US 12,153,453 B2
Robotic pharmaceutical preparation system having a movable platform
Eric Shem-Tov, Ramat Hasharon (IL); Marino Kriheli, Savion (IL); and Boaz Slav, Haifa (IL)
Assigned to EQUASHIELD MEDICAL LTD, Migdal Tefen (IL)
Filed by Equashield Medical Ltd, Migdal Tefen (IL)
Filed on Feb. 22, 2024, as Appl. No. 18/584,924.
Claims priority of provisional application 63/599,138, filed on Nov. 15, 2023.
Claims priority of provisional application 63/447,840, filed on Feb. 23, 2023.
Prior Publication US 2024/0288885 A1, Aug. 29, 2024
Int. Cl. G05D 3/12 (2006.01); A61J 1/20 (2006.01); A61J 1/16 (2023.01); B65B 3/00 (2006.01); B65B 57/14 (2006.01)
CPC G05D 3/12 (2013.01) [A61J 1/20 (2013.01); A61J 1/16 (2013.01); B65B 3/003 (2013.01); B65B 57/145 (2013.01)] 18 Claims
OG exemplary drawing
 
1. A pharmaceutical preparation system defining a vertical axis and a horizontal axis, the system comprising:
at least one platform having a horizontal surface;
a vial holder mounted onto the horizontal surface, the vial holder being configured to hold and to pivot at least one vial with respect to the horizontal surface;
a lift mechanism operably connected to the platform for raising or lowering the platform along the vertical axis; and
a controller configured for:
instructing the lift mechanism to raise or lower the platform;
instructing the vial holder to pivot the vial to assume an upright orientation for injecting fluid into the vial or an inverted orientation for drawing fluid from the vial;
synchronizing actuation of the lift mechanism and the vial holder such that a level to which the platform is moved is correlated one or both of: the orientation of the vial, presence of one or more components connected to the vial and aligned vertically with respect to the vial.