Robotic filling systems and methods

Abstract

Systems and methods permit filling containers with a product. A filling arm is disposed within a chamber. An optical sensor is configured to sense openings of the containers within the chamber. Locations of the sensed openings are used to guide the filling arm to fill the containers with a product.

1 . A system for filling containers with a product, comprising:
 a filling arm disposed within a chamber; and   an optical sensor configured to sense openings of the containers within the chamber, wherein locations of the sensed openings are used to automatically guide the filling arm to fill the containers with a product.   
   
   
       2 . The system of  claim 1 , wherein the chamber is configured to maintain an environmental condition. 
   
   
       3 . The system of  claim 2 , wherein the chamber includes an isolator chamber. 
   
   
       4 . The system of  claim 2 , wherein the environmental condition includes an aseptic condition. 
   
   
       5 . The system of  claim 2 , comprising a stopper disc stack configured to hold stoppers for use in closing the openings of the containers, wherein the stopper disc stack is configured to be introduced within the chamber without disrupting the environmental condition. 
   
   
       6 . The system of  claim 1 , wherein the containers are configured to be filled with a pharmaceutical product. 
   
   
       7 . The system of  claim 1 , wherein the optical sensor is configured to sense centers of the openings of the containers. 
   
   
       8 . A method of filling containers with a product, comprising:
 optically sensing openings of the containers; and   robotically filling the containers with the product using locations of the sensed openings of the containers to automatically guide the robotic filling of the containers.   
   
   
       9 . The method of  claim 8 , comprising introducing the containers within a chamber. 
   
   
       10 . The method of  claim 9 , comprising maintaining an aseptic environment within the chamber. 
   
   
       11 . The method of  claim 9 , comprising introducing a stopper disc stack within the chamber. 
   
   
       12 . The method of  claim 8 , wherein optically sensing openings of the containers includes optically sensing centers of the openings of the containers. 
   
   
       13 . The method of  claim 8 , wherein robotically filling the containers with the product includes robotically filling the containers with a pharmaceutical product. 
   
   
       14 . The method of  claim 8 , comprising closing the openings of the containers with stoppers. 
   
   
       15 . A system for filling containers with a product, comprising:
 a chamber configured to maintain an environmental condition;   a filling arm disposed within the chamber; and   a sensor configured to sense openings of the containers within the chamber, wherein locations of the sensed openings are used to guide the filling arm to fill the containers with the product.   
   
   
       16 . The system of  claim 15 , wherein the sensor is configured to sense centers of the openings of the containers. 
   
   
       17 . The system of  claim 15 , wherein the sensor includes an optical sensor. 
   
   
       18 . The system of  claim 15 , wherein the sensor includes a camera system. 
   
   
       19 . The system of  claim 15 , wherein the sensor includes a laser system. 
   
   
       20 . The system of  claim 15 , comprising a stopper disc stack configured to hold stoppers for use in closing the openings of the containers, wherein the stopper disc stack is configured to be introduced within the chamber without disrupting the environmental condition.