Ivo Dekker, Pieter Waelbers, Wido Tancer, Karel Kellens, Eric Demeester
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引用次数: 0
Abstract
Purpose
Although pharmaceutical high-speed filling lines are fully automated, interventions are still performed by hand via glove ports. Bringing robots into the high-speed production lines for the handling of interventions could increase both the thoughput and the sterility of the system. The work presented in this manuscript proposes a semi-autonomous intervention strategy for the removal of erroneous plungers.
Methods
A YOLOv8-based computer vision algorithm continuously monitors the state of the plunger feed. Autonomous motion planning is used for large, general movements, while human-operated teleoperation with system guidance allows for small, precise motions. The combination of both creates a intuitive, gloveless intervention method.
Results
A user test with a group of 22 volunteers shows that an untrained operator can perform the teleoperated intervention via this system in an average of \(\pm 30\)s and \(\pm 21\)s when the plungers are static and dynamic respectively. Via a Likert-scale based questionnaire, it was found that the test group experienced the haptic system as very intuitive. Additionally, the system is capable of running completely remotely via a two-laptop setup, which has been tested at distances up to 100km.
Conclusion
An intuitive, haptic semi-autonomous teleoperation system is created for the execution of a plunger removal intervention. Both in a static and dynamic scenario, an improvement of the operating time is observed compared to the current glove-based method (2 to 3 min). The system can run fully remotely and was found to be very intuitive by the user group.
期刊介绍:
The Journal of Pharmaceutical Innovation (JPI), is an international, multidisciplinary peer-reviewed scientific journal dedicated to publishing high quality papers emphasizing innovative research and applied technologies within the pharmaceutical and biotechnology industries. JPI''s goal is to be the premier communication vehicle for the critical body of knowledge that is needed for scientific evolution and technical innovation, from R&D to market. Topics will fall under the following categories:
Materials science,
Product design,
Process design, optimization, automation and control,
Facilities; Information management,
Regulatory policy and strategy,
Supply chain developments ,
Education and professional development,
Journal of Pharmaceutical Innovation publishes four issues a year.