Fluid transfer station in a robotic pharmaceutical preparation system

A method for transferring fluid between a container accessible via a container-septum and a fluid transfer assembly accessible via a fluid transfer connector, the method, by operation of a robotic system, comprising at least one of:

• controlling a manipulator of the robotic system to manipulate at least one of the container and the fluid transfer assembly by applying a force to and/or moving at least one of the container and the fluid transfer assembly for establishing fluid communication therebetween;
• operating a motor of the robotic system to move the manipulator for said applying said force to and/or moving the at least one of the container and the fluid transfer assembly for said establishing said fluid communication, wherein said operating the motor comprises consuming variable power;
• and
• monitoring by a controller of the robotic system said power consumption;
• and
• controlling the motor based at least on said monitoring.

A robotic system operable for transfer of fluid between a container accessible via a container-septum and a fluid transfer assembly accessible via a fluid transfer connector, the robotic system comprising:

• a manipulator configured to manipulate at least one of the container and the fluid transfer assembly for establishing fluid communication therebetween;
• a motor configured to move the manipulator for establishing said fluid communication, said motor being configured to consume variable power for moving said manipulator;
• and
• a controller configured to monitor said power consumption and controlling the motor based at least thereon;
• wherein the controller is further configured to control the manipulator to:
• bring the container-septum and a fluid transfer connector septum of the fluid transfer connector into contact;
• and
• secure said contact between the container-septum and the fluid transfer connector septum by pressing at least one of the container-septum and the fluid transfer connector septum onto the other one of the container-septum and the fluid transfer connector septum during at least a portion of the transfer of the fluid;
• wherein the manipulator comprises:
• a gripping arm configured to grip a gripping portion of at least one of the fluid transfer assembly and the container;
• and
• an engaging arm configured to engage the fluid transfer assembly at an engaging portion when the gripping arm grips the fluid transfer assembly, said engaging arm being configured to be axially movable relative to said gripping arm;
• wherein the controller is configured to control the engaging arm and the gripping arm such that:
• the gripping arm grips a body member of the fluid transfer connector being fixedly coupled relative to a fluid transfer conduit of the fluid transfer connector, aligns the fluid transfer assembly with the container, and brings the fluid transfer connector septum of the fluid transfer connector in contact with the container-septum;
• the engaging arm engages a sleeve of the fluid transfer connector, the sleeve being fixedly coupled relative to the fluid transfer connector septum, presses the fluid transfer connector septum against the container-septum to secure the contact therebetween;
• and
• the gripping arm causes a collapsible movement of the body member and the sleeve towards each other, which executes at least partial movement of the fluid transfer conduit and the fluid transfer connector septum towards each other for facilitating the transfer of the fluid;
• and
• wherein the engaging arm is formed with a pressing surface configured to being pressed onto a radial stop of the fluid transfer assembly to perform said securing of the contact between the container-septum and the fluid transfer connector septum.