Movable Platform and Manipulator Sync for Robotic Drug Preparation
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Solution Overview
Problem
Existing robotic pharmaceutical preparation systems lack efficient mechanisms for synchronizing the movement of platforms and manipulators to establish a fluid interface between containers, limiting their ability to perform complex pharmaceutical preparation tasks.
Innovation Solution
A pharmaceutical preparation system is designed with a platform and a manipulator that are movable along intersecting axes, controlled by a synchronized mechanism to enable a fluid interface between containers, allowing for efficient transfer of fluids between different types of containers such as vials and IV bags.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Adaptability or versatility
If a robotic pharmaceutical preparation system uses separate mechanisms for platform and manipulator movement, then the system can perform complex pharmaceutical preparation tasks, but the synchronization of movement to establish fluid interface between containers becomes difficult and imprecise
Solution Approach 1:
The patent combines the control of the first mechanism (platform movement) and the second mechanism (manipulator movement) into a single synchronized control system. The controller coordinates both mechanisms simultaneously, ensuring that the platform and manipulator move in a coordinated manner to precisely establish the fluid interface between containers, thereby resolving the synchronization difficulty while maintaining system versatility.
Solution Approach 2:
The system implements feedback control where the controller continuously monitors the positions of the platform and manipulator, and adjusts their movements in real-time to achieve precise fluid interface establishment. This feedback mechanism ensures that even with separate mechanisms, the system can achieve high precision in container interfacing operations.
2Adaptability or versatility
If the system uses multiple mechanisms for platform and manipulator movement, then the system can handle various container types, but the device complexity increases
Solution Approach 1:
The patent designs the container-receiving module and manipulator as universal components that can accommodate different container types (vials, IV bags, syringes). The standardized interface and adaptive positioning capabilities allow a single system configuration to handle multiple container types without requiring separate specialized mechanisms for each container type, thereby managing complexity while maintaining versatility.
Solution Approach 2:
The system employs dynamic positioning and adaptive control where the platform and manipulator can adjust their movements and positions in real-time based on the specific container configuration. This dynamic adaptability allows the system to handle various container types with a unified control approach, avoiding the need for complex static configurations for each container type.
3Manufacturing precision
If the platform and manipulator move along intersecting axes, then the system achieves precise positioning for fluid transfer, but the coordination and synchronization becomes more difficult
Solution Approach 1:
The controller serves as an intermediary that coordinates the movements of the first mechanism (platform along first axis) and the second mechanism (manipulator along second axis). By introducing this central coordination layer, the system can manage the complexity of intersecting axis movements while achieving precise positioning for fluid transfer operations.
Solution Approach 2:
The patent utilizes a three-dimensional coordinate system formed by intersecting axes for platform and manipulator movement. This dimensional approach allows independent control along each axis while achieving precise three-dimensional positioning of the fluid interface, transforming the coordination problem into a manageable spatial relationship through mathematical modeling and control algorithms.
Data Source
AI summary
A pharmaceutical preparation system is provided defining first and second axes which intersect each other. The system includes: at least one platform comprising at least one container-receiving module configured to receive a first container; a first mechanism operably connected to the platform for linearly displacing the platform along the first axis; a manipulator configured for holding and manipulating a second container; a second mechanism operably connected to the manipulator for linearly displacing the manipulator along the second axis; and a controller configured for: a. instructing the second mechanism to linearly displace the manipulator; b. instructing the first mechanism to linearly displace the platform; and c. synchronizing actuation of the first and second mechanisms to enable a fluid interface between the first container received at the at least one container-receiving module and the second container held by the manipulator.