WO2023200392A1

WO2023200392A1 - Fluid extraction apparatus and methods of forming and operating the same

Info

Publication number: WO2023200392A1
Application number: PCT/SG2022/050210
Authority: WO
Inventors: Yau Yen OOI
Original assignee: Agency for Science Technology and Research Singapore
Current assignee: Agency for Science Technology and Research Singapore
Priority date: 2022-04-12
Filing date: 2022-04-12
Publication date: 2023-10-19
Anticipated expiration: 2024-10-12

Abstract

Various embodiments may relate to a fluid extraction apparatus. The fluid extraction apparatus may include a syringe holder configured to hold one or more syringes, and a first linear actuator configured to move the syringe holder into a position for loading of a syringe of the one or more syringes. The fluid extraction apparatus may also include a stand, a rotary platform on the stand, and a vial holder on the rotary platform. The fluid extraction apparatus may also include a cap gripper on the rotary platform, a rotary actuator configured to rotate the rotary platform between a first configuration and a second configuration, a second linear actuator configured to actuate a plunger of the syringe such that the syringe extracts at least the portion of the fluid, and a controller configured to control the first linear actuator, the second linear actuator, and the rotary actuator.

Description

FLUID EXTRACTION APPARATUS AND METHODS OF FORMING AND

OPERATING THE SAME

TECHNICAL FIELD

[0001] Various aspects of this disclosure relate to fluid extraction apparatus. Various aspects of this disclosure relate to a method of forming a fluid extraction apparatus. Various aspects of this disclosure relate to a method of operating a fluid extraction apparatus.

BACKGROUND

[0002] With a nationwide vaccination program now in full force, each Vaccination Centre (VC) must prepare an average of 180 syringes per hour (from 30 vials). Presently, each syringe is filled manually by a trained nurse. However, the refilling process is both laborious, time consuming and prone to human error.

SUMMARY

[0003] Various embodiments may relate to a fluid extraction apparatus. The fluid extraction apparatus may include a syringe holder configured to hold one or more syringes. The fluid extraction apparatus may include a first linear actuator configured to move the syringe holder into a position for loading of a syringe of the one or more syringes. The fluid extraction apparatus may also include a stand. The fluid extraction apparatus may additionally include a rotary platform on the stand. The fluid extraction apparatus may also include a vial holder on the rotary platform, the vial holder configured to hold a vial containing a fluid. The fluid extraction apparatus may also include a cap gripper on the rotary platform. The fluid extraction apparatus may further include a rotary actuator configured to rotate the rotary platform between a first configuration and a second configuration such that when the rotary platform is in the first configuration, the cap gripper is over the syringe of the one or more syringes for capping or uncapping of the syringe of the one or more syringes, and when the rotary platform is in the second configuration, the vial holder is over

the syringe of the one or more syringes for extraction of at least a portion of the fluid contained in the vial by the syringe. The fluid extraction apparatus may include a second linear actuator configured to actuate a plunger of the syringe such that the syringe extracts at least the portion of the fluid. The fluid extraction apparatus may also include a controller configured to control the first linear actuator, the second linear actuator, and the rotary actuator.

[0004] Various embodiments may relate to a method of forming a fluid extraction apparatus. The method may include providing a syringe holder configured to hold one or more syringes. The method may also include providing a first linear actuator configured to move the syringe holder into a position for loading of a syringe of the one or more syringes. The method may further include providing a stand. The method may also include providing a rotary platform on the stand. The method may additionally include providing a vial holder on the rotary platform, the vial holder configured to hold a vial containing a fluid. The method may also include providing a cap gripper on the rotary platform. The method may further include providing a rotary actuator configured to rotate the rotary platform between a first configuration and a second configuration such that when the rotary platform is in the first configuration, the cap gripper is over the syringe of the one or more syringes for capping or uncapping of the syringe of the one or more syringes, and when the rotary platform is in the second configuration, the vial holder is over the syringe of the one or more syringes for extraction of at least a portion of the fluid contained in the vial by the syringe. The method may additionally include providing a second linear actuator configured to actuate a plunger of the syringe such that the syringe extracts at least the portion of the fluid. The method may also include providing a controller configured to control the first linear actuator, the second linear actuator, and the rotary actuator.

[0005] Various embodiments may relate to a method of operating a fluid extracting apparatus. The method may include providing the fluid extraction apparatus. The fluid extraction apparatus may include a syringe holder configured to hold one or more syringes. The fluid extraction apparatus may also include a first linear actuator configured to move the syringe holder into a position for loading of a syringe of the one or more syringes. The fluid extraction apparatus may further include a stand. The fluid extraction apparatus may additionally include a rotary platform on the stand. The fluid extraction apparatus may also include a vial holder on the rotary platform,

the vial holder configured to hold a vial containing a fluid. The fluid extraction apparatus may also include a cap gripper on the rotary platform, as well as a rotary actuator configured to rotate the rotary platform between a first configuration and a second configuration such that when the rotary platform is in the first configuration, the cap gripper is over the syringe of the one or more syringes for capping or uncapping of the syringe of the one or more syringes, and when the rotary platform is in the second configuration, the vial holder is over the syringe of the one or more syringes for extraction of at least a portion of the fluid contained in the vial by the syringe. The fluid extraction apparatus may also include a second linear actuator configured to actuate a plunger of the syringe such that the syringe extracts at least the portion of the fluid. The fluid extraction apparatus may additionally include a controller configured to control the first linear actuator, the second linear actuator, and the rotary actuator. The method may include arranging the one or more syringes onto the syringe holder. The method may further include provide the vial containing the fluid onto the vial holder.

BRIEF DESCRIPTION OF THE DRAWINGS

[0006] The invention will be better understood with reference to the detailed description when considered in conjunction with the non-limiting examples and the accompanying drawings, in which:

FIG. 1 shows a general illustration of a fluid extraction apparatus according to various embodiments.

FIG. 2 shows a general illustration of a method of forming a fluid extraction apparatus according to various embodiments.

FIG. 3 is a general illustration of a method of operating a fluid extracting apparatus according to various embodiments.

FIG. 4 shows a schematic of the fluid extraction process according to various embodiments.

FIG. 5A shows an isometric view of a fluid extraction apparatus according to various embodiments.

FIG. 5B shows a top view of the fluid extraction apparatus shown in FIG. 5A according to various embodiments.

FIG. 5C shows a front view of the fluid extraction apparatus shown in FIG. 5A according to various embodiments.

FIG. 5D shows a side view of the fluid extraction apparatus shown in FIG. 5A according to various embodiments.

DETAILED DESCRIPTION

[0007] The following detailed description refers to the accompanying drawings that show, by way of illustration, specific details and embodiments in which the invention may be practiced. These embodiments are described in sufficient detail to enable those skilled in the art to practice the invention. Other embodiments may be utilized and structural, and logical changes may be made without departing from the scope of the invention. The various embodiments are not necessarily mutually exclusive, as some embodiments can be combined with one or more other embodiments to form new embodiments.

[0008] Embodiments described in the context of one of the methods or fluid extraction apparatuses are analogously valid for the other methods or fluid extraction apparatuses. Similarly, embodiments described in the context of a method are analogously valid for a fluid extraction apparatus, and vice versa.

[0009] Features that are described in the context of an embodiment may correspondingly be applicable to the same or similar features in the other embodiments. Features that are described in the context of an embodiment may correspondingly be applicable to the other embodiments, even if not explicitly described in these other embodiments. Furthermore, additions and/or combinations and/or alternatives as described for a feature in the context of an embodiment may correspondingly be applicable to the same or similar feature in the other embodiments.

[0010] In the context of various embodiments, the articles “a”, “an” and “the” as used with regard to a feature or element include a reference to one or more of the features or elements.

[0011] In the context of various embodiments, the term “about” or “approximately” as applied to a numeric value encompasses the exact value and a reasonable variance.

[0012] As used herein, the term “and/or” includes any and all combinations of one or more of the associated listed items.

[0013] Various embodiments may relate to an automated method of extraction to speed up and reduce / eliminate human fatigue associated with prolonged refilling.

[0014] FIG. 1 shows a general illustration of a fluid extraction apparatus according to various embodiments. The fluid extraction apparatus may include a syringe holder 102 configured to hold one or more syringes. The fluid extraction apparatus may include a first linear actuator 104 configured to move the syringe holder into a position for loading of a syringe of the one or more syringes. The fluid extraction apparatus may also include a stand 106. The fluid extraction apparatus may additionally include a rotary platform 108 on the stand 106. The fluid extraction apparatus may also include a vial holder 110 on the rotary platform 108, the vial holder 110 configured to hold a vial containing a fluid. The fluid extraction apparatus may also include a cap gripper 112 on the rotary platform 108. The fluid extraction apparatus may further include a rotary actuator 114 configured to rotate the rotary platform 108 between a first configuration and a second configuration such that when the rotary platform 108 is in the first configuration, the cap gripper 112 is over the syringe of the one or more syringes for capping or uncapping of the syringe of the one or more syringes, and when the rotary platform 108 is in the second configuration, the vial holder 110 is over the syringe of the one or more syringes for extraction of at least a portion of the fluid contained in the vial by the syringe. The fluid extraction apparatus may include a second linear actuator 116 configured to actuate a plunger of the syringe such that the syringe extracts at least the portion of the fluid. The fluid extraction apparatus may also include a controller 118 configured to control the first linear actuator 104, the second linear actuator 116, and the rotary actuator 114.

[0015] In other words, the fluid extraction apparatus may include a syringe holder 102 for holding one or more syringes, a first linear actuator 104 to laterally move the syringe holder 102. The fluid extraction apparatus 106 may also include a stand 106, a rotary platform 108 mounted on the stand 106, as well as a vial holder 110 and a cap gripper 112 on the rotary platform 108.

The fluid extraction apparatus may further include a second linear actuator 116 to move the plunger of a syringe (of the one or more syringes) for extraction of fluid from the vial.

[0016] When the rotary platform 108 is in the first configuration, the cap gripper 112 may be directly over the syringe for capping/uncapping the syringe. Uncapping the syringe may refer to removing a cap from the syringe, while capping the syringe may refer to putting the cap onto the syringe. Conversely, when the rotary platform 108 is in the second configuration, the vial holder 110 may be directly over the syringe for extraction of the portion of fluid from the vial.

[0017] In various embodiments, the fluid extraction apparatus may include a third linear actuator to adjust a height of the rotary platform 108. By adjusting the height of the rotary platform 108, the height of the vial holder 110 and/or the cap gripper 112 may be adjusted. For instance, the third linear actuator may be configured to adjust the height of the cap gripper 112 from a first height position to a lower second height position for uncapping the syringe (i.e. removing a cap off the syringe). After uncapping the syringe, the third linear actuator may be configured to adjust the height from the second height position back to the first height position before the rotary actuator 114 moves the rotary platform 108 such that the vial holder 110 holding the vial is over the syringe. The third linear actuator may then be further configured to adjust the height of the vial holder 110 from the first height position to the lower second height position for extraction of the fluid from the vial. During extraction, the third linear actuator may also configured to adjust the height position of the vial holder to position the needle of the syringe in the vaccine portion of the vial or the air cavity of the vial during the extraction sequence.

[0018] Upon extraction, the third linear actuator may be configured to adjust the height from the second height position back to the first height position before first linear actuator 104 moves the syringe holder 102 for loading of the subsequent syringe, and before the rotary actuator 114 moves the rotary platform 108 such that the cap gripper 112 is over the subsequent syringe for uncapping of the subsequent syringe.

[0019] In various embodiments, the syringe holder 102 may be configured to hold a plurality of syringes. The fluid extraction apparatus may be configured to automatically control a subsequent syringe to extract at least another portion of the fluid contained in the vial after extraction by the syringe.

[0020] In various embodiments, the fluid extraction apparatus may also include a tapping device configured to strike against the syringe for removing bubbles from the fluid extracted by the syringe.

[0021] In various embodiments, the tapping device may be configured to strike against the syringe multiple times for removing the bubbles from at least the portion of fluid extracted by the syringe.

[0022] In various embodiments, the tapping device may include a movable rod. The tapping device may also include an electromagnetic actuator configured to control the movable rod to strike against the syringe. In various embodiments, the electromagnetic actuator may be or may include a solenoid.

[0023] In various embodiments, the syringe holder 102 may be detachable.

[0024] The cap gripper 112 may also be referred to as a cap/uncap gripper. In various embodiments, the cap gripper 112 may include a pair of grips. The cap gripper may include another linear actuator configured to control the pair of grips to secure a cap of the syringe for uncapping the syringe before fluid extraction from the vial by the syringe, and further configured to control the pair of grips to release the cap onto the syringe after fluid extraction from the vial by the syringe. Each grip (of the pair of grips) may be a metal grip including a plurality of serrations. The plurality of serrations may help to more securely hold the cap during capping and/or uncapping.

[0025] In various embodiments, the vial holder 110 may include a fixture including a slot for accommodating a neck of the vial. The vial holder 110 may also include a securing mechanism configured to push a base of the vial against the fixture for securing the vial. The securing mechanism may include a spring configured to exert a biasing force on the base of the vial.

[0026] In various embodiments, the fluid extraction apparatus may include a user interface in communication with the controller. The user interface may include a touch screen display or a plurality of buttons. For instance, a first button of the plurality of buttons may be pressed (by a user such as a nurse) to start filling of the syringes. Once started, the fluid extraction apparatus may automatically fill up the one or more syringes until all of the one or more syringes are filled. A second button of the plurality of buttons may be pressed (by the user) to stop filling of the syringes (for instance, during the middle of the fluid extraction/ syringe filling operation). A third

of the plurality of buttons may be pressed (by the user) to pause the operation, and may be pressed again to resume the operation.

[0027] In various embodiments, the fluid extraction apparatus may include a first actuator encoder, e.g. a first motor encoder, configured to determine a speed and a position of the first linear actuator, e.g. a first motor. The fluid extraction apparatus may also include a second actuator encoder, e.g. a second motor encoder configured to determine a speed and a position of the second linear actuator, e.g. a second motor. The fluid extraction apparatus may also include a third actuator encoder, e.g. a third motor encoder, configured to determine a speed and a position of the third linear actuator, e.g. a third motor. The fluid extraction apparatus may also include a fourth actuator encoder, e.g. a fourth motor encoder, configured to determine a speed and an angular position of the rotary actuator.

[0028] The actuator encoders or motor encoders may each be configured to provide an electrical feedback signal based on a speed or position of the respective actuator or the motor. In the current context, the speed of the actuator or motor may refer to a rotation speed of the actuator or motor, while a position of the actuator or motor may refer to an angular position of a shaft of the actuator or motor.

[0029] The fluid extraction apparatus may also include a mechanism to control the speed and the position of each of the actuator encoders or motor encoders based on the respective electrical feedback signal. In various embodiments, the mechanism may be or may include the controller, which may be in electrical connection to the first actuator encoder, the second actuator encoder, the third actuator encoder, and/or the rotary actuator encoder. For instance, when an encoder detects a slowdown in the speed in an associated actuator or motor, the encoder sends an electrical feedback signal to the controller or mechanism, which may in turn increase a speed of the associated actuator or motor.

[0030] The fluid may include a vaccine. For instance, the vaccine may be a coronavirus disease 2019 (CO VID-19) vaccine. In various embodiments, the fluid extraction apparatus may be used in the extraction of Pfizer-BioNTech COVID-19 vaccine or Moderna COVID- 19 vaccine. One vial of Pfizer-BioNTech CO VID- 19 vaccine may be used to fill up 6 syringes for 6 adult dosages (each syringe having 0.3 ml of the vaccine), while one vial of Moderna COVID- 19 vaccine may be used

to fill up 10 syringes for 10 adult dosages. As such, the plurality of syringes held by the syringe holder 102 may be 6 or 10. However, it may be envisioned that the syringe holder 102 may hold any suitable number of syringes, e.g. to cater to other vaccines or other population segments which may require different dosages (e.g. children). In various other embodiments, the fluid extraction apparatus may also be suitable for filling up/extraction of other vaccines or fluids. The fluid extraction apparatus may advantageously allow extraction of fluids or vaccines, e.g. COVID- 19 vaccines, in a short period of time without requiring much human intervention, thereby helping to ease the fatigues of nurses/other healthcare workers. In various embodiments, the vial holder 110 may be customized for Pfizer-BioNTech CO VID- 19 vaccine vials. The slot of the vial holder 110 may be dimensioned to be suitable or configured to Pfizer-BioNTech CO VID- 19 vaccine vials. In various embodiments, the syringe holder 102 may be customized or dimensioned for certain syringes of predetermined dimensions. Various other embodiments may be suitable for other types of fluid or vaccines (e.g. other COVID-19 vaccines such as Moderna, Sinovac, Astrazeneca vaccines), and/or syringes of other dimensions. Various embodiments may be easily modified to cater to vials of different types/dimensions, and/or syringe of different dimensions.

[0031] In various embodiments, the controller 118 may be a microcontroller or a processor. The controller may be coupled via wired or wireless means to the first linear actuator, the second linear actuator, and the rotary actuator. The controller may also be coupled via wired or wireless means to the third linear actuator, the further linear actuator of the tapping device and/or the other linear actuator of the cap gripper. The controller 118 may be configured to control the operation of the fluid extraction apparatus.

[0032] FIG. 2 shows a general illustration of a method of forming a fluid extraction apparatus according to various embodiments. The method may include, in 202, providing a syringe holder configured to hold one or more syringes. The method may also include, in 204, providing a first linear actuator configured to move the syringe holder into a position for loading of a syringe of the one or more syringes. The method may further include, in 206, providing a stand. The method may also include, in 208, providing a rotary platform on the stand. The method may additionally include, in 210, providing a vial holder on the rotary platform, the vial holder configured to hold a vial containing a fluid. The method may also include, in 212, providing a cap gripper on the

rotary platform. The method may further include, in 214, providing a rotary actuator configured to rotate the rotary platform between a first configuration and a second configuration such that when the rotary platform is in the first configuration, the cap gripper is over the syringe of the one or more syringes for capping or uncapping of the syringe of the one or more syringes, and when the rotary platform is in the second configuration, the vial holder is over the syringe of the one or more syringes for extraction of at least a portion of the fluid contained in the vial by the syringe. The method may additionally include, in 216, providing a second linear actuator configured to actuate a plunger of the syringe such that the syringe extracts at least the portion of the fluid. The method may also include, in 218, providing a controller configured to control the first linear actuator, the second linear actuator, and the rotary actuator.

[0033] In other words, the fluid extraction apparatus may be manufactured using various components such as the syringe holder, the first linear actuator, the stand, the rotary platform, the vial holder, the cap gripper, the rotary actuator, the second linear actuator and the controller.

[0034] For avoidance of doubt, FIG. 2 is not intended to limit the sequence of the steps. For instance, step 204 may be carried out after, before or at the same time as step 202.

[0035] In various embodiments, the method may include providing a third linear actuator configured to adjust a height of the rotary platform. The controller may also be configured to control the third linear actuator.

[0036] In various embodiments, the method may include providing a tapping device configured to strike against the syringe for removing bubbles from the fluid extracted by the syringe. The tapping device may be configured to strike against the syringe multiple times for removing the bubbles from at least the portion of fluid extracted by the syringe. The tapping device may include a rod. The tapping device may include an electromagnetic actuator configured to control the rod to strike against the syringe. The electromagnetic actuator may also include a solenoid. The electromagnetic actuator may be removable.

[0037] In various embodiments, the syringe holder may be detachable.

[0038] In various embodiments, the syringe holder may be configured to hold a plurality of syringes. The fluid extraction apparatus may be configured to automatically control a subsequent

syringe to extract at least another portion of the fluid contained in the vial after extraction by the syringe.

[0039] In various embodiments, the cap gripper may include a pair of grips. The cap gripper may also include another linear actuator configured to control the pair of grips to secure a cap of the syringe for uncapping the syringe before fluid extraction from the vial by the syringe, and further configured to control the pair of grips to release the cap onto the syringe after fluid extraction from the vial by the syringe. Each grip may be a metal grip including a plurality of serrations.

[0040] In various embodiments, the vial holder may include a fixture including a slot for accommodating a neck of the vial. The vial holder may also include a securing mechanism configured to push a base of the vial against the fixture for securing the vial. The securing mechanism may include a spring configured to exert a biasing force on the base of the vial.

[0041] In various embodiments, the method may also include providing a user interface in communication with the controller. The user interface may include a touch screen display or a plurality of buttons. The method may also include connecting the user interface, using wired or wireless means, to the controller.

[0042] In various embodiments, the method may include providing a first actuator encoder, e.g. a first motor encoder, configured to determine a speed and a position of the first linear actuator, e.g. a first motor. The method may also include providing a second actuator encoder, e.g. a second motor encoder configured to determine a speed and a position of the second linear actuator, e.g. a second motor. The method may further include providing a third actuator encoder, e.g. a third motor encoder, configured to determine a speed and a position of the third linear actuator, e.g. a third motor. The fluid extraction apparatus may also include a fourth actuator encoder, e.g. a fourth motor encoder, configured to determine a speed and an angular position of the rotary actuator.

[0043] FIG. 3 is a general illustration of a method of operating a fluid extracting apparatus according to various embodiments. The method may include, in 302, providing the fluid extraction apparatus. The fluid extraction apparatus may include a syringe holder configured to hold one or more syringes. The fluid extraction apparatus may also include a first linear actuator configured to move the syringe holder into a position for loading of a syringe of the one or more syringes. The

fluid extraction apparatus may further include a stand. The fluid extraction apparatus may additionally include a rotary platform on the stand. The fluid extraction apparatus may also include a vial holder on the rotary platform, the vial holder configured to hold a vial containing a fluid. The fluid extraction apparatus may also include a cap gripper on the rotary platform, as well as a rotary actuator configured to rotate the rotary platform between a first configuration and a second configuration such that when the rotary platform is in the first configuration, the cap gripper is over the syringe of the one or more syringes for capping or uncapping of the syringe of the one or more syringes, and when the rotary platform is in the second configuration, the vial holder is over the syringe of the one or more syringes for extraction of at least a portion of the fluid contained in the vial by the syringe. The fluid extraction apparatus may also include a second linear actuator configured to actuate a plunger of the syringe such that the syringe extracts at least the portion of the fluid. The fluid extraction apparatus may additionally include a controller configured to control the first linear actuator, the second linear actuator, and the rotary actuator. The method may include, in 304, arranging the one or more syringes onto the syringe holder. The method may further include, in 306, provide the vial containing the fluid onto the vial holder.

[0044] An user, such as a nurse may only need to arrange the one or more syringes onto the syringe holder and also insert the vial containing the fluid onto the vial holder. In various embodiments, the user may additionally start the operation of the fluid extraction apparatus through an user interface. The fluid extraction apparatus may then automatically dispense the fluid contained in the vial into the one or more syringes.

[0045] For avoidance of doubt, FIG. 3 is not intended to limit the sequence of the steps. For instance, step 306 may be carried out after, before or at the same time as step 304.

[0046] Various embodiments may relate to a method of dispensing or extracting the fluid into the one or more syringes. Various embodiments may relate to a method of filling the syringe with at least a portion of the fluid into the one or more syringes.

[0047] In various embodiments, the user or nurse may only need to do a final check that the filled syringe is devoid of bubbles before injection. The method may further include doing a check that the syringe including the portion of fluid is devoid of bubbles. In various other embodiments,

it may be envisioned that fluid extraction apparatus may include an imaging or detection system to check that the filled syringe is devoid of bubbles.

[0048] FIG. 4 shows a schematic of the fluid extraction process according to various embodiments. As shown in FIG. 4, the vial may be arranged with the cap of the vial facing the syringe. The syringe may be arranged with the needle facing upwards and the vial may be arranged with the cap of the vial facing downwards and the bottom of the vial facing upwards. The vial may be held by the vial holder of the fluid extraction apparatus, while the syringe may be held by the syringe holder of the fluid extraction apparatus.

[0049] Prior to the extraction sequence shown in FIG. 4, 6 syringes may be loaded onto the syringe holder (also referred to as magazine). The syringe holder may then be loaded onto the fluid extraction apparatus. The user may then press the start button to begin the extraction sequence. The first linear actuator may move the syringe holder such that the syringe holder is moved into position. The cap covering the needle of a syringe may then be removed by the cap gripper. The rotary platform may then be rotated 90 degrees such that the vial is directly above the syringe to be filled. The vial may then be lowered and raised (by the third linear actuator) to engage the needle at different heights, as shown in FIG. 4. The second linear actuator may pull and push the plunger to extract the vaccine from and dispense the vaccine back into the vial, as shown in FIG.4 [0050] As shown in FIG. 4, the vial may be partly filled by the vaccine with air over the vaccine. The portion of the vial with the vaccine may be referred to as the vaccine portion, and the portion of the vial with the air may be referred to as the air cavity portion. In step 1 , the plunger of the syringe may be pulled out to draw 0.4 ml of air. The plunger of the syringe may be pulled out using the second linear actuator of the fluid extraction apparatus. In step 2, the vial may be moved using the third linear actuator of the fluid extraction apparatus such that the needle of the syringe is inserted into the air cavity portion of the vial, and 0.4 ml of air may be dispensed into the vial by pushing the plunger of the syringe using the second linear actuator. In step 3, the vial may be moved by the third linear actuator such that the needle is in the vaccine portion of the vial, and the plunger of the syringe may be pulled out to draw 0.4 ml of the vaccine using the second linear actuator. In step 4, the vial may be moved using the third linear actuator of the fluid extraction apparatus such that the needle of the syringe is inserted into the air cavity portion of the vial, and

the plunger may be pushed by the second linear actuator to dispense 0.28 ml of the vaccine back into the vial (until the vaccine level in the syringe is at 0.12 ml mark). In step 5, the vial may be moved by the third linear actuator such that the needle is in the vaccine portion of the vial, and the plunger of the syringe may be pulled out to draw an additional 0.2 ml of the vaccine using the second linear actuator (until the vaccine level in the syringe is at 0.32 ml mark). In step 6, the vial may be moved using the third linear actuator of the fluid extraction apparatus such that the needle of the syringe is inserted into the air cavity portion of the vial, and an additional 0.005 ml of air may be drawn by the syringe by pulling the plunger using the second linear actuator. In Step 7, the vial may be moved using the third linear actuator of the fluid extraction apparatus such that the needle of the syringe is inserted into the air cavity portion of the vial, and the plunger of the syringe may be pushed by the second linear actuator to dispense 0.005 ml of air and 0.02 ml of vaccine (i.e. until 0.3 ml of vaccine remains in the syringe). In step 7, the vial may be moved using the third linear actuator of the fluid extraction apparatus such that the needle of the syringe is outside of the vial. During steps 3 - 7, the tapping device may tap against the syringe for removing bubbles from the vaccine extracted by the syringe. After extraction, the rotary platform may be rotated 90 degrees such that the cap gripper holding the cap is directly over the filled syringe. The filled syringe may then be recapped.

[0051] The syringe holder or magazine may be moved such that for filling of the subsequent syringe. The process may be repeated until all 6 syringes are filled.

[0052] FIG. 5A shows an isometric view of a fluid extraction apparatus according to various embodiments. FIG. 5B shows a top view of the fluid extraction apparatus shown in FIG. 5A according to various embodiments. FIG. 5C shows a front view of the fluid extraction apparatus shown in FIG. 5A according to various embodiments. FIG. 5D shows a side view of the fluid extraction apparatus shown in FIG. 5A according to various embodiments.

[0053] The fluid extraction apparatus may include a syringe holder 502 configured to hold one or more syringes. The fluid extraction apparatus may include a first linear actuator 504 configured to move the syringe holder into a position for loading of a syringe of the one or more syringes. The first linear actuator 504 may be a motorized slide that moves along the x-axis (XI as shown in FIG. 5A). The fluid extraction apparatus may also include a stand 506. The fluid extraction

apparatus may additionally include a rotary platform 508 on the stand 506. The fluid extraction apparatus may also include a vial holder 510 on the rotary platform 508, the vial holder 510 configured to hold a vial containing a fluid. The fluid extraction apparatus may also include a cap gripper 512 on the rotary platform 508. The vial holder 510 and the cap gripper 512 may be attached to the rotary platform 508. The fluid extraction apparatus may further include a rotary actuator 514 configured to rotate the rotary platform 508 (i.e. R1 as shown in FIG. 5B) between a first configuration and a second configuration such that when the rotary platform 508 is in the first configuration, the cap gripper 512 is over the syringe of the one or more syringes for capping or uncapping of the syringe of the one or more syringes, and when the rotary platform 508 is in the second configuration, the vial holder 510 is over the syringe of the one or more syringes for extraction of at least a portion of the fluid contained in the vial by the syringe. The fluid extraction apparatus may include a second linear actuator 516 configured to actuate a plunger of the syringe such that the syringe extracts at least the portion of the fluid. The second linear actuator 516 may be a motorized slide which moves along the z-axis (Z1 as shown in FIG. 5A). The fluid extraction apparatus may also include a third linear actuator 520 configured to adjust a height of the rotary platform (Z2 shown in FIG. 5A).

[0054] The fluid extraction apparatus may also include a tapping device 522 configured to strike against the syringe for removing bubbles from the fluid extracted by the syringe. In various embodiments 522, the tapping device 522 may include a rod and solenoid configured to control the rod to strike against the syringe. By striking against the syringe, the tapping device 522 may imitate the flicking action of a nurse’s finger to dislodge or remove any bubble that may form inside the syringe during extractions. This may prevent or reduce changes of the bubbles from being injected into the human body during injection.

[0055] The vial holder 510 may include a fixture 510a including a slot for accommodating a neck of the vial, and a securing mechanism 510b (e.g. a spring) configured to push a base of the vial against the fixture 510a for securing the vial. The fluid extraction apparatus may also include a controller configured to control the first linear actuator 504, the second linear actuator 516, the third linear actuator 520 and the rotary actuator 514. The fluid extraction apparatus may further

include an user interface or control panel 524 in communication, e.g. via wired or wireless means, with the controller. The fluid extraction apparatus may be housed in an enclosure 526.

[0056] Various embodiments may involve fully automatic extraction from a single vial into multiple syringes. Various embodiments may relate to bubble control via the tapping mechanism. No human intervention may be required during dispensing.

[0057] Various embodiments may involve automatic capping and uncapping of hypodermic syringes or needles cover, which may eliminate prick hazards. Various embodiments may relate to fully programmable movement to mimic human action. Various embodiments may involve stroke, speed, acceleration etc. of various actuators to mimic human action. Various embodiments may be adaptable to various vial and syringe sizes by changing the syringe holder and the vial holder.

[0058] Various embodiments may involve the automated dispensing of vaccine from individual vials to syringes. Various embodiments may be suitable for various COVID-19 vaccines, which are kept in individual vials at cold temperature and extracted only on demand prior to injection to prevent spoilage.

[0059] Various embodiments may relate or include the entire extraction sequence from a single vial to multiple syringes. Zero human intervention may be required after loading the empty syringes to the end of the extraction cycle. The extraction process may be carefully calibrated to mimic the actions of a qualified nurse performing the same action. In various embodiments, it may take about 30 seconds for the apparatus as described herein to fill one syringe. Various embodiments may have a speed limit to reduce risk of cavitation, which increases the chances of forming bubbles and denaturing of the vaccine.

[0060] By “comprising” it is meant including, but not limited to, whatever follows the word “comprising”. Thus, use of the term “comprising” indicates that the listed elements are required or mandatory, but that other elements are optional and may or may not be present.

[0061] By “consisting of’ is meant including, and limited to, whatever follows the phrase “consisting of’. Thus, the phrase “consisting of’ indicates that the listed elements are required or mandatory, and that no other elements may be present.

[0062] The inventions illustratively described herein may suitably be practiced in the absence of any element or elements, limitation or limitations, not specifically disclosed herein. Thus, for example, the terms “comprising”, “including”, “containing”, etc. shall be read expansively and without limitation. Additionally, the terms and expressions employed herein have been used as terms of description and not of limitation, and there is no intention in the use of such terms and expressions of excluding any equivalents of the features shown and described or portions thereof, but it is recognized that various modifications are possible within the scope of the invention claimed. Thus, it should be understood that although the present invention has been specifically disclosed by preferred embodiments and optional features, modification and variation of the inventions embodied therein herein disclosed may be resorted to by those skilled in the art, and that such modifications and variations are considered to be within the scope of this invention.

[0063] By “about” in relation to a given numerical value, such as for temperature and period of time, it is meant to include numerical values within 10% of the specified value.

[0064] The invention has been described broadly and generically herein. Each of the narrower species and sub-generic groupings falling within the generic disclosure also form part of the invention. This includes the generic description of the invention with a proviso or negative limitation removing any subject matter from the genus, regardless of whether or not the excised material is specifically recited herein.

[0065] Other embodiments are within the following claims and non- limiting examples.

Claims

1. A fluid extraction apparatus comprising: a syringe holder configured to hold one or more syringes; a first linear actuator configured to move the syringe holder into a position for loading of a syringe of the one or more syringes; a stand; a rotary platform on the stand; a vial holder on the rotary platform, the vial holder configured to hold a vial containing a fluid; a cap gripper on the rotary platform; a rotary actuator configured to rotate the rotary platform between a first configuration and a second configuration such that when the rotary platform is in the first configuration, the cap gripper is over the syringe of the one or more syringes for capping or uncapping of the syringe of the one or more syringes, and when the rotary platform is in the second configuration, the vial holder is over the syringe of the one or more syringes for extraction of at least a portion of the fluid contained in the vial by the syringe; a second linear actuator configured to actuate a plunger of the syringe such that the syringe extracts at least the portion of the fluid; and a controller configured to control the first linear actuator, the second linear actuator, and the rotary actuator.

2. The fluid extraction apparatus according to claim 1, further comprising: a third linear actuator configured to adjust a height of the rotary platform; wherein the controller is also configured to control the third linear actuator.

id extraction apparatus according to claim 1, further comprising: a tapping device configured to strike against the syringe for removing bubbles from the fluid extracted by the syringe. id extraction apparatus according to claim 3, wherein the tapping device is configured to strike against the syringe multiple times for removing the bubbles from at least the portion of fluid extracted by the syringe. id extraction apparatus according to claim 3, wherein the tapping device comprises: a movable rod; and an electromagnetic actuator configured to control the movable rod to strike against the syringe. id extraction apparatus according to claim 5, wherein the electromagnetic actuator comprises of a solenoid. id extraction apparatus according to claim 1, wherein the syringe holder is detachable. id extraction apparatus according to claim 1, wherein the syringe holder is configured to hold a plurality of syringes; and wherein the fluid extraction apparatus is configured to automatically control a subsequent syringe to extract at least another portion of the fluid contained in the vial after extraction by the syringe. id extraction apparatus according to claim 1, wherein the cap gripper comprises:

a pair of grips; and another linear actuator configured to control the pair of grips to secure a cap of the syringe for uncapping the syringe before fluid extraction from the vial by the syringe, and further configured to control the pair of grips to release the cap onto the syringe after fluid extraction from the vial by the syringe. id extraction apparatus according to claim 9, wherein each grip is a metal grip comprising a plurality of serrations. id extraction apparatus according to claim 1 , wherein the vial holder comprises: a fixture comprising a slot for accommodating a neck of the vial; and a securing mechanism configured to push a base of the vial against the fixture for securing the vial. id extraction mechanism according to claim 11, wherein the securing mechanism comprises a spring configured to exert a biasing force on the base of the vial. id extraction apparatus according to claim 1, further comprising: an user interface in communication with the controller. id extraction apparatus according to claim 13, wherein the user interface comprises a touch screen display or a plurality of buttons. id extraction apparatus according to claim 2, further comprising:

a first actuator encoder configured to determine a speed and a position of the first linear actuator; a second actuator encoder configured to determine a speed and a position of the second linear actuator; and a third actuator encoder configured to determine a speed and a position of the third linear actuator; and a fourth actuator encoder configured to determine a speed and an angular position of the rotary actuator. id extraction apparatus according to claim 1, wherein the fluid comprises a vaccine. od of forming a fluid extraction apparatus, the method comprising: providing a syringe holder configured to hold one or more syringes; providing a first linear actuator configured to move the syringe holder into a position for loading of a syringe of the one or more syringes; providing a stand; providing a rotary platform on the stand; providing a vial holder on the rotary platform, the vial holder configured to hold a vial containing a fluid; providing a cap gripper on the rotary platform; providing a rotary actuator configured to rotate the rotary platform between a first configuration and a second configuration such that when the rotary platform is in the first configuration, the cap gripper is over the syringe of the one or more syringes for capping or uncapping of the syringe of the one or more syringes, and when the rotary platform is in the second configuration, the vial holder is over the syringe of the one or more syringes for extraction of at least a portion of the fluid contained in the vial by the syringe;

providing a second linear actuator configured to actuate a plunger of the syringe such that the syringe extracts at least the portion of the fluid; and providing a controller configured to control the first linear actuator, the second linear actuator, and the rotary actuator. thod according to claim 17, further comprising: providing a third linear actuator configured to adjust a height of the rotary platform; wherein the controller is also configured to control the third linear actuator. thod according to claim 17, further comprising: providing a tapping device configured to strike against the syringe for removing bubbles from the fluid extracted by the syringe. od of operating a fluid extracting apparatus, the method comprising: providing the fluid extraction apparatus, the fluid extraction apparatus comprising: a syringe holder configured to hold one or more syringes; a first linear actuator configured to move the syringe holder into a position for loading of a syringe of the one or more syringes; a stand; a rotary platform on the stand; a vial holder on the rotary platform, the vial holder configured to hold a vial containing a fluid; a cap gripper on the rotary platform; a rotary actuator configured to rotate the rotary platform between a first configuration and a second configuration such that when the rotary platform is in the first configuration, the cap gripper is over the syringe of the one or more syringes for capping or uncapping of the syringe of the

one or more syringes, and when the rotary platform is in the second configuration, the vial holder is over the syringe of the one or more syringes for extraction of at least a portion of the fluid contained in the vial by the syringe; a second linear actuator configured to actuate a plunger of the syringe such that the syringe extracts at least the portion of the fluid; and a controller configured to control the first linear actuator, the second linear actuator, and the rotary actuator; arranging the one or more syringes onto the syringe holder; and providing the vial containing the fluid onto the vial holder.