US 11,938,091 B2
Fluid transfer station in a robotic pharmaceutical preparation system
Eric Shem-Tov, Ramat Hasharon (IL); Marino Kriheli, Savion (IL); Boaz Slav, Haifa (IL); Raanan Tavor, Yuvalim (IL); and Gonen Daskal, Akersberga (SE)
Assigned to EQUASHIELD MEDICAL LTD, Migdal Tefen (IL)
Filed by Equashield Medical Ltd, Migdal Tefen (IL)
Filed on Apr. 7, 2023, as Appl. No. 18/132,037.
Application 18/132,037 is a continuation of application No. 18/118,999, filed on Mar. 8, 2023.
Claims priority of provisional application 63/429,340, filed on Dec. 1, 2022.
Claims priority of provisional application 63/382,014, filed on Nov. 2, 2022.
Claims priority of provisional application 63/269,004, filed on Mar. 8, 2022.
Prior Publication US 2023/0285241 A1, Sep. 14, 2023
Int. Cl. A61J 1/20 (2006.01); A61J 1/14 (2023.01); B25J 13/08 (2006.01); B65B 3/00 (2006.01)
CPC A61J 1/2055 (2015.05) [A61J 1/1406 (2013.01); A61J 1/2089 (2013.01); A61J 1/2096 (2013.01); B25J 13/08 (2013.01); B65B 3/003 (2013.01); A61J 2200/70 (2013.01)] 30 Claims
OG exemplary drawing
 
1. A robotic system operable for transfer of fluid between a container accessible via a container-septum and a fluid transfer assembly accessible via a fluid transfer connector configured to establish fluid communication between the container and the fluid transfer assembly for said transfer of fluid, said fluid transfer connector comprising a body member and a sleeve displaceable relative to each other between an extended position, which is a normal position, and a collapsed position, at which the fluid transfer connector establishes said fluid communication, said fluid transfer connector comprising a fluid transfer connector septum positioned at a distal end of the sleeve and a fluid transfer conduit extending from a proximal end of the body member towards the fluid transfer connector septum, the robotic system comprising:
a controller; and
a manipulator controllable by the controller, the manipulator being configured to:
apply a variable positioning force to manipulate the fluid transfer assembly through a positioning stage, during which the manipulator positions the fluid transfer assembly and/or the container to bring the fluid transfer connector septum and the container-septum in contact with each other; and
apply a variable penetration force to manipulate the fluid transfer assembly and/or the container through a penetration stage, during which at least a tip of the fluid transfer conduit penetrates at least partially through at least one of the container-septum and the fluid transfer connector septum, wherein a minimum value of the variable penetration force is greater than a maximum value of the variable positioning force.