Automated compounding equipment for closed fluid transfer system

1. An automatic or semi-automatic preparation system for forming a medicament solution from a vial containing one of a liquid and a non-liquid material, the preparation system comprising:

a frame configured to provide three axes of motion, the frame including:

a plurality of vertical studs, each stud extending along a respective first axis;

a plurality of first stringers extending between and interconnecting selected vertical studs, each first stringer extending along a respective second axis, wherein each second axis is orthogonal to the first axis; and

a plurality of second stringers extending between and interconnecting selected vertical studs and selected first stringers, each second stringer extending along a respective third axis, wherein each third axis is orthogonal to the first axis and orthogonal to the second axis;

a gantry assembly translatably supported on at least one of the plurality of first stringers;

a gantry translation assembly operatively connected to the gantry assembly, wherein actuation of the gantry translation assembly causes gantry assembly to translate along the at least one of the plurality of first stringers, in a direction parallel to the second axis; and

a turntable assembly including:

a platform translatably supported on gantry assembly;

a turntable gear supported on the platform, wherein an axis of rotation of the turntable gear extends in a direction parallel to the first axis;

a rail column depending from and non-rotatably connected to the turntable gear, the rail column extending in a direction parallel to the first axis;

a carriage translatably supported on the rail column;

a carriage motor in operative communication with the carriage, wherein actuation of the carriage motor results in translation of the carriage along the rail column; and

a component holder supported on the carriage, the component holder including a gripper having:

a first pair of fixed, spaced apart jaws, the first pair of jaws including a first jaw and a second jaw; and

a second pair of fixed, spaced apart jaws, the second pair of jaws including a first jaw and a second jaw;

wherein the first pair of jaws is translatable relative to the second pair of jaws; and

wherein the first jaw of the first pair of jaws is interposed between the second pair of jaws, and the second jaw of the second pair of jaws is interposed between the first pair of jaws.

2. The preparation system according to claim 1 , wherein the gantry translation assembly includes:

a threaded gantry rod rotatably supported on the frame, the threaded gantry rod being in threaded engagement with a nut structure of the gantry assembly; and

a gantry translation motor connected to the threaded gantry rod for rotating the threaded gantry rod in a first direction and a second direction;

wherein:

rotation of the gantry translation motor in the first direction causes the gantry assembly to translate in a first direction; and

rotation of the gantry translation motor in the second direction causes the gantry assembly to translate in a second direction.

3. The preparation system according to claim 2 , wherein the gantry assembly includes a nut structure configured to rotatably receive the threaded gantry rod.

4. The preparation system according to claim 3 , wherein the gantry translation motor is supported on the frame.

5. The preparation system according to claim 1 , wherein the turntable assembly includes:

a threaded turntable rod rotatably supported on the gantry assembly, the threaded turntable rod being in threaded engagement with a nut structure of the turntable assembly; and

a turntable translation motor connected to the threaded turntable rod for rotating the threaded turntable rod in a first direction and a second direction;

wherein:

rotation of the turntable translation motor in the first direction causes the turntable assembly to translate in a first direction; and

rotation of the turntable translation motor in the second direction causes the turntable assembly to translate in a second direction.

6. The preparation system according to claim 5 , wherein the turntable assembly includes a nut structure configured to rotatably receive the threaded turntable rod.

7. The preparation system according to claim 6 , wherein the turntable translation motor is supported on the gantry assembly.

8. The preparation system according to claim 1 , wherein the gantry assembly includes a turntable rotation motor supported thereon, wherein the turntable rotation motor is operatively connected to the turntable gear to cause the turntable gear to rotate in a first direction and a second direction.

9. The preparation system according to claim 1 , wherein operation of the gripper includes translation of the first pair of jaws relative to the second pair of jaws to grip a component at:

a first gripping position located between the first jaw of the first pair of jaws and the first jaw of the second pair of jaws;

a second gripping position located between the second jaw of the first pair of jaws and the first jaw of the second pair of jaws; and

a third gripping position located between the second jaw of the first pair of jaws and the second jaw of the second pair of jaws.