Vial manipulator for use in a robotic pharmaceutical preparation system

Patent metadata

Field	Value
Publication number	US-12496258-B2
Application number	US-202418439715-A
Country	US
Kind code	B2
Filing date	Feb 12, 2024
Priority date	Feb 12, 2023
Publication date	Dec 16, 2025
Grant date	Dec 16, 2025

Abstract

A vial manipulator is provided for use in a robotic pharmaceutical preparation system. The vial manipulator includes a manipulator body defining a main axis; a first vial holder pivotably coupled to the manipulator body and configured to receive and hold of a vial assembly; a first pivoting mechanism for pivoting the first vial holder about a first axis extending outwardly from the main body in a first direction; a second vial holder pivotably coupled to the manipulator body and configured to receive and hold of a vial assembly; and a second pivoting mechanism for pivoting the second vial holder about a second axis extending outwardly from the main body in a second direction which is different than the first direction. The vial manipulator can further include a turning mechanism configured for turning the manipulator body about the main axis.

First claim

The invention claimed is:

1 . A vial manipulator for use in a robotic pharmaceutical preparation system comprising a fluid communication component, the vial manipulator comprising:
a manipulator body defining a main axis; a first vial holder pivotably coupled to the manipulator body and configured to receive and hold a vial assembly; a first pivoting mechanism for pivoting the first vial holder about a first axis extending outwardly from the main body in a first direction; a second vial holder pivotably coupled to the manipulator body and configured to receive and hold a vial assembly; a second pivoting mechanism for pivoting the second vial holder about a second axis extending outwardly from the main body in a second direction which is different than the first direction; and
a controller configured to control the first pivoting mechanism and the second pivoting mechanism to pivot their associated vial holder to assume the following states:
a first state in which the vial assembly held by the vial holder is in an upright orientation in which fluid communication is established with the fluid communication component for insertion of fluid by the fluid communication component;
a second state in which the vial assembly held by the vial holder is in an inverted orientation in which fluid communication is established with the fluid communication component for drawing fluid by the fluid communication component;

wherein the controller is configured to control one of the first and second pivoting mechanisms to pivot its associated vial holder to assume the first state or the second state, and wherein simultaneous to said associated vial holder being in the first state or the second state, the controller is configured to control the other of the first and second pivoting mechanisms to operate either in:
an agitating mode in which the vial holder is repetitively pivoted, for mixing a content of a vial assembly held by the vial holder; or
an orientation setting mode in which the vial holder sets a temporarily fixed orientation of a vial assembly held by the vial holder.

2 . The vial manipulator according to claim 1 , wherein the first direction and the second direction define an angle of at least 90 degrees between them.

3 . The vial manipulator according to claim 1 , wherein the first direction and the second direction define an angle of 180 degrees between them, and are directly opposite each other such that the first and second axes are directly aligned.

4 . The vial manipulator according to claim 1 , wherein the first and second axes are perpendicular to the main axis.

5 . The vial manipulator according to claim 1 , wherein each of the first and second pivot mechanisms comprises a pivot attachment of the respective vial holder to the manipulator body, with the respective first and second axes passing therethrough.

6 . The vial manipulator according to claim 5 , wherein each of the first and second vial holders comprises:
a pivot plate pivotably connected to a wall of the manipulator body at the pivot attachment; a frame connected to and extending from the pivot plate, the frame configured to receive and hold the vial assembly; wherein pivoting of the pivot plate is configured to carry the frame along, thereby changing an orientation of the vial assembly held by the frame.

7 . The vial manipulator according to claim 6 , wherein the frame is fixedly connected to the pivot plate, and comprises a set of clamping arms extending internally to the frame for clamping onto the at least a portion of the vial assembly.

8 . The vial manipulator according to claim 1 , further comprising a turning mechanism configured for turning the manipulator body about the main axis.

9 . The vial manipulator according to claim 1 , wherein pivoting of the vial holder is configured to change an orientation of the vial assembly from an initial orientation in which the vial assembly is upright.

10 . The vial manipulator according to claim 9 , wherein a vial assembly held by each of the vial holders is pivotably moveable on a respective first plane and second plane, each of which intersects and is perpendicular to the first axis and the second axis, respectively, and through which a respective third axis and fourth axis, both being parallel to the main axis, extend; whereby at the initial orientation of the vial assembly held by the vial holder, a longitudinal axis of the respective vial assembly is aligned with the third axis and the fourth axis, respectively.

11 . The vial manipulator according to claim 1 , wherein each of the first and second pivoting mechanisms comprises a respective actuator for pivotably moving the vial holder, wherein the actuators are controlled by the controller.

12 . The vial manipulator according to claim 11 , wherein actuators of the first and second vial holders are symmetrically arranged side-by-side within said housing.

13 . The vial manipulator according to claim 1 , wherein the vial manipulator constitutes a part of a robotic pharmaceutical preparation system which further comprises an operational module which is configured to interface with a vial assembly held by the vial manipulator, and the controller is further configured to control the operational module.

14 . The vial manipulator according to claim 13 , wherein the operational module comprises an articulable arm, the vial manipulator being spatially located such that only one of the first and second vial holders is positioned within a range of reach of the arm, whilst the other vial holder is out of the range of reach.

15 . A robotic pharmaceutical preparation system, comprising:
a vial manipulator comprising:
a manipulator body,
a first vial holder configured to receive and maintain hold of a vial assembly, the first vial holder being pivotably coupled to the manipulator body, and
a first pivoting mechanism configured for pivoting the first vial holder,
a second vial holder configured to receive and maintain hold of a vial assembly, the second vial holder being pivotably coupled to the manipulator body, and
a second pivoting mechanism configured for pivoting the second vial holder;
a fluid communication component configured for interfacing with the vial assembly; and a controller configured to control the first and second pivoting mechanism so as to simultaneously:
(a) pivot the first vial holder to assume the following states:
a first state in which the vial assembly held by the first vial holder is in an upright orientation in which fluid communication is established with the fluid communication component for insertion of fluid by the fluid communication component;
a second state in which the vial assembly held by the first vial holder is in an inverted orientation in which fluid communication is established with the fluid communication component for drawing fluid by the fluid communication component; and

(b) either repetitively pivot the second vial holder to agitate the vial assembly, or hold the second vial holder steady.

16 . The system according to claim 15 , wherein the controller is configured to bring the fluid communication component and the vial assembly held by the first vial holder into vertical alignment.

Assignees

• Equashield Medical Ltd

Inventors

• Shem-Tov Eric
• Taboch Roie

Classifications

• B25J15/0052

  multiple gripper units or multiple end effectors · CPC title

• B25J9/041

  Cylindrical coordinate type · CPC title

• G01N35/0099

  comprising robots or similar manipulators (robots per se B25J) · CPC title

• A61J7/0076 Primary

  Medicament distribution means (with pill counting devices A61J7/02; with time indication A61J7/04; containers or packages with special means for dispensing contents B65D83/00) · CPC title

• G01N2035/0406

  Individual bottles or tubes · CPC title