Robotic system for compounding medication
Inventors
Kriheli, Marino • SHEM-TOV, Eric • DASKAL, Gonen
Assignees
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Publication Number
US-10181186-B2
Publication Date
2019-01-15
Expiration Date
Abstract
The invention is a system designed to assist a hospital pharmacy in the compounding of medications comprising hazardous drugs. The system comprising: a safety cabinet, at least two robotic arm assemblies configured to simultaneously move vials and syringes within the safety cabinet, a plurality of cameras each installed at a specific location in the safety cabinet or on the robotic arm assemblies, and a processor. Each of the cameras is dedicated to provide real time digital images of the stage of the preparation process carried out at its location. Dedicated software and algorithms in the system processor allow almost all steps in the compounding process to be carried out automatically by the robotic arm assemblies without intervention by the operator or a supervisor and the cameras and imaging process algorithms are adapted to provide real-time feedback control of all stages of the compounding process.
Core Innovation
The invention describes an automated hospital pharmacy system for compounding medications comprising hazardous drugs in a biological safety cabinet comprising a high efficiency particulate air (HEPA) filter and fans. The system includes at least two robotic arm assemblies, a plurality of operational stations adapted to perform specific tasks related to a compounding process, and a plurality of cameras installed at specific locations in the safety cabinet or on the robotic arm assemblies. Each camera is dedicated to provide real time digital images of a stage of a preparation process carried out at that location.
A system processor coordinates the process using image processing algorithms to analyze the images received from the cameras, and custom made algorithms to plan timing and motions of the robotic arm assemblies and other devices inside the safety cabinet. The processor also runs custom made algorithms to execute numerous comparisons and checks carried out to minimize errors in preparing the medications. The processor manages the whole process and data flow and a system database, together with communication channels between the processor, robotic arm assemblies, operational stations, and cameras.
The robotic arm assemblies include a vial gripper assembly adapted to move vials within the safety cabinet and a syringe gripper assembly and syringe pump adapted to move syringes within the safety cabinet. The process steps in the compounding process are carried out automatically under guidance of the software and algorithms in the system processor without intervention by an operator or a supervisor, and the cameras and imaging process algorithms provide real-time feedback control of all stages.
In the described system layout, cabinet modules include an IV bag base module, a reconstitution module with a vial flipper module and a vial shaker module, a vial insertion area and a vial internal storage area, and a syringe magazine and syringe pump robotic arm assembly. Imaging-based verification includes vial position/label recognition and syringe size recognition, dose volume confirmation via piston position recognition, air bubble detection, and prescription sticker and finish/OK sticker recognition. The workflow is described as synchronous parallel operation to increase throughput and reduce human error and exposure, including compatibility with closed-system transfer devices/connectors such as Equashield.
Claims Coverage
The document contains one independent claim. The independent claim includes multiple inventive features centered on a HEPA-filtered biological safety cabinet with parallel robotic arm assemblies, dedicated camera-based real-time imaging and feedback control, and a system processor running custom motion planning, comparisons/checks to minimize errors, and overall data-flow/database management.
HEPA-filtered biological safety cabinet with at least two robotic arm assemblies
A system designed to assist a hospital pharmacy in compounding medications comprising hazardous drugs, comprising a biological safety cabinet with HEPA filter and fans and at least two robotic arm assemblies.
Operational stations and dedicated cameras for real-time digital images
A plurality of operational stations adapted to perform specific tasks related to a compounding process, and a plurality of cameras each installed at a specific location in the safety cabinet or on the robotic arm assemblies, each providing real time digital images of a stage of a preparation process carried out at that location.
Custom algorithm processor for motion planning, comparisons/checks, and process management
A system processor comprising image processing algorithms to analyze images from the cameras, custom made algorithms to plan timing and motions of the robotic arm assemblies and other devices inside the safety cabinet, custom made algorithms to execute numerous comparisons and checks to minimize errors in preparing the medications, and custom made software that manages the whole process and manages data flow and a system database.
Automatic operator-free compounding with real-time feedback control
The robotic arm assemblies are adapted to allow steps in the compounding process to be carried out automatically under guidance of the software and algorithms in the system processor without intervention by an operator or a supervisor, and the cameras and imaging process algorithms are adapted to provide real-time feedback control of all stages of the compounding process.
Vial and syringe grippers with three-dimensional orthogonal motion arrangements
At least one vial robotic arm assembly comprises a vial gripper assembly adapted to move vials within the safety cabinet, and at least one syringe robotic arm assembly comprises a syringe gripper assembly and syringe pump adapted to move syringes within the safety cabinet, with vial assemblies having three mechanical arrangements configured to independently move a vial in three dimensions along three mutually orthogonal beams and syringe assemblies having three mechanical arrangements configured to independently move a syringe in three dimensions along three mutually orthogonal beams.
Simultaneous movement of vials and syringes within the safety cabinet
The robotic arm assemblies are adapted to simultaneously move vials and syringes within the safety cabinet.
Overall, the claim coverage centers on a hazardous-drug hospital pharmacy compounding system that integrates HEPA-filtered biological safety cabinet containment with at least two robotic arm assemblies, dedicated cameras for real-time digital imaging, and a system processor using custom algorithms for image analysis, motion planning, and comparisons/checks to minimize errors, enabling fully automatic operator-free and real-time feedback-controlled compounding with simultaneous vial and syringe movement.
Stated Advantages
Increase throughput.
Reduce human error and exposure.
Minimize errors in preparing the medications.
Documented Applications
Automated hospital pharmacy compounding of medications comprising hazardous drugs, including chemotherapy/antineoplastic drugs.
Closed-system transfer device/connector use in the automated compounding workflow, including Equashield closed-system transfer devices/connectors.
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