Liquid transfer system, liquid transfer control method, liquid transfer controller, and medicine manufacturing method

A liquid transfer control method which controls a multi-jointed robot and a syringe actuator configured to pull and push a plunger of a syringe, comprising:

• performing control of the multi-jointed robot so as to dispose a vessel containing a liquid on a lower side of the syringe;
• performing control of the multi-jointed robot so as to make a needle of the syringe puncture the vessel in a state where the vessel is disposed on the lower side of the syringe;
• performing control of the multi-jointed robot so as to reverse a vertical relation between the vessel and the syringe from a state where the vessel is positioned on the lower side of the syringe to a state where the vessel is positioned on the upper side of the syringe when in a state where the needle punctures the vessel;
• and
• performing control of the syringe actuator so as to absorb the liquid in the vessel into the syringe by pulling the plunger in a state where the vessel is disposed on an upper side of the syringe.

A liquid transfer controller which controls a multi-jointed robot and a syringe actuator configured to pull and push a plunger of a syringe, comprising:

• an arrangement control module configured to control the multi-jointed robot so as to dispose the vessel containing a liquid on a lower side of the syringe;
• a puncture control module configured to control the multi-jointed robot so as to make a needle of the syringe puncture the vessel in a state where the vessel is disposed on the lower side of the syringe;
• a reverse control module configured to control the multi-jointed robot so as to reverse the vertical relation between the vessel and the syringe from a state where the vessel is positioned on the lower side of the syringe to a state where the vessel is positioned on an upper side of the syringe when in a state where the needle punctures the vessel;
• and
• a suction control module configured to control the syringe actuator so as to absorb the liquid in the vessel into the syringe by pulling the plunger in a state where the vessel is disposed on the upper side of the syringe.

A medicine manufacturing method of manufacturing a medicine by controlling a multi-jointed robot and a syringe actuator configured to pull and push a plunger of a syringe, comprising:

• performing control of the multi-jointed robot so as to dispose a first vessel containing a raw liquid of the medicine on a lower side of the syringe;
• performing control of the multi-jointed robot so as to make a needle of the syringe puncture the first vessel in a state where the first vessel is disposed on the lower side of the syringe;
• performing control of the multi-jointed robot so as to reverse a vertical relation between the first vessel and the syringe from a state where the vessel is positioned on the lower side of the syringe to a state where the vessel is positioned on an upper side of the syringe when in a state where the needle punctures the first vessel;
• performing control of the syringe actuator so as to absorb the raw liquid medicine in the first vessel into the syringe by pulling the plunger in a state where the first vessel is disposed on the upper side of the syringe;
• performing control of the multi-jointed robot so as to remove the needle from the first vessel;
• performing control of the multi-jointed robot so as to make a needle of the syringe punctures a second vessel for the medicine;
• and
• performing control of the syringe actuator so as to inject the raw liquid medicine in the syringe into the second vessel by pushing the plunger.