Pharmaceutical preparation device utilizing imaging-enhanced preparation process component placement

A processing circuitry-based method of imaging-enhanced preparation process component placement in a pharmaceutical preparation device (PPD), the method comprising:

• utilizing a transport unit (TU) configured to move at least a gripper thereof in one or more of x, y, and/or z directions in response to control signals;
• utilizing precalibration data comprising an image of a pharmaceutical preparation interconnection location (PPIL), the image including a location of the PPIL at which the PPD (1) positions and (2) establishes interconnections between pharmaceutical compounding components for transfer of fluid therebetween;
• the image of the precalibration data depicting a calibration pharmaceutical compounding component grasped by the gripper of the TU, in a calibrated position, as captured by a camera from located at a PPIL camera location, the TU being offset from a position to which the PPD moves the TU to establish the interconnections;
• receiving at least one real-time digital image of the PPIL captured by said camera positioned at said PPIL camera location, the received digital image depicting the gripper of the TU and/or a pharmaceutical compounding component grasped by the gripper in a current position;
• determining a direction and distance of TU movement, based on at least the received real-time digital image and the precalibration data;
• and
• controlling the TU to move the gripper in the determined direction by the determined distance;
• wherein the direction and distance of TU movement are determined to establish, within the PPIL, an interconnection of the pharmaceutical compounding component grasped by the gripper of the TU with a second pharmaceutical compounding component, the interconnection forming a secured coupling for fluid transfer of pharmaceutical materials therebetween;
• and
• wherein the direction and distance of TU movement are determined utilizing identification information related to identification of the second pharmaceutical compounding component that the interconnection of the pharmaceutical compounding component is to be established with.

A computer program product comprising a computer readable non-transitory storage medium containing program instructions, which program instructions when read by a processor, cause the processing circuitry to perform a method of imaging-enhanced preparation process component placement in a pharmaceutical preparation device (PPD), the method comprising:

• utilizing a transport unit (TU) configured to move at least a gripper thereof in one or more of x, y, and/or z directions in response to control signals;
• utilizing precalibration data comprising an image of a pharmaceutical preparation interconnection location (PPIL), the image including a location of the PPIL at which the PPD (1) positions and (2) establishes interconnections between pharmaceutical compounding components for transfer of fluid therebetween;
• the image of the precalibration data depicting a calibration pharmaceutical compounding component grasped by the gripper of the TU, in a calibrated position, as captured by a camera from located at the PPIL camera location, the TU being offset from a position to which the PPD moves the TU to establish the interconnections;
• receiving at least one real-time digital image of the PPIL captured by a camera positioned at a PPIL camera location, the received digital image depicting the gripper of the TU and/or a pharmaceutical compounding component grasped by the gripper in a current position;
• determining a direction and distance of TU movement, based on, at least the received real-time digital image and the precalibration data;
• and
• controlling the TU to move the gripper in the determined direction by the determined distance;
• wherein the direction and distance of TU movement are determined to establish, within the PPIL, an interconnection of the pharmaceutical compounding component grasped by the gripper of the TU with a second pharmaceutical compounding component, the interconnection forming a secured coupling for fluid transfer of pharmaceutical materials therebetween;
• and
• wherein the direction and distance of TU movement are determined utilizing identification information related to identification of the second pharmaceutical compounding component that the interconnection of the pharmaceutical compounding component is to be established with.