Method and machine for manipulating toxic substances
First Claim
1. A method for manipulating toxic substances, the method comprising the steps of:
- by using anthropomorphic manipulation means, taking a container from a magazine for containers and transferring it to a dosage station, set in which is a doser having a longitudinal axis and provided with a needle;
the container presenting a mouth closed by a perforable element;
axially aligning the mouth with the needle via the manipulation means;
approaching, via the manipulation means, the container to the doser in such a way that the needle perforates the perforable element and penetrates into the container to be able to inject a substance into the container or draw a substance therefrom;
and being characterized in that the step of axially aligning the mouth with the needle comprises the steps of;
acquiring a plurality of images of the needle from at least two distinct observation points and from at least two directions of framing lying on a plane orthogonal to said longitudinal axis, the directions of framing passing, each, through a respective one of said observation points in such a way as that an acute angle is formed between the directions of framing;
processing said images for determining the position of the tip of the needle and the inclination of the needle with respect to said longitudinal axis; and
actuating the manipulation means for correcting the position of the mouth according to the position of the tip of the needle and the inclination of the needle.
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Accused Products
Abstract
In a machine for manipulating toxic substances, an anthropomorphic robot transfers a container, which has a mouth closed by a cap made of perforable material, from a magazine for containers to a dosage station, set in which is a syringe provided with a needle, axially aligns the mouth with the needle, correcting the position of the mouth according to the position of the tip of the needle obtained from processing a number of images of the needle acquired from at least two distinct observation points, and finally approaches the container to the syringe in such a way that the needle perforates the cap and penetrates into the container to be able to inject or extract a substance into or out of the container.
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Citations
18 Claims
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1. A method for manipulating toxic substances, the method comprising the steps of:
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by using anthropomorphic manipulation means, taking a container from a magazine for containers and transferring it to a dosage station, set in which is a doser having a longitudinal axis and provided with a needle;
the container presenting a mouth closed by a perforable element;axially aligning the mouth with the needle via the manipulation means; approaching, via the manipulation means, the container to the doser in such a way that the needle perforates the perforable element and penetrates into the container to be able to inject a substance into the container or draw a substance therefrom; and being characterized in that the step of axially aligning the mouth with the needle comprises the steps of; acquiring a plurality of images of the needle from at least two distinct observation points and from at least two directions of framing lying on a plane orthogonal to said longitudinal axis, the directions of framing passing, each, through a respective one of said observation points in such a way as that an acute angle is formed between the directions of framing; processing said images for determining the position of the tip of the needle and the inclination of the needle with respect to said longitudinal axis; and actuating the manipulation means for correcting the position of the mouth according to the position of the tip of the needle and the inclination of the needle. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14, 15, 16, 17, 18)
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Specification