpected event that causes blockage, disruption (whether complete or partial), mechanical or physical failure, unexpected change in conditions, and / or impedes or even prevents normal system operation. Interference may be caused by an internal (mechanical) source, such as mechanical malfunction, mispositioning of a container by a machine, mismovement of a module, breakage, mechanical wear, corrosion, or misalignment of containers relative to each other (which may prevent or impede fluid transfer between containers). Alternatively, interference may be caused by an external source, optionally a human source, such as a user mishandling a machine, mispositioning a container during loading or unloading, or accidentally inserting one's hand into the system during operation.

[0076] Interference may be associated with one or more of the following: the module itself (e.g., damage to a part of the module), the module's motion path (e.g., objects present along the path), or one or more containers and / or their contents that are received by the module (e.g., incorrectly oriented containers).

[0077] In some embodiments, the system 101 includes one or more image sensors 117 configured to acquire images of the container receiving module and / or the container itself, and / or images of the region between modules, and / or images of the region along the motion path of the modules, and / or images of other parts of the system. The controller 115 is configured to receive the image data acquired by the image sensors and, based on that data, optionally in combination with current consumption data and motor position and / or velocity data, to determine the presence of interference. In some cases, based on the image data, the specific location of interference along the motion path can be evaluated.

[0078] In some embodiments, interference is first identified by analysis of image data. Additionally or alternatively, interference is first identified according to changes in motor current consumption, and then optionally further characterized using image data (for example, to determine the specific location, type, or size of the interference).

[0079] It should be noted that the motor itself can be any suitable type, such as an AC motor or a DC motor, a brushed or brushless motor, a stepping motor, a piezoelectric motor, and / or other suitable motors. In certain embodiments, the motor is an ironless brushless linear motor or a rotary motor.

[0080] In some embodiments, the encoder can be positioned on or connected to the container receiving module in addition to, or alternatively to, the encoder of the motor drive unit. Since the motor drive unit and the module move together as a single unit, the encoder of the module can also be used to provide position and / or velocity and / or direction-related data that are fully applicable to both the module and the motor.

[0081] Figure 2 is a schematic graph showing how the presence of interference along the motion path of the container receiving module is determined by monitoring the motor's current consumption, according to an embodiment of the subject matter of this disclosure.

[0082] In the illustrated embodiment, the container receiving module 201 is directly coupled to a motor drive unit 203 configured to drive the module's motion along a linear path 205 (e.g., back and forth along the path). During operation, the motor's current consumption is monitored and tracked by a system controller (not shown). Line 207 shows the change in current consumption over time, correlated with the relative position of the module (and attached motor drive unit) along the linear motion path. As can be seen, small fluctuations (e.g., 209) are normally possible during motion, but when large deviations (e.g., 211) occur where the current consumption level exceeds a predetermined threshold 213, a significant increase in current consumption may indicate the presence of interference 215 along the motion path (e.g., a user inserts their hand into the system during operation). Due to the direct drive mechanism, the motor's current consumption curve is expected to be generally smooth (low or no noise), and therefore significant deviations may indicate interference. When the modules make contact with each other, the force applied by the motor is expected to increase (in an attempt to maintain the module's motion at a preset speed), causing an increase in current consumption.

[0083] The threshold 213 may be defined by taking into consideration, for example, the type of motion performed by the container receiving module, the type of motor used, the physical dimensions (total weight, size) of the container receiving module having a container held by the module (optionally), and the required level of sensitivity to interference (for example, the threshold can be set high enough so that dust particles are not identified as interference, but low enough so that a user's finger, a misplaced container, or such things are identified as interference).

[0084] In some cases, the threshold is defined to be high enough so that fluctuations caused by, for example, the movement of cables connected to a motor, the periodic movement of a motor, or vibrations (e.g., vibrations caused by adjacent machinery) are not identified as interference, while inserted user hands, misplaced and / or dropped containers, additional parts of a positioned system, and such are identified as interference.

[0085] In some embodiments, the current consumption range is defined by a lower and upper limit. If the current consumption exceeds the upper limit, this may indicate interference causing an overload on the motor; if the current consumption falls below the lower limit, this may indicate unexpected low load, mechanical damage, electrical problems, and / or power supply problems. A drop in current may also occur immediately after interference has been overcome by the module and / or when the supplied power has been set to be sufficient for a particular action to be performed, such as connecting a syringe to a vial, but the action may not have occurred, for example, due to a missing or misaligned container.

[0086] In some cases, interference resulting from the use of a direct drive mechanism can be detected immediately within 10-50, 10-100, 30-200 milliseconds, or intermediate, higher, or lower periods of time for the module in contact with the interference. In some embodiments, the time between encountering interference and its detection by the system controller is a function of the communication between the motor drive circuit and the controller, e.g., the speed at which the motor drive unit signals to the controller. Immediate detection can be advantageous in ensuring the safety of both the system and the user operating the system. In embodiments, if a user inserts their hand into an area within the hood that is not expected to be reachable (and / or when manual access may be permitted at times other than loading / unloading a container), immediate detection of the hand as interference can reduce or prevent the risk of physical damage to the user and / or system components, or the user's exposure to hazardous materials, spills, contamination, etc.

[0087] It should be noted that, in some cases, interference may be detected before the container receiving module actually makes contact with it. This can be achieved, for example, by using an image sensor directed along the module's motion path. In such cases, the module can be stopped or delayed before actually reaching the interference. In an embodiment, when a user inserts their hand into the hood, the presence of the hand, and optionally a specific position of the hand, may be initially identified by one or more image sensors. Based on the captured image, the system controller may modify the operation of one or more modules, such as a module with a motion path that matches the position of the hand. For example, a system platform that is raised and lowered may be delayed or stopped completely when the presence of a hand is detected.

[0088] Figure 3 is a flowchart of a method for determining the presence of interference by monitoring the current consumption of a motor, according to an embodiment of the subject matter of this disclosure.

[0089] In 301, as described above, the container receiving module is moved along a motion path defined by the direct drive motor. In 303, while the motor is operating, the motor's current consumption is monitored. In some embodiments, the motor's current consumption is sensed through a suitable circuit in the motor drive unit (e.g., through resistors, transformers, and / or other suitable sensing components). In some embodiments, the motor drive circuit is configured to sample the motor's current consumption at a speed high enough to effectively provide continuous monitoring of the current consumed by the motor.

[0090] In 305, if the measured current consumption exceeds a predetermined threshold, the system controller can determine that interference is present at that time (see 307).

[0091] In situations where interference is determined to exist along the module's motion path, the system controller may decide to modify the system's operation by, for example, one or more of the following (see 309): For example, issuing error or warning notifications via the system's user interface (e.g., screen) using audible and / or visual notifications. • Modify the motor's operation to delay the module's movement. • Modify the motor's operation to immediately or gradually stop the module's movement. Stopping the movement may be beneficial in preventing motor overheating and potential failure, as well as in maintaining safe operating conditions for both the user and the system itself. • Modifying the motor's operation to increase the level of force (e.g., torque) applied to the module by the motor in order to accelerate the module's motion and / or attempt to overcome interference. • To cut off the power supply to the motor, and optionally to other system motors. • Completely shut down the system. The system controls access to a positioned hood, for example, by locking the hood's access window when interference is detected to prevent a user from accessing the system, or, conversely, by opening the access window to allow manual removal of the interference. In some cases, the system may keep the access window normally closed and allow it to be opened only during specific operations and / or when specific safety conditions are met (e.g., the container is not dropped or damaged). It should be noted that interference may be of a kind that completely blocks the path of motion or only partially blocks the path. Interference may be stationary (e.g., a misplaced or dropped container) or in motion (e.g., a user's hand, another module of the system). Interference may affect only locally, i.e., only the operation of the module that encounters it, or conversely, interference that broadly affects the system operation, e.g., interference in the middle of an additional system module. Interference may be caused by misalignment of components, for example, if a syringe is misaligned relative to a vial or IV bag (e.g., not in the opposite position), or vice versa, and their engagement cannot be performed or is otherwise unsuitable for fluid transfer.

[0092] In some embodiments, the controller is configured to determine, based on the degree of change in current consumption (e.g., increase or decrease), the rate (slope) of change, the timing of change, and / or other measures of tracked current consumption, whether the interference can potentially be overcome by continuing the movement of the module (e.g., by increasing the force applied to the module by the motor, increasing the motor speed, etc.), or whether the interference is of a type, size, and / or location where it is preferable or required for the module to stop moving.

[0093] In some embodiments, the controller is configured to evaluate specific characteristics of interference based on current consumption measurements. For example, a sharp rise in current consumption may indicate that the module has encountered a rigid (solid) interference, which is optionally not likely to be further pushed or deformed by the module, such as another system component (e.g., another module), a vial, or a syringe. A gradual rise with a smaller slope and / or lower peak may indicate that the module has encountered a softer interference, which optionally may be pushed or deformed in response to forces applied to the module by the user's hand, an IV bag, system cables, or the like.

[0094] Optionally, interference characteristics (size, weight, position, orientation, etc.) are evaluated with the help of additional inputs such as data acquired by the image sensor and / or other motor-related data such as position data, temperature data, and vibration data provided by the encoder.

[0095] In some cases, the controller is configured to determine a preferred method of modifying system operation by checking whether a container is currently held by the module. For example, if one or more containers are currently held by the module, it may be preferable to delay or stop the module upon identifying interference, while if the module is empty and does not hold any containers, it may be preferable to accelerate its movement in an attempt to neutralize the interference. In some embodiments, an indicator of whether a container is currently held by the module is reached by analyzing an image acquired by one of the system components or an image sensor.

[0096] Figures 4 to 7 below illustrate embodiments of container receiving modules for a pharmaceutical preparation system, each directly operated by a motor. Each module is configured to move along a motion path (such as a linear or curved path). Identification and handling of interference along the module's motion path can be carried out, for example, as described above.

[0097] Figure 4 illustrates the direct drive operation along a linear motion path of the container receiving module constituting the syringe holder, according to an embodiment of the subject matter of this disclosure.

[0098] In the shown embodiment, the syringe holder 401 is configured to slide along a rail 403 configured at the bottom of the system's infrastructure. The housing 405 of the syringe holder extends upward from a platform 407, to which the housing is directly connected to a motor 409 that drives the movement of the syringe holder back and forth along the rail. As can be seen in the enlarged view, in the shown embodiment, the platform 407 is connected to the motor's forcer 413 via a number of fixing elements, such as screws 411.

[0099] Some embodiments of interference that can be detected by monitoring the current consumption of the direct drive motor of the syringe holder include accidental collisions with objects along the motion path (e.g., containers), the inserted hand of the user, collisions with other modules of the system (e.g., with a vertically moving platform), and syringes held in an unexpected (e.g., non-vertical) orientation relative to the holder.

[0100] Figure 5 illustrates the direct drive operation along a circular motion path of a container receiving module constituting a vial holder (only a portion thereof is shown) according to an embodiment of the subject matter of this disclosure.

[0101] In the illustrated embodiment, the vial holder 501 is configured to agitate and / or invert the vial 503 by a pivoting motion. The vial holder includes a pivot plate 505 directly connected to a rotor (not shown) of a motor 506 (the motor's external housing is shown). The rotation of the rotor pivots the plate relative to the body 507 of the vial holder, thereby rotating a frame 509 extending from the plate and gripping the vial.

[0102] Some embodiments of interference that can be detected by monitoring the current consumption of the direct drive motor of the vial holder include the inserted user's hand, collisions with other modules of the system, and collisions with other containers of the system, such as syringes that are supposed to be aligned with the vial held by the vial holder to enable their interface, but whose orientation is unexpected and unknown.

[0103] In some embodiments, the vial holder body 507 is mounted on a rotating platform 511 that rotates, changing the position of the vial holder holding the vial. Generally, at least one additional vial holder is positioned on the rotating platform facing opposite directions so that the rotation of the platform swaps the positions of the vial holder. In some embodiments, the rotation of the platform is also driven by a direct drive motor (not shown, e.g., configured beneath the platform). In such an arrangement, where both the pivot plate of the vial holder and the rotating platform are driven by their respective direct drive motors, the operation of the motors can be synchronized (e.g., by a system controller) to bring the vial held by the vial holder to a specific position (both the rotational position and the angular / pivot position (e.g., a range between inverted and upright)).

[0104] Figure 6 illustrates direct drive operation along a linear motion path of a container receiving module constituting a vial-holding platform according to an embodiment of the subject matter of this disclosure.

[0105] In the illustrated embodiment, a platform 601 that holds a plurality of vials 603 is configured to move linearly along a vertically extending rail 605, thereby raising or lowering the vials. The platform includes side extensions 607 that are directly connected to a motor 609 that moves up and down along the rail.

[0106] Some embodiments of interference that can be detected by monitoring the current consumption of the direct-drive motors that operate the vertical motion of the platform include an inserted user's hand, collisions with other modules of the system, and / or vials of unexpected size, such as those that are positioned on the platform and could collide with the system infrastructure during the platform's movement.

[0107] Figure 7 illustrates a direct drive operation along a linear motion path of a portion of the container receiving module constituting the syringe holder, according to an embodiment of the subject matter of this disclosure.

[0108] In the embodiment shown, portion 701 of the syringe holder 703 is configured to receive and properly hold the plunger flange of the syringe 705. Portion 701 (also referred to herein as the “plunger receiver”) is directly connected to a motor 707 which moves portion 701 linearly along at least portion of a vertical rail 709. When the plunger receiver 701 is moved downward, the syringe plunger is pulled to draw fluid into the syringe, and when the plunger receiver 701 is moved upward, the syringe plunger is pushed to inject fluid from the syringe.

[0109] Some embodiments of interference that can be detected by monitoring the current consumption of the direct drive motor that operates the motion of the plunger receptor include the inserted user's hand, collision with other modules of the system, the absence of an interface container (e.g., a vial), and / or disruption of its orientation that could prevent fluid from being drawn in or injected from a syringe that is otherwise sealed (in which case the plunger receptor would attempt to push or pull the plunger but would ultimately be stopped due to pressure buildup inside the syringe). Additional embodiments of interference that can be detected by monitoring the current consumption of the motor that operates the plunger receptor include unexpected viscosity of the fluid (e.g., too high or too low), the presence of granules or particles that could affect the force required to pull or push the plunger, or other factors.

[0110] In some embodiments, the current consumption by the motor is expected to be non-uniform and variable, for example, as the module moves along its motion path. Therefore, in some embodiments, the motion path of the module can be divided into several distinct regions or segments based on the expected current consumption limits or ranges. Deviations from the specified limits or ranges that occur while the motor (and module) is within a particular segment may indicate interference observed within that segment.

[0111] Figure 8 is a flowchart of a method for determining the presence of interference along a motion path divided into multiple segments, according to an embodiment of the subject matter of this disclosure, where each segment has a different current consumption threshold.

[0112] In 801, the motion path of the container receiving module is divided into multiple segments (e.g., segments 2, 3, 4, 5, 6, 8, and 10), each having a different current consumption threshold. Position data received from the motor-driven encoder (and / or from an encoder configured on the module itself, and / or from the system image sensor) is input to the system controller so that it can determine which segment the module is currently in and therefore which threshold should be applied.

[0113] In some embodiments, thresholds are set considering the magnitude of the force required by the motor to operate a module in a particular segment. The amount of force required may be a function of the action or process occurring within that segment. For example, sliding a module along a rail may require a force smaller than the force required to keep the module stationary and stable while a container is being loaded or removed from the module, while pivoting a part of the module may require a force larger than the force required to simply keep that part stationary and held. Additionally or alternatively, segment thresholds may be set with safety requirements in mind. For example, in a segment that is manually accessible by a user (e.g., to insert or remove a container), the threshold may be lower than in a segment that is not accessible to the user. This may be advantageous in that user-induced interference (such as when the user is not expected to access the system) can be detected more easily and / or quickly, and furthermore, the maximum force applied by the motor is limited to a lower magnitude, thus exposing the user to less risk.

[0114] In 803, during the movement of the module, the motor's current consumption is monitored, for example, as described herein. In 805, if the current consumption exceeds a threshold for the segment in which the module is currently located, the controller may determine that interference exists in that segment.

[0115] In 807, if interference is identified, the controller may correct the system operation, for example, in one of the methods described above.

[0116] Figures 9A and 9B schematically illustrate linear motion paths (Figure 9A) and circular motion paths (Figure 9B) according to embodiments of the subject matter of this disclosure, which are divided into multiple segments, each having a different current consumption threshold.

[0117] In Figure 9A, the linear motion path 901 of the container receiving module is schematically divided into several segments (five segments in this embodiment). The current threshold in the first segment is indicated as "A", in the second segment as "B", and so on. Each segment in this embodiment is defined along a selected distance of the motion path. In this embodiment, the path of the container receiving module sliding along the linear rail may be divided according to the arrangement shown in Figure 9A.

[0118] In Figure 9B, the circular motion path 904 of the container receiving module is schematically divided into sectors (four sectors in this embodiment). Each sector can be defined by the length of its arc through which the module (or part of the module) moves. In embodiments, the path of the container receiving module, including a pivoting portion for rotating or inverting the container, may be divided according to the arrangement shown in Figure 9B.

[0119] It should be noted that the motion path of the container receiving module (and / or its moving part) is not limited to a linear or circular path, but can be formed along any shape or curved path. Generally, the container receiving module moves back and forth along the path.

[0120] Figure 10 shows an embodiment of the linear motion path of a syringe holder, as shown in Figure 4, divided into multiple segments, according to an embodiment of the subject matter of this disclosure.

[0121] In this embodiment, the syringe holder 1001 is configured to move by its direct drive motor 1003 along a horizontal motion path that extends along the bottom 1005 of the system infrastructure 1007.

[0122] The motion path is divided into four segments, each with a different current consumption threshold. The type of process and / or action expected to occur in that segment is considered when selecting the threshold.

[0123] In segment 1009, the syringe holder moves forward or backward along its path to position the syringe 1011 held by the holder under other containers and / or modules, for example, under an IV bag 1013 located on platform 1015. The force that needs to be generated by the motor in that segment must be high enough to generate acceleration (and deceleration) of the syringe holder. The threshold for current consumption along that segment is set to "A".

[0124] In segment 1017, the syringe holder needs to hold a syringe stably while a user accessing the system manually loads a syringe into or removes a syringe from the syringe holder. The force that needs to be generated by the motor in that segment needs to be high enough to withstand the force acting on the module during syringe loading or removal. (Note that in other embodiments, the syringe holder may be configured to automatically grasp or receive syringes from, for example, a syringe conveyor.) The current consumption threshold along that segment is set to "B".

[0125] In segment 1019, similar to segment 1009, the syringe holder moves forward or backward along its path to position the syringe 1011 held by the holder under other containers and / or modules, for example, under the vial 1021 held by the vial holder 1023. The force that needs to be generated by the motor in that segment must be high enough to generate acceleration (and deceleration) of the syringe holder. The threshold for current consumption along that segment is again set to "A".

[0126] In segment 1025, the syringe holder needs to be held stably while the syringe is being pulled away from or returned to the holder, for example, when the syringe is connected to vial 1021 (when the vial is inverted). The force that needs to be generated by the motor in that segment needs to be high enough to withstand the pulling / pushing forces acting on the syringe when it is being pulled away from or returned to the holder. The current consumption threshold along that segment is set to "C".

[0127] While various embodiments of the present invention are described and illustrated herein, those skilled in the art will readily conceive of various other means, materials, or structures for performing the function, obtaining the result, or for one or more of the advantages described herein, and each such variation or modification will be considered within the scope of the embodiments of the present invention described herein. More generally, those skilled in the art will readily understand that all parameters, dimensions, materials, and configurations described herein are intended for illustrative purposes only, and that actual parameters, dimensions, materials, and configurations will depend on the specific application in which the teachings of the present invention are used. Those skilled in the art will be able to recognize or confirm many equivalents to specific embodiments of the present invention described herein by means of routine experimentation alone. Accordingly, it should be understood that the embodiments described herein are presented only as examples, and that embodiments of the present invention may be practiced separately from those specifically described and claimed within the appended claims, their equivalents, and any claims supported by this disclosure. The embodiments of the present invention in this disclosure cover each individual feature, system, article, material, composition, kit, method, and step described herein. In addition, any combination of two or more such features, systems, articles, materials, compositions, kits, methods, and steps is included within the scope of the present invention as long as such features, systems, articles, materials, compositions, kits, methods, and steps are not inconsistent with each other.

[0128] The embodiments disclosed herein may also be combined with one or more features, functionalities, or materials, as well as complete systems, devices, or methods, to bring about further embodiments and inventions. Furthermore, some embodiments may be distinguishable from the prior art by specifically lacking one and / or another feature disclosed in a particular prior art reference, i.e., the claims for some embodiments may be distinguishable from the prior art by including one or more negative limitations.

[0129] Furthermore, as described above, various inventive concepts can be embodied in one or more methods, and embodiments thereof are provided. The actions performed as part of a method can be ordered in any preferred manner. Therefore, although they are shown as a series of actions in the illustrative examples, embodiments can be constructed in which the actions are performed in a different order than those illustrated, which may include performing several actions simultaneously.

[0130] Any references to publications or other documents, including but not limited to patents, patent applications, articles, web pages, books, etc., presented anywhere in this application, are incorporated herein by reference in their entirety. Furthermore, all definitions defined and used herein should be understood to govern dictionary definitions, definitions in documents incorporated by reference, and the ordinary meanings of the defined terms.

[0131] In this specification and in the claims, the indefinite terms "a" and "an" should be understood to mean "at least one" unless explicitly stated otherwise.

[0132] As used herein and in the claims, the phrase “and / or” should be understood to mean “either or both” of the elements thus combined, i.e., elements that are sometimes conjunctive and other times disjunctive. Any elements listed in “and / or” should be interpreted similarly, i.e., “one or more” of the elements thus combined. Other elements may exist at their discretion, whether related to those specifically identified elements or not, in addition to the elements specifically identified by the “and / or” clause. Thus, in non-restrictive embodiments, when used in combination with open-ended language such as “comprising,” in one embodiment, a reference to “A and / or B” may refer in one embodiment to A only (including elements other than B at their discretion), in another embodiment to refer in one embodiment to B only (including elements other than A at their discretion), and in yet another embodiment to refer in one embodiment to A and B both (including other elements at their discretion).

[0133] As used herein and in the claims, “or” should be understood to have the same meaning as “and / or” as defined above. For example, when separating items in a list, “or” or “and / or” should be interpreted as inclusive, that is, including at least one of multiple elements or lists of elements, but also including two or more, and optionally including additional unlisted items. Only terms that are explicitly indicated, such as “one of” or “exactly one of” or, when used in the claims, “consisting of,” refer to including exactly one element of multiple elements or lists of elements. In general, as used herein, the term “or” should be interpreted only as indicating an exclusive choice (i.e., “one or the other, but not both”) when preceded by terms of exclusivity such as “either,” “one of,” “one of,” or “exactly one of.” “Essentially consisting of” should have its usual meaning as used in the field of patent law when used in the claims.

[0134] As used herein and in the claims, the phrase “at least one” with respect to a list of one or more elements should be understood to mean at least one element selected from any one or more of the elements in the list of elements, but not necessarily including at least one of every element specifically enumerated in the list of elements, nor excluding any combination of elements in the list of elements. This definition also allows for the presence of elements other than those specifically identified in the list of elements referred to by the phrase “at least one,” whether or not they are related to those specifically identified elements, at the discretion of the user. Therefore, in non-limiting embodiments, "at least one of A and B" (or equivalently, "at least one of A or B," or equivalently, "at least one of A and / or B") may refer to, in one embodiment, at least one optionally comprising two or more A's and no B (optionally comprising elements other than B); in another embodiment, at least one optionally comprising two or more B's and no A (optionally comprising elements other than A); and in yet another embodiment, at least one optionally comprising two or more A's and at least one optionally comprising two or more B's (and optionally comprising other elements).

[0135] In the claims and in the above specification, all transitional phrases such as “comprising,” “including,” “carrying,” “having,” “containing,” “involving,” “holding,” and “composed of” should be understood to be open-ended, meaning that they include but are not limited to these. Only the transitional phrases “consist of” and “essentially become from” should be closed or semi-closed transitional phrases, respectively.

[0136] While various exemplary embodiments have been described in detail herein, many modifications are possible in the exemplary embodiments without substantially departing from the concepts of the Disclosure. Therefore, any such modifications are intended to be within the scope of the Disclosure. Similarly, while the Disclosure herein includes many specific combinations, these specific combinations should not be construed as limiting the scope of either the Disclosure or the Appendix Claims, but are provided as descriptions relating to one or more specific embodiments that may fall within the scope of the Disclosure and the Appendix Claims. Any described features from the various embodiments disclosed may be used in combination with other disclosed embodiments. In addition, other embodiments of the Disclosure may be conceived that fall within the scope of the Disclosure and the Appendix Claims.

[0137] This disclosure provides various examples, embodiments, and features that should be understood to be combinable with other examples, embodiments, or features described herein, unless expressly stated otherwise or mutually exclusive.

Claims

1. A robotic pharmaceutical preparation system, A container receiving module configured to hold at least one container, A motor coupled to the container receiving module in order to directly drive the movement of the container receiving module along the motion path, A circuit configured to detect the current consumption of at least one of the motors, It is a controller, Receiving an indicator related to the current consumption from the circuit, Based on the aforementioned indicators, it is determined that interference exists, A robotic pharmaceutical preparation system comprising a controller configured to correct the operation of the system when interference is detected.

2. The system according to claim 1, wherein the coupling between the container receiving module and the motor does not include a transmission element.

3. The system according to claim 1 or 2, wherein at least a portion of the container receiving module is directly coupled to the motor.

4. The system according to claim 3, wherein at least a portion of the container receiving module comprises a housing for the module or an extension of the housing.

5. The system according to claim 3 or 4, wherein at least a portion of the container receiving module is coupled to the movable part of the motor.

6. The system according to claim 5, wherein the movable part of the motor constitutes a rotor or a forceper.

7. The system according to any one of claims 1 to 6, wherein the container receiving module and the motor are coupled in such a way that the container receiving module is passively moved by the motor and cannot move on its own.

8. The system according to any one of claims 1 to 7, wherein the circuit is configured as part of the driver of the motor, and the driver communicates with the controller.

9. The system according to claim 8, wherein the data includes the current consumption level of the motor.

10. The system according to claim 9, wherein the data further includes one or more of velocity data, position data, temperature data, and vibration data.

11. The system according to any one of claims 1 to 10, wherein the motion path includes a linear motion path or a curved motion path.

12. The system according to any one of claims 1 to 11, wherein the interference originates from a mechanical source or a human source.

13. The system according to claim 12, wherein the interference constitutes an obstruction along the motion path.

14. The system according to any one of claims 1 to 13, wherein the indicator includes deviations from a pre-set current consumption limit or range.

15. The system according to any one of claims 1 to 14, wherein the controller is configured to modify the operation of the motor in order to delay or stop the movement of the container receiving module when it determines that interference is present.

16. The system according to any one of claims 1 to 14, wherein the controller is configured to increase the force applied to the container receiving module by the motor in order to overcome interference when it determines that interference is present.

17. The system according to any one of claims 1 to 16, wherein the controller is configured to generate an alert when it determines that interference is present.

18. The system according to any one of claims 1 to 17, wherein the controller is configured to control access to the hood positioned by the system when it determines that interference is present.

19. The system according to any one of claims 1 to 18, wherein the at least one container held by the container receiving module comprises a vial, an IV bag, or a syringe.

20. The system according to any one of claims 1 to 19, further comprising at least one encoder connected to the motor and / or the container receiving module for detecting the position of the container receiving module.

21. The system according to any one of claims 1 to 20, further comprising the container receiving module, the at least one container held by the container receiving module, the motor, and at least one image sensor positioned and configured to acquire images of one or more regions along the motion path of the container receiving module.

22. The system according to claim 21, wherein the controller is configured to receive the image acquired by the image sensor and to identify at least the location of the interference based on the image.

23. The system according to claim 21 or 22, wherein the controller is configured to receive the image acquired by the image sensor and to determine whether the container is currently being held by the container receiving module.

24. The system according to claim 23, wherein if the controller determines that a container is currently being held by the container receiving module, the controller is configured to modify the operation of the motor in order to delay the movement of the container receiving module.

25. The system according to any one of claims 1 to 24, wherein the motion path is divided into a plurality of segments that are different from each other according to a preset current consumption threshold of the motor.

26. The system according to claim 25, wherein the controller is configured to determine that interference exists in a particular segment among the plurality of segments if the current consumption is higher than a preset threshold for that segment.

27. The system according to claim 25 or 26, wherein the current consumption threshold is defined based on an action or process performed on one or both of the container receiving module and the container within a particular segment.

28. The system according to claim 27, wherein the action or process includes one of loading a container into or removing a container from the container receiving module, transferring a fluid from one container to another, agitating or inverting a container, moving a container from one position to another, or moving at least one part of a container relative to another part of the container.

29. The system according to any one of claims 25 to 28, wherein the current consumption threshold is defined based on whether manual user access to a particular segment is enabled or prohibited.

30. The system according to any one of claims 25 to 29, wherein the motion path is linear, and each of the plurality of segments constitutes an elongated segment of the linear path.

31. The system according to any one of claims 25 to 29, wherein the motion path is circular, and each of the plurality of segments constitutes a sector of the circle of the motion path.

32. The system according to any one of claims 1 to 31, wherein the system is molded, sized, and configured for use inside a hood, and user access to the system is provided through an access window in the hood.

33. The system according to any one of claims 1 to 32, wherein one or more stoppers are pre-positioned along the motion path to stop the movement of the module independently of the motor.

34. The system according to any one of claims 1 to 33, comprising at least two container receiving modules, each driven by at least two motors, wherein the controller is configured to synchronize the operation of the at least two motors.

35. A method for controlling the operation of a robotic pharmaceutical preparation system, wherein the system comprises at least one container receiving module configured to hold at least one container, and a motor directly coupled to the container receiving module, and the method is The motor is used to directly drive the movement of the container receiving module along the motion path, To detect the current consumption of the motor, The system controller receives an indicator related to the current consumption, Based on the aforementioned indicators, it is determined that interference exists, A method including correcting the operation of the aforementioned system.

36. The method according to claim 35, wherein the coupling between the container receiving module and the motor does not include a transmission element.

37. The method according to claim 35 or 36, wherein at least a portion of the container receiving module is directly coupled to the motor.

38. The method according to claim 37, wherein at least a portion of the container receiving module comprises a housing of the module or an extension of the housing.

39. The method according to claim 37 or 38, wherein at least a portion of the container receiving module is coupled to the movable part of the motor.

40. The method according to claim 39, wherein the movable part of the motor constitutes a rotor or a forceper.

41. The method according to any one of claims 35 to 40, wherein the interference includes a disturbance, obstruction or blockage originating from a mechanical or human source.

42. The method according to any one of claims 35 to 41, wherein the indicator includes deviation from a pre-set current consumption limit or range.

43. Modifying the operation of the aforementioned system is a. Modifying the operation of the motor in order to delay or stop the movement of the container receiving module. b. In order to overcome the interference, increase the force applied to the container receiving module by the motor. c. The method according to any one of claims 35 to 42, comprising at least one of generating an alert.

44. The method according to any one of claims 35 to 43, wherein the at least one container held by the container receiving module comprises a vial, an IV bag, or a syringe.

45. The method according to any one of claims 35 to 44, further comprising dividing the motion path into a plurality of segments that are different from each other based on a preset current consumption threshold of the motor.

46. The method according to claim 45, further comprising determining that interference exists in a particular segment among the plurality of segments if the current consumption is higher than a pre-set threshold for that segment.

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