Open Liquid Drug Delivery Systems and Components of Robotic Systems Employing Them - Patent application

Abstract

Presented herein is a robotic system configured for compounding and preparing pharmaceuticals, including a non-toxic drug and a vented drug vial adapter. The robotic system includes a laminar flow cabinet and at least one robotic arm. The vented drug vial adapter is designed to connect the drug vial to another component of a drug delivery system. The adapter includes a hydrophobic filter that allows air to pass while preventing the passage of liquid, and a vent to the atmosphere. The vent is located above the filter, thereby allowing internal pressure to equalize while preventing the drug from contaminating the atmosphere.

Description

[Technical field]

[0001] The present invention relates to the field of fluid transfer devices. In particular, the present invention relates to components of open liquid drug transfer systems and their use in automated robotic systems for preparing drugs and pharmaceuticals for administration to patients. [Background technology]

[0002] US8,196,614 to the present applicant describes a closed liquid transfer device designed for the contamination-free transfer of hazardous drugs. Figures 1a and 1b are schematic cross-sectional views of an apparatus 10 for the transfer of hazardous drugs without contamination of the surroundings, according to one embodiment of the invention described in US8,196,614. The main features of this apparatus relevant to the present invention are described herein. Additional details can be found in the aforementioned patent.

[0003] The proximal section of device 10 includes a syringe 12 that is adapted to withdraw a desired amount of a hazardous drug from a fluid transfer component, such as a vial 16 or an intravenous (IV) bag in which it is contained, and subsequently transfer the drug to another fluid transfer component. Connected to the distal end of syringe 12 is a connector section 14 that is in turn connected to vial 16 by a vial adapter 15.

[0004] The syringe 12 of the device 10 is composed of a cylindrical body with a tubular throat having a diameter significantly smaller than the body, an annular rubber gasket or bung assembly fitted to the proximal end of the cylindrical body, a hollow piston rod that sealingly passes through the bung, and a proximal piston rod cap that allows the user to push and pull the piston rod up and down through the bung. A piston 28 made from an elastomeric material is securely attached to the distal end of the piston rod.

[0005] A piston, which sealingly engages the inner wall of the cylindrical body and is movable relative to the cylindrical body, defines two chambers of variable volume: a distal liquid chamber 30 between the distal face of the piston and the connector section 14, and a proximal air chamber 32 between the proximal face of the piston and the bung.

[0006] The connector section 14 comprises a cylindrical hollow outer body, a distal shoulder portion projecting radially from the body and terminating at a distal end having an opening through which the proximal end of the fluid transfer component is inserted for coupling, a dual membrane sealed actuator 34 reciprocally displaceable within the body, and one or more resilient arms 35 connected at their proximal ends to an intermediate portion of the cylindrical actuator casing housing the dual membrane sealed actuator 34 and functioning as connecting elements. Two hollow needles functioning as air conduits 38 and liquid conduits 40 are fixedly held in needle holders projecting from a central piece at the top of the connector section 14 into the interior of the connector section 14.

[0007] Conduits 38 and 40 extend distally from the needle holder and pierce the upper membrane of actuator 34. The distal ends of conduits 38 and 40 have sharp pointed ends and apertures through which air and liquid, respectively, can pass into and out of the interior of the conduits as required during fluid transfer operations. The proximal end of air conduit 38 extends into the interior of proximal air chamber 32 of syringe 12. In the embodiment shown, air conduit 38 passes through piston 28 and extends inside the hollow piston rod. Air flowing through conduit 38 passes into and out of the interior of the piston rod and into and out of air chamber 32 through an aperture formed in the distal end of the piston rod just above the piston. The proximal end of liquid conduit 40 terminates at or slightly proximal to the top of the needle holder such that the liquid conduit is in fluid communication with distal liquid chamber 30 via the interior of the throat of syringe 12.

[0008] The dual membrane sealed actuator 34 comprises a casing that holds a proximal disk-shaped membrane 34a having a rectangular cross section and a two-tiered distal membrane 34b. A distal portion of the distal membrane 34b projects distally from the actuator 34. Two or more equal length resilient elongated arms 35 are attached to the distal end of the actuator 34 casing. The arms terminate in a distal expandable element. When the actuator 34 is in a first position, the sharp ends of the conduits 38 and 40 are held between the proximal and distal membranes to prevent injury to the user from exposure to the sharp ends and to isolate the ends of the conduits 30 and 40 from the environment, thereby preventing contamination of the interior of the syringe 12 and leakage of the harmful drug contained therein to the environment.

[0009] Connector section 14 is adapted to be releasably coupled to another fluid transfer component, which can be any fluid container having a standard connector, such as a drug vial, an intravenous bag, or an intravenous line, to create a "fluid transfer assembly" through which fluid can be transferred from one fluid transfer component to another.

[0010] Drugs are usually supplied by pharmaceutical companies in drug vials in powder or liquid form. These drug vials have an elastomeric membrane at the top of the vial that can be pierced by a syringe needle to dilute (reconstitute) the powder with a suitable solvent and to remove from the vial the dose of liquid drug required for administration to the patient. When liquid is injected into or removed from a drug vial by piercing the membrane with a syringe, an overpressure or vacuum can be created in the vial, which can interfere with the transfer process. To allow equalization of the pressure in the vial when liquid is injected into or removed from it, intermediate connections known as vial adapters are used.

[0011] 2 and 3 show perspective and cross-sectional views, respectively, of a prior art vial adapter 15 designed as part of fluid transfer device 10. Vial adapter 15 is an intermediate connection used to connect connector section 14 to a drug vial 16 or any other component having a port of suitable shape and size.

[0012] The vial adapter 15 comprises a collar portion 42 provided with an annular proximal cap 44 and an upwardly projecting structure 46 projecting proximally from the cap 44. The upwardly projecting structure 46 is the second reason for using the vial adapter. It is much longer than the neck on a conventional drug vial, so that it fits into an opening at the distal end of the connector section 14 and allows for transfer of the drug as described herein below. The collar portion 42 is made up of a plurality of circumferential segments 48 having a convex lip 50 formed on its inner surface to facilitate fastening to the head portion of the vial 14. The upwardly projecting structure 46 terminates proximally by a membrane enclosure 52 having a diameter larger than that of the extension 42. The membrane enclosure 52 has a proximal central opening 54, by which the membrane 15a held therein is made accessible.

[0013] Two longitudinal channels 56 and 58 formed internally within the upwardly projecting structure and extending distally from the membrane within the membrane enclosure are adapted to receive the conduits 38 and 40, respectively. A mechanical guiding mechanism is provided to ensure that the conduits 38 and 40 always enter their designated channels within the upwardly projecting structure when the connector section 14 is mated to the vial adapter 15. The upwardly projecting structure 46 terminates distally by a spike element 15b that projects distally from the cap 44. The spike element 15b is formed with openings 60 and 62 that are in communication with the channels 56 and 58, respectively.

[0014] The vial 16 has an enlarged circular head portion 64 attached to the body of the vial at the neck portion. At the center of the head portion 64 is a proximal membrane 16a adapted to prevent leakage out of the drug contained therein. When the head portion of the vial 16 is inserted into the collar portion of the vial adapter 15 and a distal force is applied to the vial adapter 15, the spike element 15b of the vial adapter 15 punctures the membrane 16a of the vial 16, allowing an internal channel within the vial adapter 15 to communicate with the interior of the drug vial 16. When this occurs, the circumferential segment 48 at the distal end of the collar portion 42 of the connector section is securely engaged with the head portion of the vial 16. After the membrane 16a of the vial 16 is punctured, it seals around the spike, preventing leakage out of the drug from the vial. At the same time, the top of the interior channel of vial adapter 15 is sealed by membrane 15 a at the top of vial adapter 15 , preventing air or medication from entering or leaving the interior of vial 16 .

[0015] The procedure for assembling the drug transfer device 10 is carried out as follows: Step 1 - The vial 16 and the vial adapter 15 are joined and the head portion of the vial adapter 15 is positioned near the distal opening of the connector section 14 with the spike element 15b penetrating the proximal membrane 16a of the vial. Step 2 - The double membrane engagement procedure is initiated by displacing the body of the connector section 14 distally with an axial movement until the membrane enclosure and upwardly protruding structure of the vial adapter 15 enter the opening at the distal end of the connector section 14. Step 3 - The distal membrane 34b of the actuator 34 contacts and is pressed against the stationary membrane 15a of the vial adapter 15 by additional distal displacement of the body of the connector section 14. After the membranes are pressed firmly together, the extension elements at the ends of the arms of connector section 14 are forced into the narrower proximal section of connector section 14, thereby pressing the membranes together and holding them engaged around the upwardly protruding structure and under the membrane enclosure of vial adapter 15, thereby preventing dislodging of dual membrane sealing actuator 34 from vial adapter 15. Step 4 - Further distal displacement of the body of connector section 14 moves actuator 34 proximally relative to the body of connector section 15 until the tips of conduits 38 and 40 pierce the distal membrane of actuator 34 and the top membrane of vial adapter 15, and are in fluid communication with the interior of vial 16.

[0016] After the drug transfer assembly 10 shown in FIG. 1 is assembled as described herein above, the piston rod can be moved to withdraw liquid from the vial 16 or inject liquid from the syringe into the vial. The transfer of liquid between the distal liquid chamber 30 in the syringe 12 and the liquid in the vial 16, and the transfer of air between the proximal air chamber 32 in the syringe 12 and the air in the vial 16, is accomplished by an internal pressure equalization process, where equal volumes of air and liquid are exchanged by moving through separate channels. This is a closed system that eliminates the possibility of air or liquid droplets or vapor being exchanged between the interior of the assembly 10 and the surroundings.

[0017] Even if care is taken to separate the air path through the air channel 56 and air conduit 38 from the liquid path through the liquid channel 58 and liquid conduit 40, in the prior art assembly described in U.S. Pat. No. 8,196,614, there are places where these paths may intersect under certain conditions, allowing the potential for liquid to migrate through the air conduit from the distal liquid chamber 30 or vial 16 to the proximal air chamber.

[0018] Solutions to this problem are described in US 9,510,997 to the assignee of the present invention. One of these solutions is the introduction of a hydrophobic filter membrane 66 at a point in the air channel 38, 58 between the vial 16 and the proximal air chamber 32. Such a filter, for example a 0.22 micron filter, not only prevents the passage of liquid into the proximal air chamber, but also improves protection against microbial contamination by providing additional filtration of the air.

[0019] When introducing a filter into the air channel, it has been determined that the most effective and technically simple location to manufacture is to place it in the vial adapter 15. FIG. 4 is a cross-sectional view of a vial adapter 15 modified to include a hydrophobic filter membrane 66. The filter is made of a very thin, disk-shaped piece of material. It is perforated to allow liquid to pass freely through the liquid channel 58 from the membrane 15a to the opening 62 at the tip of the spike element without passing through the filter 66. The filter 66 is welded or glued or mechanically pressed at its outer periphery 67 and inner periphery 67a to the vial adapter. Air travels from the opening 60 at the tip of the spike element 15 through the air channel 56 into the open space formed by the ribs 56 below the filter 66, through the filter 66, into the open space above the filter, then into the air channel 56, through the upwardly protruding structure 46 to the membrane 15a.

[0020] The pressure exerted on the filter 66 by the air or liquid flowing through the air channels 56, even to the extent that the air channels 56 are blocked, may be great enough to tear or crumple the filter, or cause the liquid to clog the filter 66. Therefore, to withstand the pressure, prevent tearing, and provide mechanical support to keep the filter straight and flat, the filter 66 is positioned between a plurality of closely spaced support ribs 68 from above and below.

[0021] A problem that frequently occurs with prior art vial adapters is that improper installation of the vial adapter onto the vial can easily allow liquid and vapor to leak into the surroundings, or conversely, air from the surroundings can enter the vial, making the drug in the vial susceptible to microbial contamination. The cause of this problem is that when the vial adapter is manually installed, the spike is often not properly centered and / or is typically inserted into the vial stopper at an angle. Such inaccuracies can cause tearing of the vial rubber stopper when the vial adapter is fully seated onto the vial and the locking wings force the center position of the spike and adapter.

[0022] US9,510,997 describes a vial adapter designed to overcome the problem of tearing of the rubber stopper in the vial due to incorrect insertion of the spike of the vial adapter. The vial adapter of this application is composed of two parts: a base adapted to attach to the head of a standard drug vial, and a top adapted to couple to the base and also to the connector section of the drug transfer device described herein above, or to another component of a medical transfer system such as a syringe.

[0023] The method of operation of this vial adapter is to allow the spike to be sealed and move away from the rubber stopper of the vial until the vial adapter is properly positioned and locked in the head portion of the vial. At this locked stage, the spike is not yet in contact with the stopper. With the proper positioning and locking thus achieved, the spike is fixed in a centrally perpendicular position relative to the rubber stopper. Only then is the vial adapter ready to be further advanced in an axial movement to guide the spike and precisely puncture the stopper until the final position where the vial adapter is irremovably locked in the vial.

[0024] It is important to emphasize that although the procedure is described herein as including several steps, this is for the purpose of briefly describing the procedure only. In reality, it should be understood that a secure engagement procedure using the present invention is performed using a single smooth axial movement.

[0025] 5a and 5b are perspective views showing different views of the bottom 202 of the vial adapter of US 9,510,997. The bottom 202 is a generally cylindrical structure with a hollow interior. The bottom of the structure has an inner diameter that is slightly larger than the inner diameter of the cap of the vial to be connected. On the inside of the lower part of the bottom 202 are a number of inwardly facing teeth 206. The teeth 206 are at the end of a flexible arm that pushes the teeth 206 radially outward and then allows them to snap back to their original position when the outward force against them is removed. Also seen on the inside of the lower part of the bottom 202 are a number of inwardly facing teeth 208 associated with the teeth 206. On the outside of the arm to which the teeth 206 are attached are protrusions 210 for locking the two parts of the vial adapter together.

[0026] 6 shows the top 204 of the vial adapter 200. The top 204 is a generally cylindrical structure. At the center of the structure is a downwardly projecting spike 218 that is in fluid communication with an upwardly projecting structure 220 designed to connect in a standard manner to another component of a drug delivery system. Projecting downwardly are at least two wings 216, some of which have windows 214 therein that serve to connect the upper portion 204 to the lower portion, as described herein below.

[0027] Not shown in the figure are the air and liquid channels that pass through the interior of vial adapter 200 from the membrane at the top of structure 220 to the tip of spike 218. The membrane and channels are similar to membrane 15a and channels 56 and 58 shown in FIG.

[0028] 7a and 7b are perspective views showing different views of vial adapter 200. Top 204 is slid and locked into bottom 202 in a first locked configuration. In FIG. 7a, it can be seen how protrusion 210 of bottom 202 fits into window 214 in wing 216 of top 204 to achieve locking of the two parts of vial adapter 200 together, preventing them from moving relative to each other even when pushed. Also seen in FIG. 7a is snap 212, which has inwardly facing teeth on the bottom edge of bottom 202 and outwardly facing ledge 222 around the circumference of top 204. Snap 212 and ledge 222 interact to lock top 204 to bottom 202 in a second locked configuration described herein below.

[0029] 8-11 show different stages of telescopic attachment of vial adapter 200 to a vial.

[0030] 8, the cap of the vial is not yet inside the bottom of the vial adapter 200. In enlarged detail A, it can be seen how the protrusion 210 on the bottom 202 fits into a window 214 on the wing 216 on the top 204, locking the two pieces together.

[0031] In the second stage, shown in Figure 9, the vial cap begins to enter the interior of the bottom of vial adapter 200. In enlarged detail A, it can be seen how teeth 206 and 208 are pushed radially outward by the vial cap while wings 216 are pushed radially outward by the backside of teeth 208. Protrusions 210 on bottom 202 press into windows 214 in wings 216 on top 204, keeping the two parts locked together but preventing parts 104 and 202 from sliding against each other.

[0032] In the third stage, shown in FIG. 10, the vial cap is inside the bottom of the vial adapter 200 up to its end. In the enlarged detail A, it can be seen how the tooth 208 continues to push the wings 216 radially outward. At the same time, the vial cap no longer pushes the tooth 206 outward, allowing the arm to which the tooth 206 and the protrusion 210 are attached to rebound radially inward. As a result, the tooth 206 moves under the edge of the cap that securely attaches the vial to the vial adapter 200, and the protrusion 210 of the bottom part 202 is pulled out of the window 214 on the wings 216 of the top part 204, thereby releasing the lock between the two parts.

[0033] Note that at this stage, the spike is not yet in contact with the top bung of the vial, and to make contact, all the locks must be open, indicating that the adapter is fully installed and the spike is in a central, vertical position relative to the rubber bung of the vial, and ready to puncture accurately. If even one of the locks is not open, parts 202 and 204 will not move until all are in place and unlocked. As a result, in the fourth stage shown in FIG. 11, as the top 204 of the vial adapter is pushed downward toward the vial, the spike is pushed through the vial bung, exactly in the center of the vial bung and perpendicular to it. As the top 204 slides over the bottom 202, the wings 216 slide to grip the sides of the vial, adding additional stability to the connection. Eventually, the top tooth of snap 212 slides over the top of ledge 222 to lock both parts of vial adapter 200 together, thus preventing reverse movement that could pull the spike out of the vial. In an embodiment of the vial adapter, snap 212 is constructed to provide confirmation to the user that the attachment process is complete, both by audible sound and visual observation.

[0034] FIG. 12 shows vial adapter 200 in its final position, non-removably attached to a medical vial.

[0035] An embodiment of vial adapter 200 designed to be coupled to a transfer device as described hereinabove can include a filter located, for example, at apex 204 above the spike, as described hereinabove for vial adapter 15 (see FIG. 4).

[0036] 13 is a cross-sectional view showing a spike adapter 160 used in combination with the fluid transfer device 10 to transfer medication to and from an intravenous (IV) bag. The spike adapter 160 comprises a body 162 terminating at a proximal end in a spike element 164 and at a distal end in a standard "threaded" end 166 to a spike port for connecting an infusion set. Substantially perpendicular to the body 162 is a longitudinal extension 168. At the end of the longitudinal extension 168 is a membrane enclosure 170 and a membrane 172. The interior of the spike adapter 160 comprises two separate channels 174 and 176 for fluid and air from the tip of the spike element 164 to the membrane 172. The connector section 14 with the syringe attached can be connected to the longitudinal extension 168 as described herein above with respect to the vial adapter 15 of FIG. 3, thereby allowing the insertion of a medication from the syringe into an IV bag, or the withdrawal of liquid from the IV bag into the syringe for use in reconstituting the medication.

[0037] The vial adapter and other components described herein above are presented to illustrate the principles of operation of the Equashield® closed drug transfer system. Over the years, many improvements to these components have been developed and produced. For example, many of these improvements have been made in the connector section 14, and in particular in the actuator that holds the membrane that seals the connector section to the vial adapter. The dual membrane sealing actuator 34 shown in FIG. 1a has now been replaced by a single membrane septum holder, the latest embodiment of which is described in Israeli Patent Application No. 261024, co-pending with the applicant of the present application. An exploded view of this septum holder with a movable septum is shown in FIG. 14.

[0038] The septum holder 500 is comprised of a body portion 560 and a septum support 561. The body portion 560 includes a disk-shaped upper surface and a side element 592 projecting downward from the upper surface. The element 592 can have other shapes and sizes than those shown in the figures. Two equal-length resilient elongated arms 562 terminating in a distal extension element 563 are attached to its sides and project vertically downward parallel to each other as shown in FIG. 14. Two pairs of projecting elements 577 project vertically downward from the lower surface of the body portion 560. Each pair of projecting elements 577 defines a slot 578 between the elements of the pair. The slot 578 passes vertically upward through the disk-shaped upper surface of the body portion 560. Also visible in FIG. 14 are one of two windows 580 and one of two slots 589 in element 592 of body portion 560, as well as hole 579 passing through the top surface of body portion 560.

[0039] In the embodiment shown in the figures, the septum support 561 is comprised of a disk-shaped septum seat 582 from which two resilient elongated arms 586 project upwardly parallel to the arms 562. At the lower end of each arm 586 there is an outwardly projecting shoulder 590, and at the upper end of each arm 586 there is an outwardly projecting toothed element 588 having a lower horizontal surface and an upper inclined surface. In this embodiment, an insert 568 containing two bores 570 (in the embodiment not shown, only one bore) forms the seat of the two needle valves. One or two holes 579 (depending on the embodiment) are made in the body portion 560 to allow the needles to pass through the septum holder 500. The insert 568 passes through an opening 584 in the septum seat 582 and is held in place by small spikes 581 and 583. The lower edge of septum 572 is structured as an inwardly protruding edge that retains septum 572 on septum seat 582 when pressed onto septum seat 582 .

[0040] Due to the length of the arm 586 of the septum support 561 and other features of the septum holder 500, the septum seat 582 and attached insert 568 and septum 572 can be releasably retained in an unblocked configuration and moved and locked relative to the body portion 560 in a blocked configuration.

[0041] In co-pending Israeli patent application No. 257778, the applicants of the present invention describe a novel device for securing a male-female connection, comprising a female connector with a fixed actuator section, a male connector, one or more anchorages, and at least one rotatable gear. The device has been demonstrated for use in connecting components of a system for transferring liquid between two containers, for example from a pharmaceutical vial to a syringe, or vice versa.

[0042] 23 is a perspective view of the body of an embodiment of a female connector 1201, with the interior of the receiving section 1202 visible through an opening 1203 in the proximal side of the connector 1201. A ladder 1204 including a number of rungs (e.g., 1205) is formed on the front or rear side of each of the left and right sides of the interior of the receiving section 1202. A rail 1206 is formed on the opposite side (i.e., rear or front) of each of the left and right sides of the interior of the receiving section 1202. Assuming that the gears comprise sprockets sized to correspond to the spaces between the rungs 1205, a track, generally indicated by the numeral 1207, is defined between the rail 1206 and the ladder 1204 along which the gears may move longitudinally.

[0043] 24 is a perspective view of a fixed actuator 1401 according to the present invention, comprising a rotatable gear 1402 rotatably coupled to a guide 1403 on each side of a base 1407. Each gear 1402 comprises a number of sprockets (e.g., 1404) arranged peripherally around a void portion 1405, while a gap 1406 is formed by removing a portion of the periphery, thereby allowing access to the void portion beyond the periphery of the gear. Not shown in FIG. 24 is a membrane (see FIG. 28 - reference number 1706) attached to the bottom of the base 1407.

[0044] 25 is a cross-sectional perspective view of the female connector 1201 with the fixed actuator 1401 residing therein. The guides 1403 are positioned in the track 1207 such that the sprockets of each gear 1402 are inserted between the rungs 1205 of the ladder 1204. Longitudinal movement of the actuator 1401 along the track 1207 rotates the gears 1402 as the sprockets are forced to rotate about their axes of rotation. Thus, the orientation of the gap 1406 relative to the aperture 1203 changes with the longitudinal movement of the actuator 1401.

[0045] Figure 26 is a cross-sectional view of protruding section 1222 of male connector 1221. Protruding section 1222 can be, for example, the upwardly projecting structure of the vial adapter shown in Figures 5a-12 or the spike adapter shown in Figure 13. There are two anchorages 1223 on either side of a recess surrounding membrane 1224 at the top of protruding section 1222.

[0046] 27a-c show perspective views of the protruding section 1222 of the male connector inserted into the receiving section 1202 of the female connector 1201 (shown in cutaway). The width of the anchorage 1223 corresponds to the size of the gap 1406 so that the ledge 1223 can pass through the gap 1406 and be accommodated in the void portion 1405. The height and depth of the anchorage 1223 correspond to the diameter and depth of the void portion 1405, respectively, so that the gear 1402 can rotate freely while the ledge 1223 is inside the void portion 1405. FIG. 27a shows that the anchorage 1223 is inserted through the gap 1406 into the void portion 1405. In this position, the gear gap 1406 hits the anchorage 1223 from the side, causing the rotation of the gear 1402 to be disabled, which then causes the movement of the entire actuator 1401 to be disabled. As shown in FIG. 27b, further insertion of the protruding section 1222 into the receiving section 1202 causes the anchorage 1223 to pass completely through the gap 1406 and be accommodated within the void portion 1405. Still further insertion of the protruding section 1222 into the receiving section 1202 causes the gear 1402 to rotate according to the direction indicated by the ladder 1204 (i.e., clockwise in the embodiment shown in FIG. 27c, as indicated by the circular arrow A). With the initial rotation of the gear 1402, the anchorage 1223 is trapped and locked inside the void portion 1405, and remains fixed throughout the entire connection and disconnection process. For the process of compression of the two elastic membranes described above, the moment of the initial rotation of the gear 1402 means the exact locking position of the membranes at a certain inseparable squeeze. With the further insertion of the protruding section 1222 into the receiving section 1202, the locked membrane is pierced by the stationary needle of the female connector.

[0047] 27c, the position of the actuator 1401 does not allow the anchorage 1223 to leave the void portion 1405, thus preventing proximal displacement of the protruding section 1222 of the male connector 1221, unless the gear 1402 rotates to release the anchorage 1223 from the gear. Clearly, as will be apparent to one skilled in the art, in any position of the gear 1402 along the ladder 204 where the gap 1406 is not on the opposite side of the opening 1203, the anchorage 1223 will remain inside the void portion 1405.

[0048] For disconnection of the female connector 1201 from the male connector 1221, the process is reversed and as the protruding section 1222 is withdrawn from the receiving section 1202, the gear 1402 rotates counterclockwise along the ladder 1204 until the anchorage 1223 is on the other side of the gap 1406 and can leave the void portion 1405. During disconnection in the parallel process described above, first the needle retracts from the membrane and at the moment when the anchorage 1223 is on the other side of the gap 406 and leaves the void portion 1450, the membranes separate safely and without leaving any liquid residue on their surfaces.

[0049] Figure 28 shows a schematic of the female connector 1201 and connected syringe 1704 of a drug delivery system in cross-section. When the actuator 1401 is at its lowest position within the female connector 1201, the needles 1703 and 1705 are located in the space above the membrane 1706 and their tips are isolated from the surroundings. When the actuator 1401 is pushed upwards (artificially in Figure 28 without inserting a male connector), the needles 1703 and 1705, which in this particular embodiment are part of the connector 1201, pierce the membrane 1706.

[0050] Figure 29 is a side cross-sectional view of the male connector 1221 and female connector 1201 with the male connector 1221 attached by ledge 1223 locked within gear 1402 and the actuator 1401 in a position pushed as far up as possible inside the receiving section 1202 of the female connector 1201 until the relative membranes 1224 and 1706 are pressed against each other and the needle has pierced both membranes and is positioned inside the vial.

[0051] All of the improved components described herein above include separate internal channels for air and liquid to allow for pressure equalization as liquid is transferred from one container to another without venting or introducing air to the atmosphere.

[0052] To provide maximum benefit to users of the Equashield® Closed Medication Transfer System, the applicant has developed a fully automated robotic system designed to assist hospital pharmacies in compounding medicines, including hazardous drugs, and to prepare syringes and IV bags containing the required amount of liquid medication for administration to a patient according to the patient's individual prescription. The system is described in detail in U.S. Pat. No. 10,181,186. The system comprises a biological safety cabinet and at least two robotic arm assemblies configured to simultaneously move vials and syringes within the safety cabinet. Each of the robotic arm assemblies comprises three mechanical arrangements configured to independently move either a vial gripper assembly or a syringe gripper assembly and a syringe pump in three dimensions along three mutually orthogonal beams. Within the cabinet are multiple operating stations adapted to perform specific tasks related to the compounding process. The operation station includes at least one reconstitution module configured to connect at least one vial thereto and to allow injection of a predetermined amount of liquid into the vial, at least one vial shaker module configured to connect one or more vials containing a reconstituted drug thereto and to allow shaking for a predetermined period of time and a predetermined shaking method, at least one vial flipper module configured to connect at least one vial thereto and to allow inversion of the vial, at least one IV bag base module to which an operator of the system can attach an IV bag, a syringe magazine, a number of cameras each installed at a specific location in the safety cabinet or on the robotic arm assembly, and a processor. Each of the cameras is dedicated to providing a real-time digital image of a stage of the preparation process carried out at that location.Dedicated software and algorithms in the system processor enable nearly all steps of the compounding process to be performed automatically by the robotic arm assembly without intervention by an operator or supervisor, and the cameras and image processing algorithms are adapted to provide feedback control of every stage of the compounding process in real time.

[0053] Figure 22a is a schematic diagram of a safety cabinet with portions of the exterior walls and interior dividers removed to show how the interior space is arranged to receive vials, syringes, and IV bags that are "loaded" therein by an operator. Shown in Figure 22 are the work surface 816, the vial insertion area 842, two IV bag base modules 826(1) and 826(2), two syringe pump robotic arm assemblies 838, a syringe magazine 840, and a vial robotic arm assembly 828.

[0054] FIG. 22b illustrates the vial robotic arm assembly 828 in schematic form. Under the direction of the system's software, the vial robotic arm assembly 828 is configured to pick up vials from the vial insertion area 842, move them anywhere on the work surface 816 behind the interior divider, connect and disconnect them to the reconstitution module, shaker, and inversion mechanism, and release them to a new location on the work surface 816 or into a waste bin. The degree of motion required to perform these tasks is provided by a mechanical arrangement, e.g., x-axis motor and gearbox 848, which rotates a screw, chain, or belt to move y-axis motor and gearbox 852 in the x-direction along x-axis beam 850. Y-axis motor and gearbox 852 rotates a screw to move z-axis motor and gearbox 856 in the y-direction along y-axis beam 854. Z-axis motor and gearbox 856 moves vial gripper assembly 860 up and down in the z-direction along z-axis beam 858. Motors 848, 852, and 856, as well as all other motors in the system, are reversible electric motors.

[0055] 22c shows a schematic of the vial gripper assembly 860. The main components of the vial gripper assembly are a motor 868, a load cell 870 that provides an estimate of the amount of drug in the vial, and a vial gripper 866 that is adapted to connect to a vial adapter 864. To pick up a vial, the control system actuates motors 848 and 852 to position the vial gripper directly above a vial adapter 864 attached to a vial 862, and then actuates motor 856 to push the vial gripper 866 on the vial adapter 864.

[0056] FIG. 22d illustrates the syringe pump robotic arm assembly 838 in schematic form. Under the direction of the system's software, the syringe pump robotic arm assembly is configured to (1) move the syringe pump to remove the empty syringe from the syringe magazine, (2) move the syringe to the appropriate location below the work surface 816, (3) connect the syringe (through a vial adapter) to one of the vials in the vial inversion mechanism, (4) remove the liquid from the vial, (5) disconnect the syringe, (6) move the filled syringe and connect it to the IV bag via a spike adapter connected to the IV bag, (7) wait until the syringe pump 36 is actuated to inject the contents of the syringe into the IV bag, (8) repeat the process until a sufficient volume has been injected into the IV bag, and finally move the empty syringe to a waste bin and discharge it therein. The syringe pump robotic arm assembly performs steps (1)-(8) mutatis mutandis when the prescription is to be delivered to a patient by the infusion pump cartridge. If the medication is to be delivered to the patient by injection from a syringe, the syringe pump robotic arm assembly performs steps (1)-(4) and then connects the syringe to the protective plug on the IV bag base 826 and leaves it there, i.e., releases its grip. The operator then pulls the protective plug from its mount, with the syringe attached through the slot in the work surface 16, and carries the syringe with the plug attached out of the safety cabinet through the open front of the safety cabinet above surface 816.

[0057] Syringe pump robotic arm assembly 838 is configured to pick up syringes and move them to different stations below work surface 816. The degree of motion required to perform these tasks is provided, for example, by x-axis motor and gearbox 124, which rotates a screw to move y-axis motor and gearbox 128 in the x-direction along x-axis beam 130. Y-axis motor and gearbox 128 rotates a screw to move z-axis motor and gearbox 132 in the y-direction along y-axis beam 130. Z-axis motor and gearbox 132 moves syringe pump 36 up and down in the z-direction along z-axis beam 134.

[0058] FIG. 22e shows a schematic of a syringe pump 836. The syringe 122 is securely attached to the housing 136 by a syringe barrel gripper 144 and a syringe bottom gripper 146. The plunger cap is secured to a syringe plunger gripper 140. The syringe plunger gripper 140 can be moved up and down on a pump rail 142 by a lead screw 138 that is rotated by a motor and gearbox inside the housing 136, thereby drawing liquid into or expelling it from the barrel of the syringe.

[0059] Far more commonly used in the art than closed transfer systems for hazardous drugs are open transfer systems for use with non-hazardous drugs. In open systems, pressure equalization during liquid transfer operations is achieved by venting air to the surroundings when there is overpressure in the system, or by drawing atmosphere inward by low pressure within the system.

[0060] Safety considerations and regulations for handling hazardous drugs require that the Equashield® system be a closed design with special components that allow for closed operation, and further, that the components of the Equashield® closed drug transfer system be manufactured from relatively expensive and difficult to handle materials with very tight tolerances. Thus, while components produced for hazardous drugs can also be used for non-hazardous drugs, in the latter application it would be desirable to provide components for an open transfer system that retains the advantages of a closed drug transfer system, i.e., simple, fast, and safe handling and connection, using both manual and robotic systems.

[0061] It is an object of the present invention to provide components for an open transfer system that provide simple, quick and safe handling and connection.

[0062] Another object of the present invention is to provide components for an open transfer system that are configured for use in a robotic system designed to assist hospital pharmacies in compounding and preparing doses of medicines, including non-hazardous drugs.

[0063] Further objects and advantages of the invention will become apparent as the description proceeds. Summary of the Invention

[0064] Presented herein, in a first aspect, is a robotic system for compounding and preparation of medicines, including non-hazardous drugs. The system includes a laminar flow cabinet, at least one robotic arm, and at least one vented drug vial adapter. The vented drug vial adapter includes a hydrophobic vent filter. The drug vial adapter and the robotic system are configured to allow liquid to be drawn from and inserted into the drug vial.

[0065] An embodiment of the robotic system comprises: (i) at least two robotic arm assemblies configured to prepare syringes and intravenous (IV) bags containing prescribed amounts of liquid medication for administration to a patient according to the patient's individual prescription by moving medication vials and syringes with vented vial adapters connected thereto within a laminar flow cabinet; (ii) a camera; and (iii) a system processor including software including imaging process algorithms adapted to provide real-time feedback control of all stages of the compounding process.

[0066] In an embodiment of the robotic system, the robotic arm assembly is configured to move in three mutually orthogonal directions.

[0067] Embodiments of the robotic system include at least two robotic arm assemblies configured to move in three mutually orthogonal directions to prepare syringes and IV bags containing required amounts of liquid medication for administration to a patient according to the patient's individual prescription by moving a medication vial with a vented vial adapter connected thereto and a syringe with a connector section connected thereto within a laminar flow cabinet, a camera, and a system processor including imaging process algorithms adapted to provide real-time feedback control of all stages of the compounding process. a) connector sections, each of which: (i) a septum holder comprising two parallel, resilient, elongated arms attached to the sides of a body and projecting vertically downward, each arm having a distinctively shaped protrusion on the inside of the distal end of the arm; or (ii) a fixed actuator section comprising at least one rotatable gear having at least one rung formed on an inner wall of the connector section and a sprocket circumferentially disposed about the periphery of the gear, a void portion configured to receive the anchorage, and a gap formed in the gear such that the void section is provided with an opening that changes orientation with rotation of the gear; b) a vented drug vial adapter, each (i) an upwardly projecting portion having a membrane at a proximal end and a socket on an outer proximal end, the socket having a shape and dimensions configured to match the shape and dimensions of a distinctively shaped protrusion on the inside of an arm of a septum holder; or (ii) an upwardly protruding portion having a membrane at a proximal end and an anchorage on an outer proximal end, the anchorage having a shape and dimensions configured to pass through the gap and fit into a void in a gear of a fixed actuator section of the connector.

[0068] As a result of these characteristic features, the connector section can only be connected to drug vials that are connected to vented vial adapters that include a compatible socket or anchorage on the outer surface.

[0069] In an embodiment of the robotic system, a distinctively shaped protrusion is on the outside of the upwardly projecting structure of the vial adapter, and a matching socket is on the inside of the arms of the septum holder in the connector section and holder, as well as at the distal end of the gripper assembly.

[0070] An embodiment of the robotic system includes a spike adapter configured to connect to an intravenous (IV) bag. The spike adapter includes: a) a body terminating in a spike element at a proximal end of the body, the spike element comprising separate liquid and air channels; b) a standard port for connecting an infusion set at a distal end of the body, the standard port being in fluid communication with an air channel in the spike; c) a longitudinal extension connected substantially perpendicular to the body, a proximal end of the longitudinal extension comprising a membrane and configured to be coupled to the connector section, the longitudinal extension comprising a liquid channel in fluid communication with the liquid channel in the spike.

[0071] The spike adapter is characterized in that the longitudinal extension comprises one of: (i) a socket having a shape and dimensions configured to match the shape and dimensions of a distinctively shaped protrusion on the arm of the septum holder, or (ii) an anchorage having a shape and dimensions configured to pass through the gap and fit into a void in a gear of a fixed actuator section of the connector section, thereby allowing the spike adapter to be connected only to connector sections that comprise either septum holders with compatible protrusions or fixed actuator sections with compatible gaps and void sections.

[0072] In an embodiment of the robotic system, the cameras and software are configured to recognize sockets, protrusions, gaps, voids, and anchorages and to alert a user if the wrong component is installed in the cabinet, and the robotic arm assembly includes mechanical features to ensure that only components compatible with the open transfer system are used.

[0073] In an embodiment of the robotic system, a robotic arm assembly configured to pick up, move, and release the syringe includes specialized mechanisms for gripping the connector and syringe in various orientations, and the system requires software configured to handle various syringes and various orientations, identify them, and read the appropriate dosage, thereby enabling the system to use conventional syringes from various manufacturers and of various shapes and sizes.

[0074] Presented herein in a second aspect is an open liquid drug transfer system assembly including a first embodiment of a vented vial adapter and a first embodiment of a connector section, comprising: A) The connector section is a) a hollow outer body having a proximal end configured to connect to a conventional syringe and having an opening at a distal end configured to allow the proximal end of a vented vial adapter to be inserted for coupling; b) a hollow needle that serves as a liquid conduit through the connector section; c) (i) a septum holder comprising two parallel, resilient, elongated arms attached to the sides of a body and projecting vertically downward, each arm having a distinctively shaped protrusion on the inside of the distal end of the arm; or (ii) a fixed actuator section comprising at least one rotatable gear having at least one rung formed on an inner wall of the connector section and a sprocket circumferentially disposed about the periphery of the gear, a void portion configured to receive the anchorage, and a gap formed in the gear such that the void section is provided with an opening that changes orientation with rotation of the gear; B) A first embodiment of a vented vial adapter, comprising: a) a distal structure configured to attach the vial adapter to a drug vial; b) a downwardly projecting spike element on the medial side of the distal structure; c) an upwardly projecting structure projecting upwardly from the distal structure, the upwardly projecting portion comprising a membrane at a proximal end thereof, the proximal end of the upwardly projecting structure being adapted to be coupled to the connector section; and d) a liquid channel formed internally within the upwardly projecting structure and spike element, the liquid channel configured to allow fluid communication through the vial adapter from an opening at the tip of the spike to a proximally located membrane; e) a hydrophobic filter located on the distal structure below the upwardly protruding structure; and f) an air channel formed internally within the vial adapter proximal to the hydrophobic filter and spike element, the air channel configured to allow fluid communication through the vial adapter from an opening at the tip of the spike to a vent located proximal to the hydrophobic filter, and to allow fluid communication between the air channel and an exterior of the vial adapter; g) an upwardly protruding structure, (i) a socket at the outer proximal end, the socket having a shape and dimensions configured to match the shape and dimensions of a distinctively shaped protrusion on the inside of the arm of the septum holder; or (ii) an upwardly protruding portion having a membrane at a proximal end and an anchorage on an outer proximal end, the anchorage having a shape and dimensions configured to pass through the gap and fit into a gap in a gear of a fixed actuator section of the connector;

[0075] The protrusion, socket, gap, and anchorage features allow the connector section to be connected only to drug vials that are connected to the vented vial adapter of the first embodiment that includes a compatible socket or anchorage.

[0076] In an embodiment of an open liquid drug transfer system assembly including a first embodiment of a vented vial adapter, a distinctively shaped protrusion is on the outside of the upwardly protruding structure of the vial adapter and a matching socket is on the inside of the arm of the septum holder in the connector section.

[0077] The embodiment of the open liquid drug transfer system assembly including the first embodiment of the vented vial adapter additionally comprises a spike adapter configured to connect to an intravenous (IV) bag. The spike adapter comprises: a) a body terminating in a spike element at a proximal end of the body, the spike element comprising separate liquid and air channels; b) a standard port for connecting an infusion set at a distal end of the body, the standard port being in fluid communication with an air channel in the spike; c) a longitudinal extension connected substantially perpendicular to the body, a proximal end of the longitudinal extension comprising a membrane and configured to be coupled to the connector section, the longitudinal extension comprising a liquid channel in fluid communication with the liquid channel in the spike.

[0078] The spike adapter has a longitudinal extension, (i) a socket having a shape and dimensions configured to match the shape and dimensions of a distinctively shaped protrusion on the arm of the septum holder; or (ii) an anchorage having a shape and dimension configured to pass through the gap and fit into a void in the gear of the fixed actuator section of the connector section, thereby enabling the spike adapter to be connected only to connector sections that have either a septum holder with compatible protrusions or a fixed actuator section with compatible gap and void sections.

[0079] In an embodiment of the open liquid drug transfer system assembly, a first embodiment of a vented vial adapter includes: (a) a base adapted to be attached to a head section of any type of container or device having a head section similar to that of a medical vial or a standard pharmaceutical vial; (b) a top portion, (i) a disk-shaped center piece and a plurality of wings adapted to facilitate fastening of the top to the bottom, the wings being attached to and projecting distally from a periphery of the disk-shaped center piece; (ii) an upwardly projecting structure projecting upwardly from the disk-shaped center piece, the upwardly projecting structure adapted to be coupled to the connector section; and (iii) a membrane sealing the proximal end of the upwardly projecting structure; and (iv) a spike element projecting distally from the center of the disk-shaped center piece; (v) a top portion comprising air and liquid channels formed internally within the vial adapter proximal to the hydrophobic filter and spike element, the channels adapted to allow fluid communication through the vial adapter from a membrane sealing the proximal end of the upwardly protruding structure to an opening at the tip of the spike; (c) a first locking mechanism; and (d) a second locking mechanism; and (e) a ring-shaped flat hydrophobic filter located in the disk-shaped central piece below the upwardly protruding structure, wherein the vial adapter and the filter are configured to allow liquid flowing through the liquid channel to pass through the vial adapter without passing through the filter, and the filter positioned across the air channel to allow air flowing through the air channel to pass through the filter and prevent liquid flowing through the air channel from passing through the filter; (i) a first locking mechanism adapted to lock the top portion to the bottom portion when the head section is attached to the bottom portion such that the tips of the spikes cannot contact the plugs in the head section, and to release the top portion from the bottom portion after the bottom portion is attached to the head section; (ii) a second locking mechanism adapted to allow the spike to penetrate a plug in the head section and irremovably lock the top portion to the bottom portion after the bottom portion is attached to the head section; (iii) an air channel above the filter including an entire interior volume of the upwardly-projecting structure not occupied by the liquid conduit and an air vent in a side of the upwardly-projecting structure that allows fluid communication between the air channel and an exterior of the vial adapter; (iv) an upwardly protruding structure, (a) a socket having a shape and dimensions configured to match the shape and dimensions of a distinctively shaped protrusion on the arm of the septum holder; or (b) an anchorage having a shape and dimension configured to pass through the gap and fit into a void in the gear of the fixed actuator section of the connector section, thereby allowing the spike adapter to be connected only to connector sections that include either a septum holder with compatible protrusions or a fixed actuator section with compatible gap and void sections.

[0080] In an embodiment of the open liquid drug transfer system assembly including the second embodiment of the vented vial adapter, a distinctively shaped protrusion is on the outside of the upwardly protruding structure of the vial adapter and a matching socket is on the inside of the arm of the septum holder in the connector section.

[0081] The embodiment of the open liquid drug transfer system assembly including the second embodiment of the vented vial adapter additionally includes a spike adapter configured to connect to an intravenous (IV) bag. The spike adapter comprises: a) a body terminating in a spike element at a proximal end of the body, the spike element comprising separate liquid and air channels; b) a standard port for connecting an infusion set at a distal end of the body, the standard port being in fluid communication with an air channel in the spike; c) a longitudinal extension connected substantially perpendicular to the body, a proximal end of the longitudinal extension including a membrane and configured to be coupled to the connector section, the longitudinal extension including a liquid channel in fluid communication with the liquid channel in the spike; The spike adapter has a longitudinal extension, (i) a socket having a shape and dimensions configured to match the shape and dimensions of a distinctively shaped protrusion on the arm of the septum holder; or (ii) an anchorage having a shape and dimension configured to pass through the gap and fit into a gap of a gear of the fixed actuator section of the connector section; This feature allows the spike adapter to be connected only to connector sections that either have a septum holder with a compatible protrusion or a fixed actuator section with a compatible gap and void section.

[0082] All the above-mentioned and other characteristics and advantages of the present invention will be further understood through the following illustrative and non-limiting description of embodiments thereof, with reference to the accompanying drawings, in which: [Brief description of the drawings]

[0083] [Figure 1a-1b] 1 is a schematic cross-sectional view of a prior art device for delivering hazardous drugs without contaminating the surroundings; [Figure 2-3] 1A and 1B show a perspective view and a cross-sectional view, respectively, of a prior art vial adapter designed to be part of a device for transferring hazardous drugs without contaminating the surroundings. [Figure 4]Cross-sectional views of prior art vial adapters of FIGS. 2 and 3 modified to include a hydrophobic filter membrane. [Figure 5a-12] Another figure showing an alternative embodiment of a prior art vial adapter designed to be part of an apparatus for transferring harmful agents without contaminating the surroundings. [Figure 13] Cross-sectional view showing a prior art spike adapter used in combination with a fluid transfer device and a connector section for transferring a drug between an intravenous (IV) bag. [Figure 14] Schematic exploded view of a septum holder for a single membrane seal actuator of a connector section. [Figure 15a] Cross-sectional view schematically showing a vial adapter adapted for use in an open transfer system. [Figure 15b] Schematically shows the path of a two-way flow of liquid and air through the vial adapter of FIG. 15a. [Figure 16a-16b] Shows an alternative location of the vent hole of the vial adapter of FIG. 15. [Figure 17] Shows another embodiment of a vial adapter designed for use in an open transfer system. [Figure 18a] Shows an open transfer system partially assembled for use. [Figure 18b] Cross-sectional view of the open transfer system of FIG. 18a in a blocked configuration. [Figure 18c] Shows the connector section of the open transfer system of FIG. 18a. [Figure 19a] Shows the open transfer system of FIG. 18a in a fully assembled configuration for fluid transfer. [Figure 19b] Cross-sectional view of the open transfer system of FIG. 19a. [Figure 19c] Enlargement of section A in FIG. 19b focusing on the vial adapter and the connected syringe connector. [Figure 20a-20b]1 shows diagrammatically an element that allows two components of an open transfer system to be connected together and prevents an open transfer component from connecting with a closed transfer component. [Figure 21a] 1 illustrates a schematic of a spike adapter for connecting to an IV bag. [Figure 21b] FIG. 21b is a cross-sectional view of the spike adapter of FIG. 21a. [Figure 22a] FIG. 1 is a schematic diagram of the interior of a safety cabinet of a robotic system for preparing drugs and pharmaceuticals for administration to a patient. [Figure 22b] 1 illustrates a schematic of a vial robotic arm assembly. [Figure 22c] 1 illustrates a schematic of a vial gripper assembly. [Fig. 22d] 1 illustrates a schematic of a syringe pump robotic arm assembly. [Figure 22e] 1 shows a schematic diagram of a syringe pump. [Diagram 23] FIG. 1 shows a schematic perspective view of a prior art female connector body. [Figure 24] FIG. 1 is a perspective view of a fixed actuator of the prior art; [Diagram 25] 25 is a cross-sectional perspective view of the female connector body of FIG. 23 with the fixed actuator of FIG. 24 present therein. [Figure 26] FIG. 2 is a cross-sectional view of the top of a prior art male connector. [Fig. 27a-27c] 24 is a cross-sectional view of a prior art male section inserted into the female connector body of FIG. 23 at multiple successive positions. [Figure 28] FIG. 25 is a cross-sectional view showing the female connector of FIG. 23 with the actuator of FIG. 24 artificially pushed up without the male connector inserted for purposes of clarity, thus exposing the needle that has passed through the membrane of the actuator. [Figure 29]26 and 25 in cross-section in a close position with their relative membranes pressed against each other to prevent leakage of liquid, with a needle piercing both membranes and positioned inside the vial when viewed from the front. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0084] For over ten years, the applicant of the present application has been engaged in the development, manufacture, and sale of components for closed system liquid transfer devices designed to provide contamination-free transfer of hazardous drugs. These products are used to reconstitute powdered drugs and transfer hazardous drugs in liquid form between drug vials, syringes, and IV bags. Some of the products developed, and the robotic systems that utilize them for the automated preparation of prescriptions, are described in the background section of this application. The present invention relies on work previously conducted on components for closed systems to develop similar components for use in preparing prescriptions containing non-hazardous drugs.

[0085] The medication is supplied by the manufacturer in a vial either as a liquid or a powder. If in powder form, it must be reconstituted by adding a measured amount of liquid diluent to the inside of the vial. In either case, preparation of the prescription involves drawing a measured amount of the liquid medication from the vial into a syringe.

[0086] Figure 15a is a cross-sectional schematic view of a vial adapter 300 adapted for use in an open transfer system. Vial adapter 300 comprises two parts, a top part 304 and a bottom part 302. The structure of these two parts of vial adapter 300, and the manner in which they telescope together when connected to a drug vial, are similar in most respects to the corresponding parts of vial adapter 200 described herein above in connection with Figures 5a-12.

[0087] In contrast to closed system vial adapter 200, vial adapter 300 has only one conduit (liquid conduit 308) that runs throughout the vial adapter from the bottom of septum 322, resting on septum seat 310, through upwardly protruding structure 306, to the tip of spike 312, which seals the top of the vial adapter.

[0088] Vial adapter 300 includes hydrophobic filter 316. The filter is made of a thin, disk-shaped piece of hydrophobic material. Holes are drilled into it to allow liquid to pass freely through liquid conduit 308. Filter 316 is positioned between a number of adjacent support ribs from above and below, and its outer and inner edges are welded, glued, or mechanically pressed into the top 304 of the vial adapter as described herein above with respect to FIG.

[0089] Air channel 314 through the spike terminates in an open space 324 below filter 316. The interior of upwardly-projecting structure 306 comprises a hollow air chamber 318 that surrounds liquid conduit 308. Air chamber 318 is sealed at the top by a septum 322 and at the bottom by filter 316 to prevent liquid ingress. An air vent 320 near the top in the side of upwardly-projecting structure 306 above filter 316 allows fluid communication between the interior of air chamber 318 and the air outside the vial adapter.

[0090] FIG. 15b illustrates generally the bidirectional flow paths of liquid and air through the vial adapter of FIG. 15a.

[0091] 16a and 16b show alternative locations for vent hole 320 in vial adapter 300, which may be located anywhere proximal, i.e., above or beyond filter 316. One skilled in the art can position and shape the venting features in a variety of locations and ways.

[0092] Figure 17 shows another embodiment of a vial adapter designed for use in an open transfer system. It is the same as vial adapter 15 shown in Figure 4, except that air channel 56 has a vent hole 402 on its side, allowing unimpeded fluid communication between the interior of air channel 56 and the exterior of vial adapter 400. Vent hole 402 is located above filter 66. Pressure equalization is performed within vial adapter 400 as described for vial adapter 300 described with reference to Figures 15a and 15b.

[0093] 18a shows an open transfer system partially assembled for use, comprising a vial adapter 300 (see FIG. 15a) attached to a drug vial 16 and a conventional syringe 450 attached to an open connector 452.

[0094] Figure 18b shows a cross-sectional view of the open transfer system of Figure 18a. Shown in Figure 18b is a conventional syringe 450, a connector 452, and a vial 16 attached to a vial adapter 300. Also shown are the upwardly protruding structure 306, a septum 322, a liquid channel 308, and a vent hole 320 of the vial adapter 300.

[0095] Figure 18c shows a connector 452 similar to prior art connector section 14 modified in that (a) the dual membrane seal actuator 34 shown in Figure 1a is replaced with a septum holder 500 (shown in Figure 14) with a septum 572 at its base, and (b) there is only one needle 454 that acts as a liquid conduit within connector 452. Connector 452 is shown in a blocked configuration.

[0096] Figure 19a shows the open transfer system of Figure 18a in a fully assembled configuration after vial adapter 300 has been connected to a drug vial and spike 312 has pierced the membrane at the top of the vial as described hereinabove with reference to Figures 8-11. Vial adapter 300 with drug vial 16 attached is connected to a conventional syringe 450 by connector 452.

[0097] Figure 19b is a cross-sectional view of the open transfer system of Figure 19a. Figure 19c is a close-up of section A in Figure 19b focusing on the vial adapter with the syringe connector attached.

[0098] Using the open transfer system shown in Figures 18a-19c, a drug in powdered form can be reconstituted by filling a conventional syringe 450 with the required amount of diluent, and then a syringe connector 452 connected to the syringe is pressed down onto the upwardly protruding structure 306 of the open vial adapter (Figures 18a and 18b) until a connection is established as shown in Figures 19a-19c, at which point needle 454 of connector 452 pierces both septum 572 of the septum holder in connector 452 and septum 322 of the vial adapter and enters liquid conduit 308 of the vial adapter.

[0099] After the connection is established, the piston of the syringe 450 can be pushed downward causing the liquid diluent to flow through the needle 454 of the connector and the liquid conduit 308 of the vial adapter into the interior of the vial (arrow B). As the liquid enters the vial, air is displaced and pressure is equalized by air flowing from the vial through air channel 314, through hydrophobic filter 316 into air chamber 318, and out of the vial adapter through vent 320 (arrow C).

[0100] To remove liquid from a drug vial, the connected vial and syringe, connected as shown in Figures 19a-19c, are inverted and turned upside down so that the vial is positioned above the syringe. Following inversion, the piston of the syringe can be pulled downward to remove liquid from the interior of the vial through liquid conduit 308. As liquid is removed from the vial, a partial vacuum is created within the vial, which is equalized by suction that draws air from outside vial adapter 300 into the vial through vent 320, air chamber 318, filter 316, and air channel 314.

[0101] As mentioned above, the closed system components can be used when compounding and filling prescriptions for hazardous and non-hazardous drugs, while the open system components can be used only for non-hazardous drugs. To prevent interchangeability of the open and closed system components, applicants use different configurations of connecting elements to connect the components of each system.

[0102] 20a and 20b show schematic elements that allow two components of an open transfer system to be connected together and prevent an open transfer component from connecting with a closed transfer component. For illustrative purposes, an open septum holder 600, which is a component of the connector section, should be connected to the upwardly protruding structure 306 of the open vial adapter (see FIG. 15a) and the upwardly protruding structure 220 of the closed vial adapter (see FIG. 6).

[0103] The septum holder 600 is identical to the septum holder 500 shown in FIG. 14, except for the inner distal end of the arm 662 which connects to the body of the septum holder. A septum 672 is shown fitted over the septum support. On the outer side of the arm 662 is a distal extension element 668, and on the inner side of the arm opposite the extension element 668 is a distinctively shaped protrusion 602, for example, with vertical and horizontal bars in the shape of an inverted letter "L" as shown. As shown in FIG. 20a, the upwardly projecting structure 306 includes an inverted "L" shaped socket 604 on the underside of the septum 622. The socket 604 has a shape and dimensions that match the shape and dimensions of the distinctively shaped protrusion 602 on the arm of the septum holder, allowing the distinctively shaped protrusion 602 to fit into the socket 604 which connects the septum holder to a vial adapter. On the other hand, the closed system components include protrusions and sockets with different shapes than the open system components, for example, in the case of a closed system, the protrusion on the arm can be a vertical bar and the socket a vertical slot. In this case, as shown in FIG. 20b, a horizontal bar on the top of the characteristically shaped protrusion 602 prevents the protrusion 602 from entering the vertical socket 606 on the upwardly protruding structure 220 of the closed system vial adapter, thereby preventing the open system septum holder from connecting to the closed system vial adapter. It should be noted that the protrusion and socket shapes described are for illustrative purposes only, and many other characteristic shapes can be used for the same purpose.

[0104] FIG. 21a illustrates generally a spike adapter 700 for use in combination with the fluid transfer device 10 to transfer medication to and from an intravenous (IV) bag. The spike adapter 700 comprises a body 762 terminating in a spike element 764 at a proximal end and a standard port 766 for connecting an infusion set at a distal end. Substantially perpendicular to the body 762 is a longitudinal extension 768. At the end of the longitudinal extension 768 is a membrane enclosure 770 and a membrane 772. On the side of the longitudinal extension 768 below the membrane enclosure 770 is a socket 604 configured to match a distinctively shaped protrusion on the arm of a septum holder in the connector, as shown in FIG. 20a. A conventional syringe-mounted connector section, such as connector 452 (see FIG. 18), can be connected to longitudinal extension 768 as described hereinabove for connection to vial adapter 300 of FIGS. 19a-19c, thereby allowing insertion of a medication from the syringe into an IV bag, or withdrawal of liquid from the IV bag into a syringe for use in reconstituting the medication.

[0105] FIG. 21b is a cross-sectional view of the spike adapter. In this view, it can be seen that the interior of the spike adapter 700 comprises two separate channels 774 and 776, one for liquid and one for air. In this open system, the liquid channel 774 of the spike adapter passes from the tip of the spike element 764 to the membrane 772 for use when liquid is transferred between the syringe and the IV bag. The channel 776 passes from the tip of the spike to the port 766 for transferring liquid from the IV bag to the patient. In an open system for injecting or withdrawing liquid from a syringe to an IV bag, unlike a rigid glass vial, there is no need for venting because the IV bag is flexible, allowing it to expand when pressurized or contract when evacuated.

[0106] The devices for securing male-female connections described with respect to Figures 23-29 can be easily modified, mutatis mutandis, for use in an open drug transfer system. For an open system, the female connector, for example, connector section 452 in Figures 18a-18c, can have only one needle, and the septum holder 500 can be replaced with the ladder, gears, and other features of the female connector 1201. The vial adapters of Figures 15a and 17 and the spike adapter of Figure 21a are also modified so that their upwardly protruding structures 306, 46, and 768 have smooth sides and two anchorages 1223 on either side near the top.

[0107] 27a, it can be seen how the components are configured to prevent the open and closed system components from connecting to each other. For example, in the case of a closed system, the ledge 1223 can be wider than the gap 1406 in the gear 1405 of the fixed actuator 1401 for the open system, thereby preventing connection of the closed system vial adapter with the open system connector 1201. Alternatively, in the case of an open system, the ledge 1223 can be wider than the gap 1406 in the gear 1405 of the fixed actuator 1401 for the closed system, thereby preventing connection of the open system vial adapter with the closed system connector 1201.

[0108] The open system components described herein have been developed for use in a robotic system that can be installed in a hospital pharmacy to assist in compounding medicines, including non-hazardous drugs, and to prepare syringes and IV bags containing the required amount of liquid drug, for administration to patients according to individual prescriptions. The robotic system is similar to that described in the background paragraph for use with hazardous drugs and is shown in Figure 22. In compliance with regulations, the two robotic systems are kept in separate rooms in the pharmacy.

[0109] For non-hazardous drugs, the safety requirements are much less restrictive, but exactly the same as for the system for hazardous drugs, the system comprises at least two robotic arm assemblies configured to simultaneously move vials and syringes within the cabinet. Each of the robotic arm assemblies comprises three mechanical arrangements configured to independently move either a vial gripper assembly or a syringe gripper assembly and a syringe pump in three dimensions along three mutually orthogonal beams. Within the laminar flow cabinet are a number of operating stations adapted to perform specific tasks related to the compounding process. The operating stations include at least one reconstitution module, at least one vial shaker module, at least one vial flipper module, at least one IV bag base module to which an operator of the system can attach an IV bag, a syringe magazine, a number of cameras, each installed in a specific location within the cabinet or on the robotic arm assembly, and a processor. Each of the cameras is dedicated to providing a real-time digital image of a stage of the compounding process carried out at that location. Dedicated software and algorithms in the system processor enable nearly all steps of the compounding process to be performed automatically by the robotic arm assembly without intervention by an operator or supervisor, and the cameras and image processing algorithms are adapted to provide feedback control of every stage of the compounding process in real time.

[0110] One important difference between the robotic systems developed for closed transfer systems and those for use in open systems is that closed transfer systems rely on the use of Equashield® syringes that must be manufactured to be perfectly oriented and aligned with their connectors. This is important because Equashield® syringes are gripped and positioned when the connector extension shoulder and the extension on the syringe barrel are always in the same position relative to each other, and because of this same orientation, only a simple gripping mechanism is required, making the process of positioning and handling the syringe easy and fast to accomplish. Unlike properly aligned Equashield® syringes, open transfer systems use conventional syringes from various manufacturers and of various shapes and sizes, where the connector shoulder on the arm and the extension on the syringe barrel are rarely in the same position relative to each other, and in fact require special mechanisms integrated into the robot to grip the connectors and syringes in various orientations. This also requires software that can handle various syringes, various orientations, identifying them, and reading the appropriate dosage.

[0111] When using the robotic system, the prescription to be filled is entered into the system processor, which prompts the user to insert the drug vial containing the required medication into the cabinet, load the required size syringe into the syringe magazine, and attach the IV bag to the IV bag base module.

[0112] To enable the robotic arm to grasp the vials and syringes, a user connects a vial adapter to each vial and a connector section to each syringe before placing them in the cabinet. After the drug vials, syringes, and IV bags are placed in the cabinet, all further operations such as compounding the drug and preparing the required dose in a syringe or IV bag for administration to a patient are performed automatically by the robotic arm as directed by a processor under the supervision of the camera.

[0113] In the open transfer robotic system, the camera and software are configured to recognize the socket 604, protrusion 602, and septum holder 600 on the vial adapter 220 in Figures 20a and 20b, as well as the gap 1406, void portion 1405, and ledge 1223 on the male connector 1221 in Figures 24 and 26, and to warn the user if the wrong component is introduced into the cabinet. Additionally, as a safety feature, the robot arm assembly includes mechanical features to ensure that only components compatible with the open transfer system are used, such as protruding pins that must fit into matching slots on the component to be picked up.

[0114] The open transfer components for use in the robotic system consist of two kits, a basic kit containing a vial adapter and a connector section, and an expansion kit that additionally contains an IV spike adapter. Kits are provided in some embodiments to include vial adapters suitable for different size vials and connectors with different types of connections, e.g., luer lock or bayonet connectors for mating with standard non-required syringes.

[0115] Although the embodiments of the present invention have been described by way of example, it will be understood that the invention can be practiced with many variations, modifications and adaptations without departing from the scope of the claims.

Claims

1. 1. A robotic system for compounding and preparing a drug product comprising a non-hazardous drug using an open liquid drug transfer system assembly, the robotic system comprising: A laminar flow cabinet; at least one robotic arm configured to pick up a vial with a vial adapter, move the vial, connect and disconnect the vial to a reconstitution module, a shaker, and an inversion mechanism, and release the vial to a new location; at least one vented drug vial adapter, wherein the at least one vented drug vial adapter and the robotic system are configured to enable liquid to be removed from and inserted into a drug vial, the at least one vented drug vial adapter comprising: a fluid conduit extending at least partially through the at least one vented drug vial adapter; a top comprising a hollow air chamber at least partially surrounding the liquid conduit, the top further comprising a vent configured to allow fluid communication from the hollow air chamber to an exterior of the at least one vented drug vial adapter and from an exterior of the at least one vented drug vial adapter to the hollow air chamber; a bottom connected to the top and including an air channel; a hydrophobic vent filter positioned between the top and bottom; a drug vial adapter comprising: Equipped with the at least one vented drug vial adapter at least partially defines an air flow path extending through the air channel, the hydrophobic vent filter, and the hollow air chamber to enable fluid communication from the air channel to an exterior of the at least one vented drug vial adapter and from an exterior of the at least one vented drug vial adapter to the air channel.

2. (i) at least two robotic arm assemblies configured to move within said laminar flow cabinet a drug vial having a vented vial adapter connected thereto and a syringe having a connector section connected thereto to prepare a syringe and an intravenous (IV) bag with a prescribed amount of liquid drug for administration to a patient according to the patient's individual prescription; (ii) a camera; and (iii) a system processor comprising software comprising an imaging process algorithm adapted to provide real-time feedback control of all stages of the compounding process; The robotic system of claim 1 .

3. The robotic system of claim 2 , wherein the robotic arm assembly is configured to move in three mutually orthogonal directions.

4. a) said connector sections each having: (i) a septum holder comprising two parallel, resilient, elongated arms attached to a side of a body and projecting vertically downward, each arm having a distinctively shaped protrusion on the inside of a distal end of the arm; and (ii) at least one rotatable gear having at least one rung formed on an inner wall of the connector section and a sprocket circumferentially disposed about a periphery of the gear, a void portion configured to receive an anchorage, and a gap formed in the gear such that the void portion is provided with an opening that changes orientation with rotation of the gear; and b) each of said vented drug vial adapters comprises: (i) an upwardly projecting portion having a membrane at a proximal end and a socket on an outer proximal end, said socket having a shape and dimensions configured to match the shape and dimensions of a distinctively shaped protrusion on the inside of an arm of said septum holder; and (ii) an upwardly projecting portion having a membrane at a proximal end and an anchorage on an outer proximal end, the anchorage having a shape and dimension configured to pass through the gap and fit into a void in a gear of a fixed actuator section of the connector section; and 4. The robotic system of claim 3, whereby the connector section is capable of being connected only to drug vials connected to a vented vial adapter that includes a compatible socket or anchorage on the outer surface.

5. 5. The robotic system of claim 4, wherein the distinctively shaped protrusion is on an exterior of an upwardly projecting structure of the vial adapter and the matching socket is on an interior of an arm of a septum holder in the connector section and holder and at a distal end of a gripper assembly.

6. The robotic system includes a spike adapter configured to connect to an intravenous (IV) bag, the spike adapter comprising: a) a body terminating in a spike element at a proximal end of said body, said spike element comprising separate liquid and air channels; b) a standard port for connecting an infusion set at a distal end of the body, the standard port being in fluid communication with an air channel in the spike; c) a longitudinal extension connected substantially perpendicular to the body, a proximal end of the longitudinal extension comprising a membrane and configured to mate with the connector section, the longitudinal extension comprising a liquid channel in fluid communication with a liquid channel in the spike; Equipped with 5. The robotic system of claim 4, wherein the spike adapter comprises one of: (i) a socket having a shape and dimension configured to match a shape and dimension of a distinctively shaped protrusion on an arm of the septum holder; and (ii) an anchorage having a shape and dimension configured to pass through the gap and fit into a void of a gear of a fixed actuator section of the connector section, thereby allowing the spike adapter to be connected only to the connector section of claim 4.

7. 5. The robotic system of claim 4, wherein the camera and software are configured to recognize the sockets, protrusions, gaps, voids, and anchorages and to alert a user if an incorrect component is introduced into the cabinet, and the robotic arm assembly includes mechanical features to ensure that only components compatible with the open liquid drug transfer system assembly are used.

8. 4. The robotic system of claim 3, wherein a robotic arm assembly configured to pick up, move, and release syringes comprises specialized mechanisms for gripping the connector and the syringe in various orientations, and wherein the robotic system comprises software configured to handle various syringes and various orientations, identify them, and read the appropriate dosage, thereby enabling the robotic system to use conventional syringes from various manufacturers and of various shapes and sizes.

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