Gripper device
First Claim
Patent Images
1. An automated pharmacy admixture system, comprising:
- a supply of a plurality of different types of medical containers, said plurality of different types of medical containers comprising items selected from the group consisting of syringes, IV bags, and vials;
a compounding system disposed in a substantially aseptic chamber to transfer medicaments between medical containers;
a robotic manipulator system to transport medical containers within the substantially aseptic chamber; and
a gripper device for handling a syringe having a barrel within the substantially aseptic chamber, the gripper device comprising;
a pair of gripper fingers, each gripper finger comprising a first jaw, the first jaw comprising a recess to grasp the syringe barrel, the recess comprising a first tapered contact surface having a leading edge to contact the syringe barrel, wherein the first tapered contact surface is disposed at an angle with respect to a longitudinal axis of the syringe barrel when the gripper fingers are in contact with the syringe barrel; and
an actuator to engage the gripper fingers to grasp the syringe barrel based on inputted or stored motion profile parameters, wherein the gripper fingers provide a ratio of slip force to grip force at least about three times greater than gripper fingers with an untapered contact surface.
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Accused Products
Abstract
Gripper devices for handling syringes and automated pharmacy admixture systems (APASs) that utilize such gripper devices. The gripper devices may include various gripper finger profiles, substantially tapered or angled gripping surfaces and/or gripper fingers interleaving to reduce radial distortion of the syringes to be grasped while opposing axial motion of the syringes.
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Citations
26 Claims
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1. An automated pharmacy admixture system, comprising:
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a supply of a plurality of different types of medical containers, said plurality of different types of medical containers comprising items selected from the group consisting of syringes, IV bags, and vials; a compounding system disposed in a substantially aseptic chamber to transfer medicaments between medical containers; a robotic manipulator system to transport medical containers within the substantially aseptic chamber; and a gripper device for handling a syringe having a barrel within the substantially aseptic chamber, the gripper device comprising; a pair of gripper fingers, each gripper finger comprising a first jaw, the first jaw comprising a recess to grasp the syringe barrel, the recess comprising a first tapered contact surface having a leading edge to contact the syringe barrel, wherein the first tapered contact surface is disposed at an angle with respect to a longitudinal axis of the syringe barrel when the gripper fingers are in contact with the syringe barrel; and an actuator to engage the gripper fingers to grasp the syringe barrel based on inputted or stored motion profile parameters, wherein the gripper fingers provide a ratio of slip force to grip force at least about three times greater than gripper fingers with an untapered contact surface. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14, 15, 16, 17, 18, 19, 20, 21, 22, 23, 26)
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24. An automated pharmacy admixture system, comprising:
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inventory means for supplying a plurality of different types of medical containers, said plurality of different types of medical containers comprising items selected from the group consisting of syringes, IV bags, and vials;
compounding means disposed in a substantially aseptic chamber for transferring medicaments between medical containers;manipulating means for transporting medical containers within the substantially aseptic chamber; and gripping means for handling a syringe having a barrel within the substantially aseptic chamber, said gripping means comprising; a pair of grasping means for grasping the syringe barrel, each grasp means comprising a tapered contact surface having a leading edge to contact the syringe barrel, wherein the tapered contact surface is disposed at an angle with respect to a longitudinal axis of the syringe barrel when the pair of grasping means are in contact with the syringe barrel; and actuating means for engaging the pair of grasping means to grasp the syringe barrel based on inputted or stored motion profile parameters, wherein the pair of grasping means provide a ratio of slip force to grip force at least about three times greater than a pair of grasping means with an untapered contact surface.
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25. A gripper device for handling a syringe having a barrel, comprising:
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a pair of gripper fingers, each gripper finger comprising a first jaw, the first jaw comprising a recess to grasp the syringe barrel, the recess comprising a first tapered contact surface having a leading edge to contact the syringe barrel, wherein the first tapered contact surface is disposed at an angle with respect to a longitudinal axis of the syringe barrel when the gripper fingers are in contact with the syringe barrel; and an actuator to engage the gripper fingers to grasp the syringe barrel based on inputted or stored motion profile parameters, wherein the gripper fingers provide a ratio of slip force to grip force at least about three times greater than gripper fingers with an untapered contact surface.
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Specification