Method and machine for manipulating toxic substances
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United States of America Patent
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Mar 26, 2013
Grant Date -
Jan 28, 2010
app pub date -
Nov 21, 2007
filing date -
Nov 22, 2006
priority date (Note) -
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status (Latency Note)
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Abstract
In a machine for manipulating toxic substances, an anthropomorphic robot transfers a container, which has a mouth closed by a cap made of perforable material, from a magazine for containers to a dosage station, set in which is a syringe provided with a needle, axially aligns the mouth with the needle, correcting the position of the mouth according to the position of the tip of the needle obtained from processing a number of images of the needle acquired from at least two distinct observation points, and finally approaches the container to the syringe in such a way that the needle perforates the cap and penetrates into the container to be able to inject or extract a substance into or out of the container.
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