	US RE50,633 E1
	Cover removal system for use in controlled environment enclosures
Christopher Procyshyn, Surrey (CA); Ross M. Gold, North Vancouver (CA); Steve Sang Joon Park, Oakville (CA); Jeroen Immerzeel, Squamish (CA); and Paul Nowakczyk, Welland (CA)
Assigned to VANRX PHARMASYSTEMS INC., Burnaby (CA)
Filed by VANRX PHARMASYSTEMS INC., Burnaby (CA)
Filed on Sep. 22, 2022, as Appl. No. 17/950,997.
Application 17/950,997 is a division of application No. 14/398,538, granted, now 10,081,527, issued on Sep. 25, 2018, previously published as PCT/US2013/039455, filed on May 3, 2013.
Application 17/950,997 is a reissue of application No. 15/828,360, filed on Nov. 30, 2017, granted, now 10,781,091, issued on Sep. 22, 2020.
Claims priority of provisional application 61/642,430, filed on May 3, 2012.
Int. Cl. B67B 7/14 (2006.01); B25J 11/00 (2006.01); B25J 21/00 (2006.01); B65B 55/02 (2006.01); B65B 57/02 (2006.01); B65B 69/00 (2006.01); B67B 7/00 (2006.01); G01N 35/00 (2006.01); G01N 35/04 (2006.01)

CPC B67B 7/14 (2013.01) [B25J 11/00 (2013.01); B25J 21/00 (2013.01); B65B 55/027 (2013.01); B65B 57/02 (2013.01); B65B 69/00 (2013.01); B67B 7/00 (2013.01); B67B 7/38 (2013.01); G01N 35/0099 (2013.01); G01N 2035/00277 (2013.01); G01N 2035/0405 (2013.01)]

16 Claims

1. An apparatus comprising [ : ]

a controlled environment enclosure having an aseptic interior;

within the controlled environment enclosure an articulated arm apparatus and a separate rotary gripping apparatus;

wherein the articulated arm apparatus is configurable for holding and moving a container in three dimensions; ~~and~~

the rotary gripping apparatus is configured for ~~gripping~~ in a substantially stationary position a gripping area of a container cover sealing the container when the articulated arm apparatus is moving the container [ ; and

a sensor configured for supplying information to the controller for determining at least one of a location of the container cover gripping area and an orientation of the container cover] .