公开(公告)号：US20220111510A1

公开(公告)日：2022-04-14

申请号：US17486693

申请日：2021-09-27

Applicant: VANRX PHARMASYSTEMS INC.

Inventor： Ross M. GOLD ,  Jeroen IMMERZEEL ,  Steve Sang Joon PARK ,  Christopher A. PROCYSHYN

IPC: B25J9/00 ,  B25J19/00 ,  B25J21/00 ,  B25J9/04 ,  B25J18/04

Abstract: A hermetically sealed multi-axis articulated arm apparatus for use within a sealable isolator chamber comprises a rotational shaft that passes through an opening in the chamber, a sealing member disposed within the chamber for sealing the shaft to an inner surface of the chamber, a plurality of interconnected hermetically sealed arm segments, operably attached to the linear motion shaft; an end effector operably attached to a terminal arm segment among the plurality of arm segments, and at least one fully enclosed drive system for driving and controlling the shaft and the plurality of arm segments. The linear motion shaft may have a sealing member in the form of a bellows. The materials for the parts of the apparatus exposed to the atmosphere of the chamber are compatible with an aseptic and cleanable environment and the surfaces of the arm segments are shaped to avoid pooling of contaminants.

公开(公告)号：US20210070481A1

公开(公告)日：2021-03-11

申请号：US17008458

申请日：2020-08-31

Applicant: VANRX PHARMASYSTEMS INC.

Inventor： Christopher A. PROCYSHYN ,  Juvenal NAING ,  John SENGER ,  Marcin Czeslaw CICHY

IPC: B65B3/00 ,  A61M5/178 ,  B65B55/02 ,  B67C3/00

Abstract: Systems and methods for aseptically filling pharmaceutical containers with pharmaceutical fluid are disclosed. In one general aspect, these are based on an aseptically sealable chamber that includes a transfer wall to which pre-sealed pharmaceutical source and receiving containers are mounted aseptically. A robotic arm and a syringe store are disposed within the chamber along with a sterilizing facility for establishing in the chamber an aseptic condition. The robotic arm can grip and operate syringes to inject and/or extract pharmaceutical products from the containers by piercing their closures with the needles of the syringes.

公开(公告)号：US20190381652A1

公开(公告)日：2019-12-19

申请号：US16223003

申请日：2018-12-17

Applicant: VANRX PHARMASYSTEMS INC.

Inventor： Christopher A. PROCYSHYN ,  Jeroen IMMERZEEL ,  Steve Sang Joon PARK ,  Ross M. GOLD

IPC: B25J9/00 ,  B25J19/00 ,  B25J21/00 ,  B25J18/04

Abstract: A hermetically sealed multi-axis articulated arm apparatus for use within a sealable isolator chamber comprises a rotational shaft that passes through an opening in the chamber, a sealing member disposed within the chamber for sealing the shaft to an inner surface of the chamber, a plurality of interconnected hermetically sealed arm segments, operably attached to the linear motion shaft; an end effector operably attached to a terminal arm segment among the plurality of arm segments, and at least one fully enclosed drive system for driving and controlling the shaft and the plurality of arm segments. The linear motion shaft may have a sealing member in the form of a bellows. The materials for the parts of the apparatus exposed to the atmosphere of the chamber are compatible with an aseptic and cleanable environment and the surfaces of the arm segments are shaped to avoid pooling of contaminants.

公开(公告)号：US20190054459A1

公开(公告)日：2019-02-21

申请号：US15898641

申请日：2018-02-18

Applicant: VANRX PHARMASYSTEMS INC.

Inventor： Christopher A. PROCYSHYN ,  Jeroen IMMERZEEL ,  Steve Sang Joon PARK

IPC: B01L1/02 ,  B25J21/00 ,  A61L2/16 ,  A61L2/24 ,  A61L2/07 ,  C12M1/00 ,  C12M1/12 ,  G01N35/00

Abstract: A controlled environment enclosure comprises a robotic arm manipulation system used to protect and unprotect a fluid path within the controlled environment enclosure. The apparatus allows the fluid path to be protected against dangerous decontamination vapors and chemicals before the controlled environment enclosure is decontaminated, the method not requiring the use of gloves or other means that degrade the integrity of the controlled environment enclosure. The apparatus similarly allows the fluid path to be unprotected for use without the use of gloves, the method not requiring the use of gloves or other means that degrade the integrity of the controlled environment enclosure when decontaminated is completed. The apparatus and method allow for the protecting, unprotecting and decontaminating sequences to be automated

公开(公告)号：US20210078846A1

公开(公告)日：2021-03-18

申请号：US17033865

申请日：2020-09-27

Applicant: VANRX PHARMASYSTEMS INC.

Inventor： Christopher A. PROCYSHYN ,  Ross M GOLD ,  Steve Sang Joon PARK ,  Jeroen IMMERZEEL

IPC: B67B7/14 ,  B25J21/00 ,  B65B55/02

Abstract: An apparatus and method are presented for removing container covers within a controlled environment enclosure without using gloves. The apparatus comprises an articulated arm apparatus and a gripping apparatus and can further comprise a controller. The articulated arm apparatus can be configurable for holding and moving a container in three dimensions; and the gripping apparatus can be configured for gripping a container cover sealing the container. The method comprises moving the container using the articulated arm apparatus while holding a gripping area of the container cover substantially stationary using the gripping apparatus. The apparatus can further comprise a sensor configured for supplying information to the controller for determining the location of the container cover gripping area and an orientation of the container cover. The method can further comprise inspecting the container cover using the sensor. The container can be moved along a path and within a space determined by the controller.

公开(公告)号：US20190193262A1

公开(公告)日：2019-06-27

申请号：US16222985

申请日：2018-12-17

Applicant: VANRX PHARMASYSTEMS INC.

Inventor： Christopher A. PROCYSHYN ,  Jeroen IMMERZEEL ,  Steve Sang Joon PARK ,  Ross M. GOLD

IPC: B25J9/00 ,  B25J18/04 ,  B25J19/00 ,  B25J21/00

CPC classification number: B25J9/0009 ,  B25J9/0075 ,  B25J18/04 ,  B25J19/0075 ,  B25J21/00

Abstract: A hermetically sealed multi-axis articulated arm apparatus for use within a sealable isolator chamber comprises a rotational shaft that passes through an opening in the chamber, a sealing member disposed within the chamber for sealing the shaft to an inner surface of the chamber, a plurality of interconnected hermetically sealed arm segments, operably attached to the linear motion shaft; an end effector operably attached to a terminal arm segment among the plurality of arm segments, and at least one fully enclosed drive system for driving and controlling the shaft and the plurality of arm segments. The linear motion shaft may have a sealing member in the form of a bellows. The materials for the parts of the apparatus exposed to the atmosphere of the chamber are compatible with an aseptic and cleanable environment and the surfaces of the arm segments are shaped to avoid pooling of contaminants.

公开(公告)号：US20220331948A9

公开(公告)日：2022-10-20

申请号：US16222985

申请日：2018-12-17

Applicant: VANRX PHARMASYSTEMS INC.

Inventor： Ross M. GOLD ,  Christopher A. PROCYSHYN ,  Jeroen IMMERZEEL ,  Steve Sang Joon PARK

IPC: B25J9/00 ,  B25J18/04 ,  B25J19/00 ,  B25J21/00

Abstract: A hermetically sealed multi-axis articulated arm apparatus for use within a sealable isolator chamber comprises a rotational shaft that passes through an opening in the chamber, a sealing member disposed within the chamber for sealing the shaft to an inner surface of the chamber, a plurality of interconnected hermetically sealed arm segments, operably attached to the linear motion shaft; an end effector operably attached to a terminal arm segment among the plurality of arm segments, and at least one fully enclosed drive system for driving and controlling the shaft and the plurality of arm segments. The linear motion shaft may have a sealing member in the form of a bellows. The materials for the parts of the apparatus exposed to the atmosphere of the chamber are compatible with an aseptic and cleanable environment and the surfaces of the arm segments are shaped to avoid pooling of contaminants.

公开(公告)号：US20210371148A1

公开(公告)日：2021-12-02

申请号：US17033863

申请日：2020-09-27

Applicant: VANRX PHARMASYSTEMS INC.

Inventor： Christopher A. PROCYSHYN ,  Ross M GOLD ,  Steve Sang Joon PARK ,  Jeroen IMMERZEEL

IPC: B65B69/00 ,  B25J11/00

Abstract: An apparatus and method are presented for removing container covers within a controlled environment enclosure without using gloves. The apparatus comprises an articulated arm apparatus and a gripping apparatus and can further comprise a controller. The articulated arm apparatus can be configurable for holding and moving a container in three dimensions; and the gripping apparatus can be configured for gripping a container cover sealing the container. The method comprises moving the container using the articulated arm apparatus while holding a gripping area of the container cover substantially stationary using the gripping apparatus. The apparatus can further comprise a sensor configured for supplying information to the controller for determining the location of the container cover gripping area and an orientation of the container cover. The method can further comprise inspecting the container cover using the sensor. The container can be moved along a path and within a space determined by the controller.

公开(公告)号：US20200215527A1

公开(公告)日：2020-07-09

申请号：US16799767

申请日：2020-02-24

Applicant: VANRX PHARMASYSTEMS INC.

Inventor： Christopher A. PROCYSHYN ,  Jeroen IMMERZEEL ,  Steve Sang Joon PARK ,  Ross M GOLD

IPC: B01L1/02 ,  C12M1/00 ,  C12M1/12 ,  B25J21/00 ,  A61L2/07 ,  A61L2/16 ,  A61L2/24

Abstract: A controlled environment enclosure comprises a robotic arm manipulation system used to protect and unprotect a fluid path within the controlled environment enclosure. The apparatus allows the fluid path to be protected against dangerous decontamination vapors and chemicals before the controlled environment enclosure is decontaminated, the method not requiring the use of gloves or other means that degrade the integrity of the controlled environment enclosure. The apparatus similarly allows the fluid path to be unprotected for use without the use of gloves, the method not requiring the use of gloves or other means that degrade the integrity of the controlled environment enclosure when decontaminated is completed. The apparatus and method allow for the protecting, unprotecting and decontaminating sequences to be automated

公开(公告)号：US20250091752A1

公开(公告)日：2025-03-20

申请号：US18967069

申请日：2024-12-03

Applicant: VANRX PHARMASYSTEMS INC.

Inventor： Christopher A. PROCYSHYN ,  Ross M. GOLD ,  Steve Sang Joon PARK ,  Jeroen IMMERZEEL ,  Paul NOWAKCZYK

IPC: B65B69/00 ,  B25J11/00

Abstract: The present invention involves removing container covers within a controlled environment enclosure without using gloves. Apparatus has articulated arm apparatus and gripping apparatus and may further comprise controller. Articulated arm apparatus may be configurable for holding and moving container in three dimensions; and gripping apparatus may be configured for gripping and/or moving container cover sealing the container. Method comprises moving container using articulated arm apparatus while holding gripping area of container cover substantially stationary using gripping apparatus, optionally moving the gripping apparatus. Apparatus may further comprise sensor configured for supplying information to controller for determining location of container cover gripping area and orientation of container cover. Method may further comprise inspecting container cover using sensor. Container may be moved along path and within space determined by controller.