# US 2014/0150379 A1 · Machine and method for the automatic preparation of intravenous medication > Agents: this data is available as JSON from the patentgrep API and MCP server — see https://patentgrep.com/llms.txt - Number: US 2014/0150379 A1 - Document ID: US20140150379A1 - Status: Published application - Kind: A1 - Application number: 13/877,589 - Filed: 2012-06-15 - Published: 2014-06-05 - Earliest claimed: 2011-06-17 - Assignees: Kiro Robotics, S.L. - Inventors: Jean-Philippe Aguerre; Borja Lizari Illarramendi; Susana Soto Iglesias; Naiara Telleria Garay; Gerardo Cajaraville Ordonana; Maria Jose Tames Alonso - Web page: https://patentgrep.com/patent/US20140150379A1 ## CPC - A61J 3/002: {Compounding apparatus specially for enteral or parenteral nutritive solutions (bottling liquids B67C)} - B08B 9/08: Cleaning containers, e.g. tanks - B08B 15/023: {Fume cabinets or cupboards, e.g. for laboratories} - B65B 3/003: {Filling medical containers such as ampoules, vials, syringes or the like} - A61M 2209/045: for filling, e.g. for filling reservoirs - B01F 33/84: Mixing plants with mixing receptacles receiving material dispensed from several component receptacles, e.g. paint tins - B01L 3/0241: {Drop counters; Drop formers} - B01L 9/06: Test-tube stands; Test-tube holders - B01L 2200/023: adapted for different sizes of tubes, tips or container - B01L 2300/0838: Capillaries - A61J: CONTAINERS SPECIALLY ADAPTED FOR MEDICAL OR PHARMACEUTICAL PURPOSES; DEVICES OR METHODS SPECIALLY ADAPTED FOR BRINGING PHARMACEUTICAL PRODUCTS INTO PARTICULAR PHYSICAL OR ADMINISTERING FORMS; DEVICES FOR ADMINISTERING FOOD OR MEDICINES ORALLY; BABY COMFORTERS; DEVICES FOR RECEIVING SPITTLE - B08B: CLEANING IN GENERAL; PREVENTION OF FOULING IN GENERAL - B65B: MACHINES, APPARATUS OR DEVICES FOR, OR METHODS OF, PACKAGING ARTICLES OR MATERIALS; UNPACKING (bundling and pressing devices for cigars A24C1/44; devices for tensioning and securing binders adapted to be supported by the article or articles to be bound B25B25/00; applying closure members to bottles, jars or similar containers B67B1/00-B67B6/00; concurrent cleaning, filling and closing of bottles B67C7/00; emptying bottles, jars, cans, casks, barrels or similar containers B67C9/00) - A61M: DEVICES FOR INTRODUCING MEDIA INTO, OR ONTO, THE BODY (introducing media into or onto the bodies of animals A61D7/00; means for inserting tampons A61F13/26; devices for administering food or medicines orally A61J; containers for collecting, storing or administering blood or medical fluids A61J1/05); DEVICES FOR TRANSDUCING BODY MEDIA OR FOR TAKING MEDIA FROM THE BODY (surgery A61B; chemical aspects of surgical articles A61L); DEVICES FOR PRODUCING OR ENDING SLEEP OR STUPOR {(Electrotherapy, e.g. producing anaesthesia by the use of alternating or intermittent currents A61N1/36021)} - B01F: MIXING, e.g. DISSOLVING, EMULSIFYING OR DISPERSING (mixing paints B44D3/06) - B01L: CHEMICAL OR PHYSICAL LABORATORY APPARATUS FOR GENERAL USE ## Abstract Machine and method for the automatic preparation of medication, comprising:—a starting products area comprising at least one receptacle with bane products; a transfer tools area further comprising at least one transfer tool; a prepared products area comprising at least one container; and one robot with holding means for transporting the receptacle, the transfer tool and/or the container; wherein the robot, the starting products area, the transfer tools area, and the prepared products area are disposed in the same cabinet or chamber of the machine, so that the robot is adapted to transport mo receptacle, the transfer tool and/or the container between the areas in the chamber. The machine further comprising a holding device between the receptacle, the transfer tool or the container and the robot's holding means, said holding device comprising elastic means for fixation to different sizes/forms of receptacles, transfer tools or containers. ## Claims ### Claim 1 A machine for automatic preparation of intravenous medication, comprising: a starting products area comprising at least one receptacle with base products; a transfer tools area comprising at least one transfer tool; a prepared products area comprising at least one container to house the prepared medication; and one robot with holding means for transporting the receptacle, the transfer tool and/or the container; wherein the robot, the starting products area, the transfer tools area, and the prepared products area are disposed in a same cabinet or chamber of the machine, so that the robot is configured to transport the receptacle, the transfer tool and/or the container between the areas in the chamber, the machine further comprises a holding device between the receptacle, the transfer tool or the container and the robot's holding means, said holding device comprising elastic means for fixation to different sizes/forms of receptacles, transfer tools or containers. ### Claim 2 (depends on 1) The machine, according to claim 1, wherein the robot is configured to transport a receptacle from one area to another. ### Claim 3 (depends on 2) The machine, according to claim 2, wherein the receptacle further comprises a head with an elastomeric portion, a neck and a body. ### Claim 4 (depends on 3) The machine, according to claim 3, wherein the holding device's elastic means are configured to hold the receptacle from its neck. ### Claim 5 (depends on 3) The machine, according to claim 3, wherein the holding device further comprises a groove that matches the elastomeric portion of the receptacle regardless the receptacle's form and/or size. ### Claim 6 (depends on 3) The machine, according to claim 3, wherein the robot is configured to agitate the receptacle. ### Claim 7 (depends on 6) The machine, according to claim 6, wherein the agitation performed by the first robot is a periodic movement with a frequency of at least 1 Hz. ### Claim 8 (depends on 7) The machine, according to claim 7, further comprising a tool that is fixed to the robot and which is configured to hold and handle the transfer tool. ### Claim 9 (depends on 8) The machine, according to claim 8, wherein the tool fixed to the robot further comprises a plunger actuator. ### Claim 10 (depends on 1) The machine, according to claim 1, further comprising a second robot wherein the first of the robots is designated to actuate on receptacles and the second of the robots is designated to actuate on transfer tools. ### Claim 11 (depends on 10) The machine, according to claim 10, wherein the first robot comprises a holding device and the second robot comprises a plunger actuator. ### Claim 12 A machine for the automatic preparation of intravenous medication, comprising: a starting products area comprising at least one receptacle with base products; a transfer tools area further comprising at least one transfer tool; a prepared products area comprising at least one container to house the prepared medication; and a first robot with holding means designated to actuate on receptacles; a second robot designated to actuate on the transfer tools; wherein the robots, the starting products area, the transfer tools area, and the prepared products area are disposed in a same cabinet or chamber of the machine, so that the robots are configured to transport receptacles, transfer tools and/or containers between the areas in said chamber, the machine further comprises a first holding means on the first robot; a second holding means on the second robot; the second holding means comprising a plunger actuator. ### Claim 13 (depends on 12) The machine, according to claim 12, wherein the robots are configured to transport receptacles or transfer tools from one area to another. ### Claim 14 (depends on 13) The machine, according to claim 13, wherein the receptacle comprises a head with an elastomeric portion, a neck and a body. ### Claim 15 (depends on 14) The machine, according to claim 14, wherein the first robot comprises a first holding device that comprises elastic means configured to hold the receptacle from its neck. ### Claim 16 (depends on 14) The machine, according to claim 14, wherein the first holding device comprises a groove that matches the elastomeric portion of the receptacle regardless the receptacle's form and/or size. ### Claim 17 (depends on 12) The machine, according to claim 12, wherein the first robot is configured to agitate the receptacle. ### Claim 18 (depends on 17) The machine, according to claim 17, wherein the agitation performed by the first robot is a periodic movement with a frequency of at least 1 Hz. ### Claim 19 (depends on 12) The machine, according to claim 12, further comprising a cleaning means for cleaning at least part of the chamber, said cleaning means comprising at least one hole through which a sprayed liquid or a fluid in the form of a jet is introduced into one or more certain areas of said chamber or in said chamber in its entirety. ### Claim 20 (depends on 19) The machine, according to claim 19, further comprising a drainage means to evacuate from the chamber at least part of the fluid introduced by the cleaning means, said drainage means comprising at least one drainage hole disposed in the bottom part of the chamber and at least one drainage surface in said bottom part of the chamber to guide the fluid to the drainage hole. ### Claim 21 (depends on 19) The machine, according to claim 19, further comprising a drying means to dry the walls that delimit the chamber and the elements present in said chamber of the fluid introduced by the cleaning means, said drying means comprising an inlet access in a top part of the chamber, at least one flow router on said chamber to force said flow inside said chamber through the inlet access and until it is evacuated from said chamber through a bottom part of said chamber, and an outlet access disposed in said bottom part of the chamber through which said flow is forced out of said chamber. ### Claim 22 (depends on 19) The machine, according to claim 19, wherein the robots are configured to move to a predetermined position during cleaning. ### Claim 23 (depends on 19) The machine, according to claim 19, wherein the robots are configured to move while cleaning for ensuring that they get in touch with the fluid. ### Claim 24 A method for the automatic preparation of intravenous medication, wherein at least one receptacle with base products from which the medication is generated is disposed manually in a starting products area of a cabinet or chamber of a machine, at least one transfer tool that is used to prepare the medication is disposed manually in a transfer tools area of the chamber, and at least one container is disposed manually in a prepared products area of the chamber, wherein by means of a robot the receptacle, the transfer tool and/or the container are transported from one area to another within a same chamber automatically, for the preparation of the medication. ### Claim 25 (depends on 24) The method according to claim 24, whereby once the receptacle, the transfer tool and the container have been disposed in their corresponding areas the robot carries out a preparation operation wherein it picks up a transfer tool from the transfer tools area, transports said transfer tool to the starting products area, handles or operates the transfer tool using a plunger actuator disposed on the robot causing it to fill partially or completely with a specific amount of a base product present in a corresponding receptacle, transports said transfer tool with said base product to the prepared products area, and empties said transfer tool partially or completely in a corresponding container, said robot carrying out as many preparation operations as are necessary to prepare or complete the medication, using a different transfer tool disposed in the transfer tools area for each different base product. ### Claim 26 (depends on 25) The method according to claim 25, wherein the receptacle is disposed in a substantially vertical position in the starting products area, the robot disposing the transfer tool in a substantially vertical position and facing said receptacle to cause, by the use of the plunger actuator located in the robot, the total or partial filling of said transfer tool with the base product of said receptacle. ### Claim 27 (depends on 25) The method according to claim 25, whereby if the contents of a receptacle are powdered or lyophilised, said receptacle, by means of the robot or by means of a second robot, is transported from the starting products area to a reconstituting area with a reconstituting liquid where the second robots performs a periodic movement to agitate the receptacle thereby dissolving the contents of the receptacle and is returned to said starting products area again.