An article supplying apparatus includes a retention unit configured to retain an article, a robot hand configured to insert the article retained in the retention unit into a container, and a control unit configured to control operation of the robot hand. The robot hand has a holding portion for holding the article. The control unit executes holding control in which the article is held by the holding portion; and stand-by insertion control in which after the holding portion is temporarily disposed at a stand-by position different from a position immediately above an article insertion port in the container and set on a movement path from a start position of the holding through the holding control to the position immediately thereabove, the holding portion is moved to the position immediately thereabove, and the article is inserted into the container via the article insertion port.

A system for preparing and administering a prescribed fluidic pharmaceutical compound, such as a chemotherapy compound, includes a scale having a platen. The scale is in communication with a user display for displaying an output of the scale. An image capture device having a field of view for capturing at least one image of an object placed on the platen is provided in communication with the user display for displaying the captured image. The platen may include a visual identifier for identifying a portion of the field of view of the image capture device. The platen may also include a tackifier or absorbent material. The platen may be formed of a light-transmissible material.

The invention relates to an optimization method for improving the reliability of a collection and discharge of articles in a picking process using a robot. An article is collected from or out of a first article carrier and is placed down or thrown into or onto a second article carrier by means of a gripping unit on the robot head. In an image processing step, a gripping position for the gripping unit is calculated for collecting the article(s) by determining at least one dimension based on a captured image and by a range allocation being determined by means of a comparison with dimension ranges. Depending on a confidence value, a dimension value is determined, from stored article reference data or from a normalization value of the dimension range and allocated to the determined dimension. In a preparation step, a mathematical scattering measure function is applied for the determined dimension and for the dimension ranges, and normalization values and confidence values of the dimension ranges are determined therefrom.

A system for singulating objects includes a bin for receiving a collection of objects, a robotic manipulator for grasping objects from the bin, a scale for measuring a weight of the grasped objects, and a computer system for comparing measured weights to acceptable weight ranges to detect double picks. Methods include determining acceptable weight ranges by weighing a plurality of objects.

A system for preparing a pharmaceutical compound comprises: a scale having a platen configured for placement of an object thereon; a supporting arm comprising a first end coupled to a portion of the scale and a second end extending to a position above the platen of the scale; and an enclosure housing extending from the second end of the supporting arm and configured to house at least one input device. The enclosure housing has a curved front profile to minimize flow disturbance when the system is positioned within a flow hood.

A system for preparing a pharmaceutical compound comprises: a computing device comprising a user interface providing an operator with instructions for preparing the pharmaceutical compound and at least one processor operatively connected to the user interface; a scale operatively connected to the at least one processor; and an image capture device operatively connected to the at least one processor and the scale and positioned to capture an image of at least one of a component used in preparing the pharmaceutical compound and the pharmaceutical compound.

A system for preparing and administering a prescribed fluidic pharmaceutical compound, such as a chemotherapy compound, includes a scale having a platen. The scale is in communication with a user display for displaying an output of the scale. An image capture device having a field of view for capturing at least one image of an object placed on the platen is provided in communication with the user display for displaying the captured image. The platen may include a visual identifier for identifying a portion of the field of view of the image capture device. The platen may also include a tackifier or absorbent material. The platen may be formed of a light-transmissible material.

A system for preparing a pharmaceutical compound comprises: a computing device comprising a user interface providing an operator with instructions for preparing the pharmaceutical compound and at least one processor operatively connected to the user interface; a scale operatively connected to the at least one processor; and an image capture device operatively connected to the at least one processor and the scale and positioned to capture an image of at least one of a component used in preparing the pharmaceutical compound and the pharmaceutical compound.

A system for preparing a pharmaceutical compound comprises: a scale having a platen configured for placement of an object thereon; a supporting arm comprising a first end coupled to a portion of the scale and a second end extending to a position above the platen of the scale; and an enclosure housing extending from the second end of the supporting arm and configured to house at least one input device. The enclosure housing has a curved front profile to minimize flow disturbance when the system is positioned within a flow hood.

A system for singulating objects includes a bin for receiving a collection of objects, a robotic manipulator for grasping objects from the bin, a scale for measuring a weight of the grasped objects, and a computer system for comparing measured weights to acceptable weight ranges to detect double picks. Methods include determining acceptable weight ranges by weighing a plurality of objects.