Automated compounding equipment for closed fluid transfer system

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.