High-throughput automated reconstitution of lyophilized drug product

A drug product reconstitution processing system comprising:

• a drug vial tray . . .
• a first robotic arm . . . including a grasping member, a drug vial transfer system . . . , and a vial agitation system . . .
• a second robotic arm . . . the second robotic arm including a needle and a drug vial reconstitution system adapted to selectively add a fluid to the drug vial and/or remove a fluid from the drug vial via the needle;
• a memory . . . and a processor . . . the processor is adapted to execute the non-transitory computer executable instructions to cause the processor to initiate a collision detection system adapted to identify whether the first robotic arm may contact the second robotic arm in response to a command to move the first robotic arm or the second robotic arm,
• wherein the collision detection system is adapted to cause a controlled movement of the entirety of the first robotic arm and the grasping member as a unit or the entirety of the second robotic arm and the needle as a unit along a coordinated path in generally opposite directions in response to identifying that the first robotic arm may contact the second robotic arm while maintaining concurrent operation of the vial agitation system and the drug vial reconstitution system.

A computer-implemented method, carried out by an automated drug product reconstitution processing system, for reconstituting a drug product comprising:

• receiving . . . an instruction to execute a command;
• receiving . . . location data corresponding to a location of a first robotic arm including a grasping member and a vial agitation system coupled therewith, a second robotic arm including a needle and a drug vial reconstitution system coupled therewith, and a desired location of the first robotic arm or the second robotic arm based on the received command;
• determining, by a collision detection system of the automated drug reconstitution product processing system, automatically from the set of location data, whether the first robotic arm may contact the second robotic arm upon executing the command;
• and
• in response to determining whether the first robotic arm may contact the second robotic arm upon executing the command, selectively executing the command or initiating a collision avoidance routine to cause a controlled movement of the entirety of the first robotic arm and the grasping member as a unit or the entirety of the second robotic arm and the needle as a unit along a coordinated path in generally opposite directions while maintaining concurrent operation of the vial agitation system and the drug vial reconstitution system.