METHOD FOR TRANSFERRING AT LEAST ONE FILLING NEEDLE OF A NUMBER OF FILLING NEEDLES INTO AN ASEPTIC ISOLATOR

Abstract

A method for transferring at least one filling needle of a number of filling needles into an isolator which has a transfer lock, the method having the following steps: providing a first needle carrier within the transfer lock, said needle carrier carrying the number of filling needles; providing a second needle carrier in a first position within the isolator; robot-assisted transferring of the at least one filling needle of the number of filling needles from the first needle carrier to the second needle carrier; and robot-assisted placing of the at least one filling needle of the number of filling needles in the second needle carrier, wherein the at least one filling needle of the number of filling needles is held directly during the robot-assisted placing. A transfer system, in which such a method can be conducted, is also disclosed.

Claims

1. A method for transferring at least one filling needle of a number of filling needles into an isolator which has a transfer lock, the method having the following steps: providing of a first needle carrier within the transfer lock, said needle carrier carrying the number of filling needles; providing of a second needle carrier in a first position within the isolator; robot-assisted transferring of the at least one filling needle of the number of filling needles from the first needle carrier to the second needle carrier; and robot-assisted placing of the at least one filling needle of the number of filling needles in the second needle carrier, wherein the at least one filling needle of the number of filling needles is held directly during the robot-assisted placing.

2. The method as claimed in claim 1, wherein the second needle carrier is in a filling station in which objects are filled with a fluid by means of the at least one filling needle of the number of filling needles.

3. The method as claimed in claim 1, wherein the at least one filling needle of the number of filling needles is transferred collectively from the first needle carrier to the second needle carrier.

4. The method as claimed in claim 1, wherein the at least one filling needle of the number of filling needles is transferred individually from the first needle carrier to the second needle carrier.

5. The method as claimed in claim 1, wherein the step of robot-assisted transferring of the at least one filling needle of the number of filling needles from the first needle carrier to the second needle carrier comprises the following steps: first robot-assisted transferring of the at least one filling needle of the number of filling needles from the first needle carrier to a third needle carrier, which is arranged in a second position within the isolator, wherein the second position is spaced apart from the first position; robot-assisted placing of the at least one filling needle of the number of filling needles in the third needle carrier; and wherein the step of robot-assisted placing of the at least one filling needle of the number of filling needles in the second needle carrier comprises the following step: second robot-assisted transferring of the at least one filling needle of the number of filling needles from the third needle carrier to the second needle carrier, wherein the at least one filling needle of the number of filling needles is held directly during the second robot-assisted transferring.

6. The method as claimed in claim 5, wherein the third needle carrier is an intermediate carrier in which the at least one filling needle is carried before it is transferred to the second needle carrier.

7. The method as claimed in claim 5, wherein the at least one filling needle of the number of filling needles is transferred collectively from the first needle carrier to the third needle carrier.

8. The method as claimed in claim 5, wherein the at least one filling needle of the number of filling needles is transferred individually from the first needle carrier to the third needle carrier.

9. The method as claimed in claim 5, wherein, when the at least one filling needle of the number of filling needles is transferred collectively from the first needle carrier to the third needle carrier, the at least one filling needle of the number of filling needles is transferred individually from the third needle carrier to the second needle carrier.

10. The method as claimed in claim 5, wherein, when the at least one filling needle of the number of filling needles is transferred individually from the first needle carrier to the third needle carrier, the at least one filling needle of the number of filling needles is transferred collectively from the third needle carrier to the second needle carrier.

11. The method as claimed in claim 1, wherein the step of robot-assisted transferring of the at least one filling needle of the number of filling needles from the first needle carrier to the second needle carrier comprises the following steps: first robot-assisted transferring of the first needle carrier together with the number of filling needles from the transfer lock to a second position within the isolator, the second position being spaced apart from the first position; robot-assisted placing of the first needle carrier in the second position; and wherein the step of robot-assisted placing of the at least one filling needle of the number of filling needles in the second needle carrier comprises the following step: second robot-assisted transferring of the at least one filling needle of the number of filling needles from the first needle carrier to the second needle carrier, wherein the at least one filling needle of the number of filling needles is held directly during the second robot-assisted transferring.

12. The method as claimed in claim 11, wherein the at least one filling needle of the number of filling needles is transferred collectively from the first needle carrier, arranged in the second position, to the second needle carrier.

13. The method as claimed in claim 11, wherein the at least one filling needle of the number of filling needles is transferred individually from the first needle carrier, arranged in the second position, to the third needle carrier.

14. The method as claimed in claim 11, wherein the first needle carrier has a base body, for carrying the number of filling needles, and at least one projection, the at least one projection extending from the base body and having a circular cylindrical shape.

15. The method as claimed in claim 14, wherein each of the at least one projection is shaped in such a way that a robot gripper of a robot end effector, which is configured to grip a single filling needle of the number of filling needles or an object that is to be filled by means of the single filling needle of the number of filling needles can receive said projection.

16. The method as claimed in claim 1, further comprising the step: robot-assisted opening of the transfer lock before the step of robot-assisted transferring of the at least one filling needle of the number of filling needles from the first needle carrier to the second needle carrier.

17. A method for transferring a number of filling needles to a filling position within an isolator which has a transfer lock, the method comprising the following steps: providing of a needle carrier, the needle carrier having a base body, for carrying the number of filling needles, and a receptacle; robot-assisted picking-up of the needle carrier via the receptacle, the needle carrier carrying the number of filling needles; robot-assisted transferring of the needle carrier with the number of filling needles to the filling position within the isolator; and robot-assisted placing of the needle carrier in the filling position within the isolator.

18. The method as claimed in claim 17, wherein the needle carrier with the number of filling needles is provided within the transfer lock.

19. The method as claimed in claim 17, wherein the needle carrier is provided in a position spaced apart from the filling position within the isolator, wherein the method, prior to the step of robot-assisted transferring, comprises the following steps: providing of a transfer lock needle carrier within the transfer lock, the transfer lock needle carrier carrying the number of filling needles; robot-assisted transferring of the number of filling needles from the transfer lock needle carrier to the needle carrier; robot-assisted placing of the number of filling needles in the needle carrier, wherein the number of filling needles is held directly during the robot-assisted transferring to the needle carrier.

20. The method as claimed in claim 17, wherein, during the robot-assisted transferring, the needle carrier is transferred by means of more than one robot, wherein the needle carrier is passed from one robot to a further robot.

21. The method as claimed in claim 17, wherein the receptacle is at least one projection which extends from the base body, wherein each projection of the at least one projection is shaped in such a way that a robot gripper of a robot end effector, which is configured to receive a single filling needle of the number of filling needles or an object to be filled by means of the single filling needle can receive said projection.

22. The method as claimed in claim 21, wherein each projection of the at least one projection has a circular cylindrical shape.

23. The method as claimed in claim 17, wherein the robot-assisted picking-up of the needle carrier via the receptacle is carried out by means of a clip connection.

24. The method as claimed in claim 17, wherein the robot-assisted picking-up of the needle carrier via the receptacle is carried out by means of a magnetic connection.

25. The method as claimed in claim 17, wherein the needle carrier arranged in the filling position is in a filling station in which a number of objects are filled with a fluid by means of the number of filling needles.

26. The method as claimed in claim 25, wherein the needle carrier is held directly in the filling station during the filling of the number of objects.

27. The method as claimed in claim 17, further comprising the step: robot-assisted opening of the transfer lock before the needle carrier is received via the receptacle.

28. The method as claimed in claim 1, wherein the number of filling needles are fluidically connected, by means of a number of tubes, to a source container and/or to a conveying means for conveying the fluid.

29. The method as claimed in claim 28, wherein the number of tubes cross through a wall of the transfer lock in a sterile manner.

30. A method for transferring at least one filling needle of a number of filling needles from an isolator which has a transfer lock, the method comprising the following steps: providing of a first needle carrier; providing of a second needle carrier, which carries the number of filling needles, in a first position within the isolator; robot-assisted removing of the at least one filling needle of the number of filling needles from the second needle carrier, the at least one filling needle of the number of filling needles being held directly during the robot-assisted removing; and robot-assisted transferring of the at least one filling needle of the number of filling needles from the second needle carrier to the first needle carrier.

31. A method for transferring a number of filling needles from a filling position within an isolator which has a transfer lock, the method having the following steps: providing of a needle carrier in the filling position, the needle carrier having a base body, for carrying the number of filling needles, and a receptacle; robot-assisted picking-up of the needle carrier via the receptacle, the needle carrier carrying the number of filling needles; robot-assisted removing of the needle carrier from the filling position within the isolator; and robot-assisted transferring of the needle carrier with the number of filling needles from the filling position.

32. The method as claimed in claim 1, wherein the number of filling needles is a single filling needle or is two or more filling needles.

33. A transfer system for transferring at least one filling needle of a number of filling needles into an isolator, the transfer system comprising: the isolator, which has a transfer lock, wherein a first needle carrier, which carries the number of filling needles, is provided within the transfer lock, and wherein a second needle carrier is provided in a first position within the isolator; at least one robot with a robot end effector which is arranged within the isolator; and a controller which is configured in such a way that the following steps are carried out: robot-assisted transferring of the at least one filling needle of the number of filling needles from the first needle carrier to the second needle carrier; and robot-assisted placing of the at least one filling needle of the number of filling needles in the second needle carrier, wherein the at least one filling needle of the number of filling needles is held directly by the robot end effector during the robot-assisted placing.

34. A transfer system for transferring a number of filling needles to a filling position within an isolator, the transfer system having: the isolator, which has a transfer lock; a needle carrier, wherein the needle carrier has a base body, for carrying the number of filling needles, and a receptacle; at least one robot with a robot end effector which is arranged within the isolator; and a controller which is configured in such a way that the following steps are carried out: robot-assisted picking-up of the needle carrier via the receptacle, wherein the needle carrier carries the number of filling needles; robot-assisted transferring of the needle carrier with the number of filling needles to the filling position within the isolator; and robot-assisted placing of the needle carrier in the filling position within the isolator.

35. A transfer system for transferring at least one filling needle of a number of filling needles from an isolator, the transfer system having: the isolator, which has a transfer lock, wherein a second needle carrier is provided in a first position within the isolator, the second needle carrier carrying the number of filling needles; a first needle carrier; at least one robot with a robot end effector which is arranged within the isolator; and a controller which is configured in such a way that the following steps are carried out: robot-assisted removing of the at least one filling needle of the number of filling needles from the second needle carrier, wherein the at least one filling needle of the number of filling needles is held directly by the robot end effector during the robot-assisted removing; and robot-assisted transferring of the at least one filling needle of the number of filling needles from the second needle carrier to the first needle carrier.

36. A transfer system for transferring a number of filling needles from a filling position within an isolator, the transfer system having: the isolator, which has a transfer lock; a needle carrier, wherein the needle carrier has a base body, for carrying the number of filling needles, and a receptacle; at least one robot with a robot end effector which is arranged within the isolator; and a controller which is configured in such a way that the following steps are carried out: robot-assisted picking-up of the needle carrier via the receptacle, the needle carrier carrying the number of filling needles; robot-assisted removing of the needle carrier from the filling position within the isolator; and robot-assisted transferring of the needle carrier with the number of filling needles from the filling position.

37. The transfer system as claimed in claim 33, wherein the isolator and the transfer lock share a common wall portion, and an opening extends through the common wall, with a door releasably locking the opening.

38. The transfer system as claimed in claim 33, wherein the number of filling needles are fluidically connected, by means of a number of tubes, to a source container and/or to a conveying means for conveying the fluid.

39. A computer program with a program code which is configured, when executed in a controller of a transfer system comprising an isolator, which has a transfer lock, wherein a first needle carrier, which carries the number of filling needles, is provided within the transfer lock, and wherein a second needle carrier is provided in a first position within the isolator, at least one robot with a robot end effector which is arranged within the isolator, and the controller, to carry out the following steps: robot-assisted transferring of the at least one filling needle of the number of filling needles from the first needle carrier to the second needle carrier; and robot-assisted placing of the at least one filling needle of the number of filling needles in the second needle carrier, wherein the at least one filling needle of the number of filling needles is held directly during the robot-assisted placing.

40. A computer program with a program code which is configured, when executed in a controller of a transfer system having an isolator, which has a transfer lock, a needle carrier, wherein the needle carrier has a base body, for carrying the number of filling needles, and a receptacle, at least one robot with a robot end effector which is arranged within the isolator, and the controller, to carry out the following steps: robot-assisted picking-up of the needle carrier via the receptacle, the needle carrier carrying the number of filling needles; robot-assisted transferring of the needle carrier with the number of filling needles to the filling position within the isolator; and robot-assisted placing of the needle carrier in the filling position within the isolator.

41. A computer program with a program code which is configured, when executed in a controller of a transfer system having the isolator, which has a transfer lock, wherein a second needle carrier is provided in a first position within the isolator, the second needle carrier carrying the number of filling needles, a first needle carrier, at least one robot with a robot end effector which is arranged within the isolator, and a controller, to carry out the following steps: robot-assisted removing of the at least one filling needle of the number of filling needles from the second needle carrier, wherein the at least one filling needle of the number of filling needles is held directly during the robot-assisted removing; and robot-assisted transferring of the at least one filling needle of the number of filling needles from the second needle carrier to the first needle carrier.

42. A computer program with a program code which is configured, when executed in a controller of a transfer system having an isolator, which has a transfer lock, a needle carrier, wherein the needle carrier has a base body, for carrying the number of filling needles, and a receptacle, at least one robot with a robot end effector which is arranged within the isolator, and the controller, to carry out the following steps: robot-assisted picking-up of the needle carrier via the receptacle, the needle carrier carrying the number of filling needles; robot-assisted removing of the needle carrier from the filling position within the isolator; and robot-assisted transferring of the needle carrier with the number of filling needles from the filling position.

Description

BRIEF DESCRIPTION OF THE SEVERAL VIEWS OF THE DRAWING

[0169] Embodiments of the application explained in more detail in the following description and are shown in the drawing, in which:

[0170] FIG. 1 shows a schematic representation of a first embodiment of a transfer system according to a second aspect of the application,

[0171] FIG. 2 shows a schematic representation of a second embodiment of the transfer system according to the second aspect of the application,

[0172] FIG. 3 shows a schematic representation of a third embodiment of the transfer system according to the second aspect of the application,

[0173] FIG. 4 shows a schematic representation of an embodiment of the transfer system according to a fifth aspect of the application,

[0174] FIG. 5A shows an isometric representation of an embodiment of a robot end effector according to the application, which directly grips a number of filling needles,

[0175] FIG. 5B shows an isometric representation of an embodiment of a robot end effector according to the application, which grips a needle carrier,

[0176] FIG. 6 shows an isometric representation of an embodiment of a needle carrier according to the application in an example of a transfer lock,

[0177] FIG. 7 shows a schematic representation of a first embodiment of the method according to the first aspect of the application,

[0178] FIG. 8 shows a schematic representation of a second embodiment of the method according to the first aspect of the application,

[0179] FIG. 9 shows a schematic representation of a third embodiment of the method according to the first aspect of the application,

[0180] FIG. 10 shows a schematic representation of a method according to the fourth aspect of the application,

[0181] FIG. 11 shows a schematic representation of a method according to a seventh aspect of the application, and

[0182] FIG. 12 shows a schematic representation of a method according to a tenth aspect of the application.

DETAILED DESCRIPTION

[0183] FIG. 1 shows a schematic representation 10 of a first embodiment of a transfer system 10 according to a second aspect of the application.

[0184] The transfer system 10 of the first embodiment has an isolator 12, in particular an aseptic isolator 12, with a transfer lock 14. Within the transfer lock 14, a first needle carrier 16 can be arranged which carries a number of filling needles 18, wherein at least one filling needle 20 of the number of filling needles 18 preferably has a circular cylindrical shape (see also FIG. 5A and FIG. 5B). However, a filling needle shape is not limited to circular cylindrical shapes. Alternatively, other common filling needle shapes (e.g. triangular, elliptical, polygonal shapes or the like) are also possible.

[0185] In addition, a second needle carrier 22 can be arranged in a first position 24 within the aseptic isolator 12. The second needle carrier 22 is preferably arranged in a filling station 26 in which objects or end containers (e.g. vials, carpules, bottles, syringes and/or the like) are filled with a fluid, in particular a pharmaceutical or cosmetic fluid, by means of the at least one filling needle 20 of the number of filling needles 18.

[0186] Furthermore, the transfer system 10 of the first embodiment has at least one robot 28 with at least one robot end effector 29. The at least one robot 28 has a support structure, in particular an articulated support structure (not shown), at the end of which a robot end effector is arranged. The support structure is configured to move the robot end effector in all three spatial directions. Alternatively, two or more, preferably identical, robots 28 can also be arranged within the isolator 12. For example, a first robot 28 with at least one first robot end effector 29 can be arranged closer to the transfer lock 14, whereas an optional second robot 30 with at least one second robot end effector 31 can be arranged closer to the second needle carrier 22 (or the filling station 26). The robot end effector 29 is configured to hold at least one filling needle directly. As has been mentioned at the outset, the at least one filling needle can be held, for example, mechanically, in particular by form-fit or force-fit engagement, or magnetically. For example, the at least one filling needle can be held in a robot-assisted manner by means of a releasable clip connection. The robot end effector 29 preferably has one or more grippers 56, 58 which permit targeted gripping of at least one filling needle 20 (shown by way of example in FIG. 5A). In addition, the at least one robot 28 can be controlled by a controller 32 which has a computer program 34 with a program code. In FIG. 1, the controller 32 is shown as an independent, separate unit. Alternatively, however, the controller 32 can also be integrated into the aseptic isolator 12.

[0187] Optionally, the number of filling needles 18 can be fluidically connected, by means of a number of tubes 36, to a source container 38, which preferably contains a pharmaceutical or cosmetic fluid. In order to maintain the sterile environment within the aseptic isolator 12, the transfer lock 14 is preferably configured in such a way that the number of tubes 36 cross through a wall 40 of the transfer lock 14 in a sterile manner, for example through appropriate sealing means. A conveying means (e.g. at least one pump) for conveying the fluid is preferably arranged between the number of filling needles and the source container. This conveying means can be, for example, a peristaltic pump, a rotary piston pump or the like.

[0188] As is shown in FIG. 1, the aseptic isolator 12 and the transfer lock 14 share a common wall portion 42. Extending through the common wall portion 42 is an opening 44, which corresponds to the alpha port explained above. Furthermore, the aseptic isolator 42 has a door 46 which is configured to releasably lock the opening 44. In FIG. 1, the door 46 is shown as being pivotable, for example. Alternatively, however, the door 46 can also be configured as a sliding door, which represents a space-saving alternative to the pivoting door. With such an alpha-beta port, the inventive transfer of the at least one filling needle 20 of the number of filling needles 18 into the aseptic isolator 12 can take place while a sterile environment is maintained within the transfer lock 14 and within the aseptic isolator 12. The door 46 can preferably be opened and/or closed by means of the robot end effector 29. Optionally, glove ducts (not shown) in the aseptic isolator 12 can also be provided for this purpose.

[0189] In the transfer system 10 of the first embodiment, a method 100 according to a first embodiment of the first aspect of the application can be carried out.

[0190] In a first step 102 of the method 100, the first needle carrier 16, which carries the number of filling needles 18, is provided within the transfer lock 14. The number of filling needles 18 is arranged in the first needle carrier 16. The first needle carrier 16, together with the number of filling needles 18 arranged therein, is arranged in the transfer lock 14, which is configured, for example, as a sterile bag or as a rigid transport container, before the transfer lock 14 is coupled in a sterile manner to the alpha port of the aseptic isolator 14. The number of filling needles 18 can be arranged in a regular or irregular arrangement in the first needle carrier 16. A regular arrangement can be, for example, a linear regular arrangement (e.g. in the form of a matrix) or a circular regular arrangement (e.g. in the form of a circular pattern).

[0191] In a further step 104, the second needle carrier 22 is provided in the first position 24 within the aseptic isolator 12. The second needle carrier 22 is preferably introduced into the aseptic isolator 12 in a pre-sterilized state and accordingly arranged in the first position 24 with robot assistance or manually. The second needle carrier 22 can, for example, be introduced into the aseptic isolator 12 in a sterile manner via the opening 44.

[0192] Furthermore, the second needle carrier 22 has receptacles (e.g. through-holes) for carrying at least one filling needle 20. Such receptacles can, for example, be identical to the receptacles of the first needle carrier 16, so that, for example, filling needle spacings and/or a filling needle arrangement of the first needle carrier 16 and of the second needle carrier 22 are identical. Alternatively, the receptacles of the needle carrier 16 and those of the needle carrier 22 can be different. It is also possible, for example, that the first needle carrier 16 can carry more filling needles than the second needle carrier 22.

[0193] In a further step 106, at least one filling needle 20 of the number of filling needles 18 is transferred from the first needle carrier 16 to the second needle carrier 22 with robot assistance.

[0194] In a preferred embodiment, the step 106 takes place in such a way that the robot end effector 29 removes the at least one filling needle 20 of the number of filling needles 18 collectively and/or at the same time from the first needle carrier 16 and transfers it to the second needle carrier 22. The at least one filling needle 20 is gripped directly and removed from the first needle carrier. The collective transfer of the at least one filling needle 20 proves to be particularly advantageous when the first needle carrier 16 and the second needle carrier 22 are substantially identical, i.e. have the same filling needle spacings and the same filling needle arrangement.

[0195] In an alternative preferred embodiment, the step 106 takes place in such a way that the robot end effector 29 removes the at least one filling needle 20 of the number of filling needles 18 individually and transfers it to the second needle carrier 22. The at least one filling needle 20 is held directly by means of the robot end effector 29. The individual transfer of the at least one filling needle 20 proves to be particularly advantageous when the first needle carrier 16 and the second needle carrier 22 differ in respect of the filling needle spacings and/or the filling needle arrangement.

[0196] In an optional step, which is preferably carried out before the first step 106, the transfer lock 14 can be opened with robot assistance, i.e. by means of the robot end effector 29. For this purpose, the door 46 can, for example, have a counter-receptacle 47, in particular of a circular cylindrical shape, which can be engaged by the robot end effector 29 or otherwise gripped. In this way, the degree of automation of the method 100 can be further increased.

[0197] In a further step 108, the at least one filling needle 20 is arranged in the second needle carrier 22 with robot assistance. Meanwhile, the at least one filling needle 20 of the number of filling needles 18 is held directly by means of the robot end effector 29. As has already been mentioned, the needle carrier 22 can be in the first position 24 in a filling station 26 in which objects are filled with a fluid, in particular a pharmaceutical or a cosmetic fluid, by means of the at least one filling needle 20 of the number of filling needles 18. In this case, the objects are preferably positioned directly below the at least one filling needle 20.

[0198] FIG. 2 shows a schematic representation of a second embodiment of the transfer system 10 according to the second aspect of the application.

[0199] The transfer system 10 of the second embodiment corresponds substantially to the transfer system 10 of the first embodiment. The same elements are identified by the same reference signs and are not explained in detail. The transfer system 10 of the second embodiment differs from the transfer system 10 of the first embodiment in that it has a third needle carrier 48, which can be arranged in a second position 50 within the aseptic isolator 12. The second position 50 is spaced apart from the first position 24. The third needle carrier 48 is preferably an intermediate carrier in which the at least one filling needle 20 is carried before it is transferred to the second needle carrier 22.

[0200] In the transfer system 10 of the second embodiment, a method 100′ according to a second embodiment of the first aspect of the application can be carried out.

[0201] In a first step 102 of the method 100′, the first needle carrier 16, which carries the number of filling needles 18, is provided within the transfer lock 14. The number of filling needles 18 is arranged in the first needle carrier 16. The first needle carrier 16, together with the number of filling needles 18 arranged therein, is arranged in the transfer lock 14, which is configured, for example, as a sterile bag or as a rigid transport container, before the transfer lock 14 is coupled in a sterile manner to the alpha port of the aseptic isolator 14. The number of filling needles 18 can be arranged in a regular or irregular arrangement in the first needle carrier 16. A regular arrangement can be, for example, a linear regular arrangement (e.g. in the form of a matrix) or a circular regular arrangement (e.g. in the form of a circular pattern).

[0202] In a further step 104, the second needle carrier 22 is provided in the first position 24 within the aseptic isolator 12. The second needle carrier 22 is preferably introduced into the aseptic isolator 12 in a pre-sterilized state and is accordingly arranged in the first position 24 with robot assistance or manually. The second needle carrier 22 can, for example, be introduced into the aseptic isolator 12 in a sterile manner via the opening 44.

[0203] Furthermore, the second needle carrier 22 has receptacles (e.g. through-holes) for carrying at least one filling needle 20. Such receptacles can, for example, be identical to the receptacles of the first needle carrier 16, so that, for example, filling needle spacings and/or a filling needle arrangement of the first needle carrier 16 and of the second needle carrier 22 are identical. Alternatively, the receptacles of the needle carrier 16 and of the needle carrier 22 can be different. It is also possible, for example, that the first needle carrier 16 can carry more filling needles than the second needle carrier 22.

[0204] In a further step 106 of the method 100′, at least one filling needle 20 of the number of filling needles 18 is transferred from the first needle carrier 16 to the second needle carrier 22 with robot assistance.

[0205] In a first step 110, the at least one filling needle 20 of the number of filling needles 18 is initially transferred from the first needle carrier 16 to the third needle carrier 48 with robot assistance. The at least one filling needle 20 is held directly by means of the robot end effector and can be transferred either collectively or individually from the first needle carrier 16 to the third needle carrier 48. In a further step 112, the at least one filling needle 20 of the number of filling needles 18 gripped in step 110 is placed in the third needle carrier 48 with robot assistance.

[0206] In a further step 108, the at least one filling needle 20 is arranged in the second needle carrier 22 with robot assistance. Meanwhile, the at least one filling needle 20 of the number of filling needles 18 is held directly by means of the robot end effector 29. As has already been mentioned, the needle carrier 22 can be in the first position 24 in a filling station 26 in which objects are filled with a fluid, in particular a pharmaceutical or a cosmetic fluid, by means of the at least one filling needle 20 of the number of filling needles 18. In this case, the objects are preferably positioned directly below the at least one filling needle 20.

[0207] The step 108 takes place by means of a second robot-assisted transfer 114 of the at least one filling needle 20 of the number of filling needles 18 from the third needle carrier 48 to the second needle carrier 22, wherein the at least one filling needle 20 of the number of filling needles 18 is held directly during the second robot-assisted transfer 114.

[0208] If the at least one filling needle 20 of the number of filling needles 18 is transferred collectively from the first needle carrier 16 to the third needle carrier 48, the at least one filling needle 20 of the number of filling needles 18 is individually transferred from the third needle carrier 48 to the second needle carrier 22. This embodiment is advantageous, for example, when the first needle carrier 16 and the third needle carrier 48 are substantially identical, the third needle carrier 48 and the second needle carrier 22 differing in terms of the filling needle spacing and/or the filling needle arrangement.

[0209] If, by contrast, the at least one filling needle 20 of the number of filling needles 18 is transferred individually from the first needle carrier 16 to the third needle carrier 48, the at least one filling needle 20 of the number of filling needles 18 is transferred collectively from the third needle carrier 48 to the second needle carrier 22. This embodiment is advantageous, for example, when the third needle carrier 48 and the second needle carrier 22 do not differ in respect of the filling needle spacings and/or the filling needle arrangement (i.e. are substantially identical), the first needle carrier 16 and the third needle carrier 48 differing in terms of the filling needle spacings and/or the filling needle arrangement.

[0210] In an optional step, which is preferably carried out before the first step 106, the transfer lock 14 can be opened with robot assistance, i.e. by means of the robot end effector 29. For this purpose, the door 46 can, for example, have a counter-receptacle 47, in particular of a circular cylindrical shape, which can be engaged by the robot end effector 29 or otherwise gripped. In this way, the degree of automation of the method 100 can be further increased.

[0211] FIG. 3 shows a schematic representation of a third embodiment of the transfer system 10 according to the second aspect of the application.

[0212] The transfer system 10 of the third embodiment corresponds substantially to the transfer system 10 of the first embodiment. The same elements are identified by the same reference signs and are not explained in detail. The transfer system 10 of the third embodiment differs from the transfer system 10 of the first embodiment in terms of the optional configuration of the first needle carrier 16.

[0213] In contrast to the transfer system 10 of the first embodiment, the first needle carrier 16 according to the transfer system 10 of the third embodiment (optional) can have at least one projection 52. The at least one projection 52 preferably extends from a base body 62 of the first needle carrier 16. Each of the at least one projection 52 is shaped in such a way that a robot gripper 56 (shown by way of example in FIGS. 5A and 5B) of a robot end effector 29, which is configured to receive or hold a single filling needle 20 of the number of filling needles 18 or an object to be filled by means of the single filling needle 20 of the number of filling needles 18, in particular a pharmaceutical or cosmetic object, can receive or hold said projection. Each of the at least one projection 52 can have a circular cylindrical shape, for example. However, the shape of the projection is not limited to circular cylindrical shapes. Other shapes (e.g. prismatic or triangular, rectangular or cuboid or the like) are also possible. It goes without saying that the robot end effector 29 can, for example, have a plurality of grippers 56, 58, each of which can grip “a single” filling needle 20 of the number of filling needles 18 (e.g. shown in FIG. 5A).

[0214] Alternatively, however, the first needle carrier 16 can also be formed without such a projection 52.

[0215] In the transfer system 10 of the third embodiment, a method 100″ according to a third embodiment of the first aspect of the application can be carried out.

[0216] In a first step 102 of the method 100″, the first needle carrier 16, which carries the number of filling needles 18, is provided within the transfer lock 14. The number of filling needles 18 is arranged in the first needle carrier 16. The first needle carrier 16, together with the number of filling needles 18 arranged therein, is arranged in the transfer lock 14, which is configured, for example, as a sterile bag or as a rigid transport container, before the transfer lock 14 is coupled in a sterile manner to the alpha port of the aseptic isolator 14. The number of filling needles 18 can be arranged in a regular or irregular arrangement in the first needle carrier 16. A regular arrangement can be, for example, a linear regular arrangement (e.g. in the form of a matrix) or a circular regular arrangement (e.g. in the form of a circular pattern).

[0217] In a further step 104, the second needle carrier 22 is provided in the first position 24 within the aseptic isolator 12. The second needle carrier 22 is preferably introduced into the aseptic isolator 12 in a pre-sterilized state and is accordingly arranged in the first position 24 with robot assistance or manually. The second needle carrier 22 can, for example, be introduced into the aseptic isolator 12 in a sterile manner via the opening 44.

[0218] Furthermore, the second needle carrier 22 has receptacles (e.g. through-holes) for carrying at least one filling needle 20. Such receptacles can, for example, be identical to the receptacles of the first needle carrier 16, so that, for example, filling needle spacings and/or a filling needle arrangement of the first needle carrier 16 and of the second needle carrier 22 are identical. Alternatively, the receptacles of the first needle carrier 16 and of the second needle carrier 22 can be different. It is also possible that the first needle carrier 16 can carry more filling needles than the second needle carrier 22.

[0219] In a further step 106, at least one filling needle 20 of the number of filling needles 18 is transferred from the first needle carrier 16 to the second needle carrier 22 with robot assistance. The needle carrier 16 can be picked up via the at least one projection 52, for example with robot assistance.

[0220] In a first step 116, the first needle carrier 16, together with the number of filling needles 18, is transferred from the transfer lock 14 to a second position 50 within the aseptic isolator 12 with robot assistance, the second position 50 being spaced apart from the first position 22. In a further step 118, the first needle carrier 16 from step 116 is arranged in the second position 50.

[0221] In a further step 108, the at least one filling needle 20 is arranged in the second needle carrier 22 with robot assistance. Meanwhile, the at least one filling needle 20 of the number of filling needles 18 is held directly. As has already been mentioned, the needle carrier 22 can be in the first position 24 in a filling station 26 in which objects are filled with a fluid, in particular a pharmaceutical or a cosmetic fluid, by means of the at least one filling needle 20 of the number of filling needles 18. In this case, the objects are preferably positioned directly below the at least one filling needle 20.

[0222] The step 108 is carried out by means of a second robot-assisted transfer 120 of the at least one filling needle 20 of the number of filling needles 18 from the first needle carrier 16, which is arranged in position 50 at this time, to the second needle carrier 22, wherein the at least one filling needle 20 of the number of filling needles 18 is held directly during the second robot-assisted transfer 120. In other words, the step of second transfer 120 takes place starting from the first needle carrier 16 arranged in the second position 50. The at least one filling needle 20 of the number of filling needles 18 can be transferred collectively or individually from the first needle carrier 16, arranged in the second position 50, to the second needle carrier 22.

[0223] In an optional step, which is preferably carried out before the first step 106, the transfer lock 14 can be opened with robot assistance, i.e. by means of the robot end effector 29. For this purpose, the door 46 can, for example, have a counter-receptacle 47, in particular of a circular cylindrical shape, which can be engaged by the robot end effector 29 or otherwise gripped. In this way, the degree of automation of the method 100 can be further increased.

[0224] FIG. 4 shows a schematic representation of a transfer system 10 according to a fifth aspect of the application.

[0225] The transfer system 10′ according to the fifth aspect of the application corresponds substantially to the transfer system 10 of the third embodiment of the second aspect of the application. The same elements are identified by the same reference signs and are not explained in detail. A difference from the transfer system 10 of the third embodiment of the second aspect is that the needle carrier 16 according to the transfer system 10′ has a receptacle 52′.

[0226] In the embodiment of the transfer system 10′, a method 200 according to an embodiment of the fourth aspect of the application can be carried out.

[0227] In a first step 202 of the method 200, a needle carrier 16 is provided. The needle carrier 16 has a base body 62 for carrying a number of filling needles 18. The number of filling needles 18 can be arranged in the needle carrier 16, in particular in the base body 62. Furthermore, the needle carrier has a receptacle 52′. The receptacle 52′ is preferably at least one projection which extends from the base body 62. Each projection of the at least one projection is preferably shaped in such a way that the robot gripper 56, 58 of the robot end effector 29, 31, which is configured to receive a single filling needle 20 or an object, in particular a pharmaceutical or cosmetic object, to be filled by means of the single filling needle 20, can receive said projection.

[0228] In a further step 204, the needle carrier 16 is received via the receptacle 52′ by means of the robot end effector 29, 31. During the execution of step 204, the needle carrier 16 carries the number of filling needles. The robot end effector 29, 31 is configured to receive both a single filling needle 20 of the number of filling needles 18, or an object, in particular a pharmaceutical or cosmetic object, to be filled by means of the single filling needle 20, and also the at least one projection 52′. The needle carrier can be picked up mechanically, in particular by form-fit or force-fit engagement, or magnetically. For example, the receptacle 52′ of the needle carrier 16 can be received in a robot-assisted manner by means of a releasable clip connection. Alternatively, the receptacle 52′ can also be gripped by means of a robot gripper. Magnetic picking-up of the needle carrier 16 via the receptacle 52′ is also possible.

[0229] In a further step 206, the needle carrier 16, received via the receptacle 52′, together with the number of filling needles 18, is transferred with robot assistance to a filling position 24 in the aseptic isolator 12.

[0230] In a further step 208, the needle carrier 16 is arranged in the filling position 24 within the aseptic isolator 12. The needle carrier 16 arranged in the filling position 24 is preferably in a filling station 26 in which a number of objects are filled with a fluid, in particular a pharmaceutical or a cosmetic fluid, by means of the at least one filling needle 20 of the number of filling needles 18. A carrier for carrying the needle carrier 16 is preferably arranged in the filling position 24, wherein a number of objects to be filled, in particular pharmaceutical or cosmetic objects, are preferably positioned directly below the number of filling needles 18 and assigned to them. Alternatively, the needle carrier in the filling station 26 can also remain in the robot end effector 29, 31. In other words, this means that the needle carrier 16 is held directly in the filling station 26 during the filling of the number of objects.

[0231] In one embodiment, the needle carrier 16 with the number of filling needles 18 is provided within the transfer lock 14. In other words, this means that the needle carrier 16 is initially located in the transfer lock 14. Starting from the transfer lock 14, it is picked up with robot assistance via the receptacle 52′ and transferred to the filling position 24.

[0232] In an alternative embodiment, the needle carrier 16 is provided in a position 50′ spaced apart from the filling position 24 within the isolator. Before the step 206 is carried out, a transfer lock needle carrier 16′ is provided within the transfer lock 14. The transfer lock needle carrier 16′ initially carries the number of filling needles 18. In a further step, which is likewise carried out before the step 206, the number of filling needles 18 is transferred with robot assistance from the transfer lock needle carrier 16′ to the needle carrier 16, which is in the position 50′. The number of filling needles 18 is held directly by means of a robot end effector. In a last step, which is carried out before the step 206, the removed number of filling needles 18 is placed in the needle carrier 16 with robot assistance. The number of filling needles can be transferred either individually or collectively from the transfer lock needle carrier 16′ to the needle carrier 16.

[0233] During the robot-assisted transfer 206, the needle carrier 16 can be transferred by means of more than one robot 28, 30. For example, the needle carrier 16 can be transferred from one robot 28 to a further robot 30.

[0234] In an optional step, which is preferably carried out before the first step 206, the transfer lock 14 can be opened with robot assistance, i.e. by means of the robot end effector 29, 31. For this purpose, the door 46 can, for example, have a counter-receptacle 47, in particular of a circular cylindrical shape, which can be engaged by the robot end effector 29 or otherwise gripped. The counter-receptacle 47 is preferably shaped as a circular cylinder. As a result, the degree of automation of the method 100 can be further increased, and an interaction with the robot end effector 29, 31 can be further simplified.

[0235] FIGS. 5A and 5B show an isometric view of an embodiment of a robot end effector 29, 31 according to the application. The robot end effector 29, 31 is connected to a robot 28, 30 by means of a preferably articulated support structure (not shown). The support structure is configured to move the robot end effector in all three spatial directions and can have one or more joints for this purpose. The support structure can, for example, be a construction with multi-axis movements of any kind. For example, such a construction can have two to six axis movements of any kind.

[0236] The robot end effector 29, 31 has a main body 54, a first gripper 56 and a second gripper 58. However, the robot end effector 29, 31 can also have fewer or more grippers. For example, the robot end effector 29, 31 can have only one gripper 56 or more than two grippers 58. In order to minimize the manufacturing effort and the complexity of the end effector 29, 31, the plurality of grippers 56, 58 can be configured identically.

[0237] The first gripper 56 has a first leg 56-1 and a second leg 56-2, the first leg 56-1 and the second leg 56-2 being movable relative to each other. The first gripper 56 extends from the main body 54 and has a recess at a gripping portion 60. The recess is configured in such a way that preferably circular cylindrical or tubular elements can be gripped. For example, the recess can be curved, angular or circular-cylindrical in order to center the circular-cylindrical or tubular elements. The same applies to the second gripper 58.

[0238] The robot end effector 29, 31 is preferably configured to grip an individual filling needle 20, an object (not shown) to be filled by means of the individual filling needle 20, and/or a needle carrier 16.

[0239] FIG. 6 shows an isometric representation of an embodiment of the robot end effector 29, 31 according to the application, which, for example, engages a needle carrier 16 via the preferably circular-cylindrical receptacle 52 by means of the first gripper 56. The receptacle 52 is configured as a projection which extends from a base body 62 of the needle carrier 16. The projection 52 is shaped in such a way that a robot end effector, which is configured to grip a single filling needle of the number of filling needles or an object to be filled by means of the single filling needle, in particular an object for receiving a pharmaceutical or cosmetic fluid or liquid, can also grip the projection. As a rule, such objects have a circular cylindrical shape, so that the cross section to be gripped is circular. Therefore, the projection 52 can likewise have a circular cross section. The needle carrier 16 can then be gripped by the same end effector 29, 31 with which the at least one needle 20 itself can also be gripped. It is therefore possible to avoid changing the end effector 29, 31, even if the transfer process for transferring the at least one filling needle 20 into the aseptic isolator 12 changes. However, the needle carrier according to the application is not limited to one projection. Alternatively, the needle carrier 16 can, for example, have two or more such projections.

[0240] FIG. 6 shows an isometric representation of an embodiment of a needle carrier 16 according to the application in a transfer lock (not shown), which in the present example is coupled to the alpha port of the aseptic isolator. The alpha port has a recess 44 and a door 46. The door 46 is attached (in particular pivotably) to the alpha port in such a way that the opening 44 can be releasably locked by the door 46. A needle carrier 16 according to the application is provided within the transfer lock 14. It carries a number of filling needles 18 provided with tubes 36. The number of filling needles can be carried in different ways. For example, the needle carrier 16 can have at least one through-hole for carrying at least one filling needle 20 therein. In principle, however, other types of connection are also conceivable. Optionally, the at least one filling needle 20 can be arranged magnetically in or on the needle carrier 16. It can also be provided that the at least one filling needle is arranged in or on the needle carrier with form-fit engagement (e.g. by means of a clip connection or snap connection).

[0241] A difference from the needle carrier shown in FIG. 5B is that the needle carrier 16 shown in FIG. 6 has, for example, two projections 52. However, the number of projections 52 can also be more than two. In this way, it is possible to ensure additional securing of the needle carrier against rotation when it is picked up with robot assistance. A corresponding robot end effector 29, 31 preferably has a number of robot grippers 56, 58 (FIGS. 5A and 5B) corresponding to the number of projections 52, by means of which robot grippers the number of projections 52 can be received, in particular simultaneously. In a preferred embodiment of the needle carrier shown in FIG. 6, a filling needle spacing d1 (i.e. a spacing between adjacent filling needles 20) corresponds to a spacing d2 between adjacent projections 52. Optionally, the spacing between two adjacent robot grippers 56, 58 can also correspond to the spacing d1 and/or d2. It goes without saying that the illustrated embodiment of the needle carrier is not limited to the first needle carrier (i.e. the transfer lock needle carrier), but can also be an embodiment of the second and/or third needle carrier.

[0242] The method 150 according to the seventh aspect of the application can be carried out complementarily to the method according to the first aspect of the application. For example, the method according to the seventh aspect of the application can be understood as a reversion of the method according to the first aspect of the application.

[0243] Alternatively, however, the method 150 according to the seventh aspect of the application can also be carried out independently of the method according to the first aspect of the application.

[0244] The method 150 according to the seventh aspect of the application can be carried out in the system 10 described above (see FIG. 1 to FIG. 3).

[0245] In a first step 152 of the method 150, the first needle carrier 16 is provided. The first needle carrier 16 can be arranged in the transfer lock 14, for example. As is shown for example in the embodiment according to FIG. 3, the first needle carrier 16 can also be arranged in the second position 50.

[0246] In a further step 154, the second needle carrier 22 is provided in the first position 24 within the isolator 12. The second needle carrier 22 preferably carries the number of filling needles 18.

[0247] In a further step 156, at least one filling needle 20 of the number of filling needles 18 is removed from the second needle carrier 22. The at least one filling needle 20 of the number of filling needles 18 is held directly by the robot end effector 29, 31 during the robot-assisted removing 108.

[0248] In a further step 158, the at least one filling needle 20 of the number of filling needles 18 is transferred from the second needle carrier 16 to the first needle carrier 22 with robot assistance.

[0249] In an optional step, the transfer lock 14 can be closed with robot assistance, i.e. by means of the robot end effector 29, 31, via the counter-receptacle 47 of the door 46.

[0250] FIG. 12 shows a schematic representation of a method 220 according to a tenth aspect of the application.

[0251] The method 220 according to the tenth aspect of the application can be carried out complementarily to the method according to the fourth aspect of the application. For example, the method according to the tenth aspect of the application can be understood as a reversion of the method according to the fourth aspect of the application.

[0252] Alternatively, however, the method 220 according to the tenth aspect of the application can also be carried out independently of the method according to the fourth aspect of the application.

[0253] The method 220 according to the tenth aspect of the application can be carried out in the system 10′ described above (see FIG. 4).

[0254] In a first step 222, the needle carrier 16 is provided in the filling position 24.

[0255] In a further step 224, the needle carrier 16 is picked up via the receptacle 52 in a robot-assisted manner. The needle carrier 16 preferably carries the number of filling needles 18. In a further step 226, the needle carrier 16 is removed from the filling position 24 in the isolator 12.

[0256] In a further step 228, the needle carrier 16 with the number of filling needles 18 is transferred from the filling position. In an optional step, the transfer lock 14 can be closed with robot assistance, i.e. by means of the robot end effector 29, 31, via the counter-receptacle 47 of the door 46.

[0257] It is to be understood that the foregoing is a description of one or more preferred exemplary embodiments of the invention. The invention is not limited to the particular embodiment(s) disclosed herein, but rather is defined solely by the claims below. Furthermore, the statements contained in the foregoing description relate to particular embodiments and are not to be construed as limitations on the scope of the invention or on the definition of terms used in the claims, except where a term or phrase is expressly defined above. Various other embodiments and various changes and modifications to the disclosed embodiment(s) will become apparent to those skilled in the art. All such other embodiments, changes, and modifications are intended to come within the scope of the appended claims.

[0258] As used in this specification and claims, the terms “for example,” “e.g.,” “for instance,” “such as,” and “like,” and the verbs “comprising,” “having,” “including,” and their other verb forms, when used in conjunction with a listing of one or more components or other items, are each to be construed as open-ended, meaning that the listing is not to be considered as excluding other, additional components or items. Other terms are to be construed using their broadest reasonable meaning unless they are used in a context that requires a different interpretation.