US 11,992,462 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. 18/132,031.
Application 18/132,031 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 2023/0285240 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)] 23 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, the robotic system comprising:
a manipulator configured to manipulate at least one of the container and the fluid transfer assembly by applying a force to and/or moving at least one of the container and the fluid transfer assembly for establishing fluid communication therebetween;
a motor configured to move the manipulator for said applying said force to and/or moving the at least one of the container and the fluid transfer assembly for said establishing said fluid communication, said motor being configured to consume variable power for moving said manipulator; and
a controller configured to monitor said power consumption and controlling the motor based at least thereon.