Patent ID: 8404492
Filing Date: 2013-03-26
Classification: G06T,Y10T

Abstract:
1. A method for manipulating toxic substances, the method comprising the steps of: by using anthropomorphic manipulation means, taking a container from a magazine for containers and transferring it to a dosage station, set in which is a doser having a longitudinal axis and provided with a needle; the container presenting a mouth closed by a perforable element; axially aligning the mouth with the needle via the manipulation means; approaching, via the manipulation means, the container to the doser in such a way that the needle perforates the perforable element and penetrates into the container to be able to inject a substance into the container or draw a substance therefrom; and being characterized in that the step of axially aligning the mouth with the needle comprises the steps of: acquiring a plurality of images of the needle from at least two distinct observation points and from at least two directions of framing lying on a plane orthogonal to said longitudinal axis, the directions of framing passing, each, through a respective one of said observation points in such a way as that an acute angle is formed between the directions of framing; processing said images for determining the position of the tip of the needle and the inclination of the needle with respect to said longitudinal axis; and actuating the manipulation means for correcting the position of the mouth according to the position of the tip of the needle and the inclination of the needle.