Robotic filling systems and methods
Systems and methods are disclosed, which permit filling containers with a product. A filling arm is disposed within a chamber and an optical sensor is configured to sense openings of the containers within the chamber. Locations of the sensed openings are used to guide the filling arm to fill the containers with a product.
1. A method for filling containers with a pharmaceutical product within a chamber configured to maintain an aseptic condition, the method comprising
providing the chamber, the chamber comprising at least one port, a holding arm and a filling arm both disposed within the chamber and both operable by a user exterior to the chamber;
operating the holding arm to transfer into the chamber a tray bearing the containers; wherein operating the holding arm includes bending at least one articulation in the holding arm,
closing the port to isolate the chamber after operating the holding arm;
sterilizing the chamber to achieve an aseptic condition in the chamber after providing the chamber;
guiding a filling portion of the filling arm to a location over an opening of at least one of the containers; wherein guiding a filling portion of the filling arm includes bending at least one articulation in the filing arm,
dispensing the pharmaceutical product into the at least one of the containers via the filling portion after sterilizing the chamber; and
dispensing further pharmaceutical product in to further ones of the containers via the filling portion;
operating the holding arm to transfer out of the chamber the tray bearing the containers into which product has been dispensed;
operating the holding arm to transfer into the chamber a tray bearing additional containers; wherein the additional containers have a different dimension from the containers into which product has been dispensed;
closing the port to isolate the chamber after operating the holding arm to transfer the tray bearing additional containers;
guiding the filling portion of the filling arm to a location over an opening of at least one of the further containers; and
dispensing further pharmaceutical product in to the further containers via the filling portion.
2. The method of claim 1 , further comprising
obtaining sensing data from a sensor disposed to sense an area within the chamber; and
identifying the location based on the sensing data.
3. The method of claim 2 , wherein the step of identifying the location comprises operating pattern recognition software to recognize a pattern in the sensing data.
4. The method of claim 2 wherein the step of operating the holding arm to transfer into the chamber a tray bearing the containers includes transferring containers that are placed randomly on the tray.
5. The method of claim 1 , further comprising
obtaining sensing data from a sensor disposed within the chamber; and
identifying the location based on the sensing data.
6. The method of claim 1 , wherein the method further comprises operating a stoppering arm disposed within the chamber to place a closure in the opening of the at least one of the containers.
7. The method of claim 6 , wherein the step of operating the stoppering arm to place a closure in the opening of the at least one of the containers comprises picking at least one closure from a plurality of recesses.
8. The method of claim 7 , wherein the step of picking at least one closure from a plurality of recesses comprises picking at least one stopper from a stopper disc stack disposed inside the chamber.
9. The method of claim 6 , wherein
the holding arm is a robotic arm; and
the steps of operating the holding arm operate the robotic arm.
10. The method of claim 6 , wherein
the holding arm is a servo-driven robotic arm; and
the steps of operating the holding arm operate the servo-driven robotic arm.
11. The method of claim 6 , wherein
the holding and filling arms are robotic arms;
the steps of operating the holding arm operate the robotic holding arm; and
the steps of guiding a filling portion of the filling arm guide the robotic filling arm.
12. The method of claim 6 , wherein
the holding and filling arms are servo-driven robotic arms;
the steps of operating the holding arm operate the servo-driven robotic holding arm; and
the steps of guiding a filling portion of the filling arm guide the servo-driven robotic filling arm.
13. The method of claim 6 , wherein
the holding and stoppering arms are articulated arms;
the steps of operating the holding arm operate the articulated holding arm; and
the steps of operating the stoppering arm operate the articulated stoppering arm.
14. The method of claim 6 , wherein
the holding and stoppering arms are robotic arms;
the steps of operating the holding arm operate the robotic holding arm; and
the steps of operating the stoppering arm operate the robotic stoppering arm.
15. The method of claim 6 , wherein
the holding and stoppering arms are servo-driven robotic arms;
the steps of operating the holding arm operate the servo-driven robotic holding arm; and
the steps of operating the stoppering arm operate the servo-driven robotic stoppering arm.
16. The method of claim 6 , wherein
the filling and stoppering arms are articulated arms;
the steps of guiding a filling portion of the filling arm guide the articulated filling arm, and
the steps of operating the stoppering arm operate the articulated stoppering arm.
17. The method of claim 6 , wherein
the filling and stoppering arms are robotic arms;
the steps of guiding a filling portion of the filling arm guide the robotic filling arm, and
the steps of operating the stoppering arm operate the robotic stoppering arm.
18. The method of claim 6 , wherein
the filling and stoppering arms are servo-driven robotic arms;
the steps of guiding a filling portion of the filling arm guide the servo-driven robotic filling arm, and
the steps of operating the stoppering arm operate the servo-driven robotic stoppering arm.
19. The method of claim 6 , wherein
the holding, filling and stoppering arms are articulated arms;
the steps of operating the holding arm operate the articulated holding arm;
the steps of guiding a filling portion of the filling arm guide the articulated filling arm, and
the steps of operating the stoppering arm operate the articulated stoppering arm.
20. The method of claim 6 , wherein
the holding, filling and stoppering arms are robotic arms;
the steps of operating the holding arm operate the robotic holding arm;
the steps of guiding a filling portion of the filling arm guide the robotic filling arm, and
the steps of operating the stoppering arm operate the robotic stoppering arm.
21. The method of claim 6 , wherein
the holding, filling and stoppering arms are servo-driven robotic arms;
the steps of operating the holding arm operate the servo-driven robotic holding arm;
the steps of guiding a filling portion of the filling arm guide the servo-driven robotic filling arm, and
the step of operating the stoppering arm operates the servo-driven robotic stoppering arm.
22. The method of claim 1 , wherein operating the holding arm to transfer into the chamber the tray bearing the containers comprises:
operating the holding arm to open the at least one port;
operating the holding arm to engage with the tray; and
operating the holding arm to transport the tray bearing the containers through the at least one port into the chamber.
23. The method of claim 22 , wherein the step of operating the holding arm to engage with the tray operates the holding arm to engage an end effect tool of the holding arm with the tray.
24. The method of claim 22 , further comprising operating the holding arm to open the at least one port.
25. The method of claim 24 , wherein the step of operating the holding arm to open the at least one port comprises operating the holding arm to engage an end effect tool of the holding arm with a locking portion of the at least one port to open a door of the port interior to the chamber.
26. The method of claim 25 , wherein the step of operating the holding arm to engage with the item operates the holding arm to engage the end effect tool of the holding arm with the tray.
27. The method of claim 24 , further comprising operating the holding arm to close the port.
28. The method of claim 22 , further comprising attaching to the at least one port a transfer container containing the item.
29. The method of claim 28 , wherein the step of operating the holding arm to open the at least one port comprises containing a first exterior surface of the port and a second exterior surface of the transfer container against each other.
30. The method of claim 29 , wherein the transfer container is a transfer isolator.
31. The method of claim 1 , wherein the step of transporting the tray bearing the containers into the chamber comprises moving the tray bearing the containers to a filling position within reach of the filling arm.
32. The method of claim 31 , wherein the step of moving the tray bearing the containers to a filling position comprises positioning the containers within a sensing cone of a sensor of the chamber.
33. The method of claim 1 , wherein
the filling arm is a robotic arm; and
the steps of guiding a filling portion of the filling arm guide the robotic arm.
34. The method of claim 1 , wherein
the filling arm is a servo-driven robotic arm; and
the steps of guiding a filling portion of the filling arm guide the servo-driven robotic arm.
35. The method of claim 1 wherein the step of operating the holding arm to transfer into the chamber a tray bearing the containers includes transferring containers that are placed randomly on the tray.
36. The method of claim 1 wherein the steps of operating the holding arm include transferring containers that are placed randomly on the tray.