Method and machine for manipulating toxic substances

Details Method and machine for manipulating toxic substances Method and machine for manipulating toxic substances

A - Human Necessities

61

B

A61B 17/34 (2006.01) G06T 1/00 (2006.01)

Patent

CA 2669926

In a machine for manipulating toxic substances, an anthropomorphic robot (13) transfers a container (3), which has a mouth (4) closed by a cap (5) made of perforable material, from a magazine (2) for containers to a dosage station (6), set in which is a syringe (9) provided with a needle (11), axially aligns the mouth (4) with the needle (11), correcting the position of the mouth (4) according to the position of the tip of the needle (11) obtained from processing a number of images of the needle (11) acquired from at least two distinct observation points (OT, OS), and finally approaches the container (3) to the syringe (9) in such a way that the needle (11) perforates the cap (5) and penetrates into the container (3) to be able to inject or extract a substance into or out of the container (3).

L'invention concerne une machine pour manipuler des substances toxiques. Cette machine comprend un robot anthropomorphe (13) qui transfère un récipient (3) présentant un goulot (4) fermé par un couvercle (5) constitué d'un matériau perforable, d'un magasin (2) pour récipients à une station de dosage (6), dans laquelle est située une seringue (9) pourvue d'une aiguille (11). Le goulot (4) est ensuite aligné axialement sur l'aiguille (11). La machine corrige ensuite la position du goulot (4) en fonction de la position de l'embout de l'aiguille (11) obtenue par traitement d'un certain nombre d'images de l'aiguille (11) acquises à partir d'au moins deux points d'observation différents (OT, OS). Enfin, le récipient (3) est approché de la seringue (9) de façon que l'aiguille (11) perfore le couvercle (5) et pénètre dans le récipient (3) afin d'injecter ou d'extraire une substance à l'intérieur ou à l'extérieur du récipient (3).

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