Method for powdered drug reconstitution

A method for reconstitution of a pulverized drug, comprising the steps of:

• providing a robot (2) having a movable element for carrying a container (3) elongated along one axis (H) and holding a pulverized drug (4) and diluents (5);
• said robot (2) being designed to agitate the container for enabling a reconstitution process wherein the pulverized drug is fully dissolved in the diluents;
• providing a user interface (22) for introducing data indicative of the drug to be subjected to reconstitution process;
• accessing an internal data base (DB) based on said introduced data for outputting, for a selected drug, a list of primitive movements P1, P2, . . . Pi, . . . Pn to be used in said reconstitution process;
• each primitive movements including the computerized instruction for the robot in order to move the container according to a predetermined trajectory that, in three dimensional space, defines a predefined simple movement that mimics a movement made under manual reconstitution;
• operating the robot (2) for executing sequentially the primitive movements that have been outputted and moving the container (3) according to the instructions of the primitive movements;
• measuring, during the movement of the container under robot action, physical positions in the space and dynamic parameters of the container (3) creating a list of registered data;
• comparing the measured positions in the space and the dynamic parameter with the corresponding ones of the primitive movements for selecting a list of eligible primitive movements if a sufficient approximation level is reached;
• combining selected eligible primitive movements together to generate instruction for the robot allowing a complex movement encompassing said simple movements;
• using said robot (2) for shaking said container that is moved in the space according to said complex movement;
• and
• wherein the list of movements comprises two or more of the following movements:
• Primitive movement P1 (NONE) in which the elongated container (3) containing the drug is shaken by the robot (2) along a trajectory comprising first direction D1 parallel to its main axis H and a second direction D2 perpendicular to the first direction D1 without applying any further revolution or rotary movement to the container (3) during the above translation;
• Primitive movement P2 (SWEEPCONE) in which the axis H of the container moves along a trajectory that rest on a surface of a cone;
• and wherein an angular speed of the rotating container (3) chosen from the group consisting of constant, sinusoidal and saw tooth profile;
• the cone is swept entirely or limited to an arc;
• Primitive movement P3 (SWEEPCYLINDER) in which the axis H of the container moves along a trajectory that rests on the surface of a cylinder, wherein an angular speed of the rotating container chosen from the consisting of constant, sinusoidal and a saw tooth profile;
• and wherein the cone is swept entirely or limited to an arc;
• Primitive movement P4 (CUSTOM) in which the axis H of the container moves along a trajectory that rests on a parametric custom surface defined in the three dimensional (3D) space;
• Primitive movement P5 (PENDULUMAXIS) in which the axis H is subject to a pendular rotating movement on a variable plane;
• wherein the container (3) may be subject to an angular speed that chosen from the group consisting of constant, sinusoidal and a saw tooth profile;
• and wherein rotation around the rotation axis of the robot can be limited to an arc.