Abstract: A method to mount handling equipment on an interface of a confinement chamber that is to contain a sterile environment. In the method a unit including the handling equipment is prepared and sterilized, and the chamber and a hidden part of the interface are sterilized after coupling impervious tooling to a chamber flange and partially opening the chamber door. The unit is then coupled to the interface. Finally, the double door formed by the equipment door and the chamber door connected to one another is opened, using a handle provided for this purpose on the equipment door.

Abstract: A transfer port apparatus (10) is provided to enable a worker to transfer one or more objects through a sealed passageway provided in the apparatus (10) from one sealed chamber into another sealed chamber. Transfer port apparatus (10) is adapted to be coupled to a movable canister (12) and a stationary isolator (16). Expandable airtight seals (72, 120) are deflated, doors (30, 40) are removed and an object (20) is transferred into the airtight clean working environment established in the isolator (16) through the sealed passageway established in transfer port apparatus (10) following coupling of canister (12) to isolator (16) using transfer port apparatus (10). After the object (20) is moved, doors (30, 40) are replaced and expandable airtight seals (72, 120) are inflated creating a substantially airtight seal. Movable canister (12) can be uncoupled from the transfer port apparatus (10).

Abstract: In order to transfer aseptic products between two enclosures (34), use is made of a sterile container (10) having a filling interface (16) and an emptying interface (18). Each interface (16, 18) comprises a seal (24) behind which is placed a flexible hose (26) equipped with a closure system (30, 30′). The filling and emptying of the container (10) take place by connecting the corresponding interface (16, 18) and enclosure (34), sterilizing the volume trapped between the seal (24) and the door (42, 50) of the enclosure (34), opening said door and also the seal and putting into place the corresponding flexible hose (26). After filling the container (10), the closure system (30) of the filling interface (16) is closed again.

Abstract: Sterile products contained in a container (10) are transferred into a sterile isolator (12) by connecting the container onto a lock (28) fitted on the outside of the isolator (12) and equipped with a pulsed light sterilization device (28). The connection between the lock (28) and the isolator (12) is made by a sealed double door transfer device. The throwaway container is equipped with a plug type closer (16), cutout from the inside of the isolator (12) after sterilizing the volume (40) inside the lock (28) and opening the double door (24, 38).

Abstract: A tight transfer device (10) between two sterile volumes (12, 14), of the double door or port type (22, 26), is equipped with a decontamination system (44) using ultraviolet, pulsed ultraviolet or pulsed light radiation, of the facing points of the gaskets (30, 36) ensuring the necessary sealing action. This decontamination system (44) is integrated into one (20) of the flanges of the transfer device. It comprises a collar (46) made from a material able to diffuse radiation, as well as optical fibers (48), whereof one end is mounted on said collar. The other end of the optical fibers (48) is connected to a radiation source. When the source is used, the radiation, routed by fibers (48) over the entire periphery of the collar (46), diffuse into the same towards the points of the gaskets (30, 36) to be decontaminated.

Abstract: An apparatus for providing a clean working environment includes an isolation booth, a worker booth, and an access device arranged to enable a worker in the worker booth to handle material in an isolation chamber formed in the isolation booth. A pressure generator is positioned to communicate with the isolation chamber to generate an air pressure therein that is less than the air pressure of an air curtain passing through the worker booth so that air is drawn from the air curtain in the worker booth into the isolation chamber through any air leak opening that develops in and around the access device so as to block outflow of air in the isolation chamber to the worker booth through the air leak opening.

Abstract: Cover to place on a door (5) with unlocking by means of rotation as to slightly open it and making it possible to appropriately sterilize the entire inside of the receptacle it closes, whilst enabling bactericide vapors to easily reach the surfaces adjacent to the door. In order to do this, the cover includes a fixed dome portion (20) flanged on the receptacle around the door, and a handling device (40 to 42) created through the dome and able to grip the door so as to slightly lift it up without breaking its imperviousness.

Abstract: To ensure the disconnectable connection of two components with a non-circular outline, in particular an oval outline, a rotatable ring of oval shape is fitted on a first component, cooperating with a second component by a bayonet system. Rotation of the ring is made possible by positioning at least four arc of a circle shaped segments along the desired outline with a space between the ends of adjacent segments. The link between these ends is made by articulated components.

Abstract: In order to transfer fluid products such as powders between a storage container (10) and a mobile container (18) an interface device comprising a tight chamber (24) is proposed. This tight chamber contains mechanisms making it possible either to seal an access opening (30) to the mobile container (18), or place a transfer tube (36) between the containers (27, 30). The transfer tube is formed by at least two sections (38, 40) having an internal cross-section which is substantially uniform and identical, so that a product can be transferred in any random orientation, without any risk of product being retained. The two sections (38, 40) can in particular be installed on the same tilting arm (42).

Abstract: A waterproof fixture (14) is attached to the hopper (12) for transferring a powder product (P) which has been fabricated in a pharmaceutical reactor into a transport container (10). The container (10) is attached to the device (14) by a two door transfer system (26, 44). The device (14) permits the opening of the double doors, to empty the openings in front of the hopper and the container and to join the same automatically by means of telescoping delivery lines (66).

Abstract: To connect the end of a flexible collar (11) on a flexible wall (12) that belongs, for example, to a containment insulator, one part of that wall is mounted around a circular opening provided for that purpose on a fixed inner ring (18). A toric joint (20), which rolls between two grooves, (18c, 18b) formed on the ring (18) when the rigid outer ring is put into place (22) covering the end of the collar (11), blocks the wall (12) in the groove (18b). An immobilizing ring (24) is then placed in the other groove (18c) to keep the outer ring (22) from escaping.

Abstract: Strips (20), housed in the slave arms (10) of a remote handling device and used for transmitting to the pair of gripping pliers borne by this arm orientation and tightening movements remote controlled by an operator, rotate pinions (26a) mounted at the extremity of the slave arm (10). These pinions (26a) are normally geared onto pinions (30a) mounted in a ball and socket joint (16) inserted between the pliers and the slave arm. When the ball and socket joint is dismounted, any attempt to remove the strips (20) is made impossible by the locking devices (60a) which come to rest onto the flanks of the pinions (26a) under the action of the spring (72). Any breakage of the strips due to their being pulled during dismantling of the ball and socket joint is thus avoided.

Abstract: For sterilizing a tight enclosure (10) equipped with a ventilation and filtration circuit (14), said enclosure is isolated and the internal relative humidity level is lowered by means of an assembly (50) incorporating a drying cartridge (54). The sterilizing agent (46) is then introduced through a closed circuit (30) until a relative humidity level close to the dew point is obtained. The sterilizing agent is kept in the enclosure for a given contact time, before scavenging said agent by means of the ventilation and filtration circuit (14).

Abstract: The open end of the shaft (10) of the slave arm of a telemanipulator carries two fixed hooks (50) able to encircle two spindles (52) projecting on either side of a toggle joint (16) supporting a gripper (18). Hooks (50) and spindles (52) form a pivot axis, which is displaced from the side of the pivot pin (34) of the gripper with respect to a plane parallel to the pivot axix and containing the longitudinal axis of shaft (10a). On the side of the plane opposite to the hooks (50) and the spindles (52), a latch (54) locks the case (16a) to the end of the shaft, thus, formed coupling device (15).

Abstract: In order to permanently ensure the confinement of two closed volumes with respect to the outside atmosphere, while permitting the linking of said volumes, use is made of two gaskets, each having in section an approximately circular and generally hollow part, as well as a part forming a member. One of the gaskets is mounted by its member in a groove formed in a door received in a flange of the volume, whereas the member of the other gasket is fixed in a groove formed in a flange in which is received a door of the other volume. During engagement, the circular parts of the gaskets are in tight contact with one another and on V-shaped inclined surfaces formed within the flange and on the periphery of the door.

Abstract: A gripper has n pseudospherical contact pads providing a point contact with an object to be gripped. The sum of the degrees of liberty existing between the object and each of the pads taken separately is less than, or preferably equal to, 6(n-1)-1. Moreover, the assembly constituted by the object, the pads, the fingers and the frame is isotatic, which means that the total number of degrees of liberty of this assembly is strictly equal to 6(n-1). Strain gauges placed on the fingers permit determining the tensor of the efforts exerted by the object on the gripper. An orientation of the object gripped can be accomplished by providing the pads with additional degrees of liberty controlled by independent actuators.

Abstract: A device for the disconnectable coupling of a support toggle joint of a gripper to the end of a slave arm of a remote manipulator. The arm and toggle joint each have a case in which are located means for transmitting movements to the gripper. The coupling device comprises at least two latches pivotably mounted on one of the cases and which are able to occupy a coupling position in which they bear against pins fixed to the other case. This couples the toggle joint to the end of the arm and the latches can also occupy a position in which they are disengaged from the pins in order to disconnect the toggle joint. The retractable locking means normally immobilizes the latches with respect to the case supporting them when the latches occupy the coupling position. The invention also provides a disconnection support for the coupling device.

Abstract: The invention relates to an actuator and to its application to the position servocontrol for a master-slave remote manipulator.The actuator comprises a box or case in which are housed an electric motor, a slightly or non-reversible reducing gear and a torsion bar connecting the led part of the gear to an actuating plate outside the box. Potentiometers make it possible to define the position of the led part with respect to the box and the force applied to the torsion bar. Thus, it is possible to artificially provide the gear with good reversibility characteristics.Application to any movement control in robotics and particularly to the production of miniaturized master arms, master-slave remote manipulators with force return and without either a cable or belt, and to the control of heavy arms.

Abstract: A telescopic remote manipulator includes a rotary passage block which passes through a partition, a telescopic master arm having upper and lower segments, and a telescopic slave arm having upper, intermediate and lower segments. The arms are articulated by their upper segments on the passage block by pins. A control handle and gripping member are respectively mounted on the free ends of the master and slave arms. Means are provided for transmitting to the gripping member movements of the handle and include cable means associated with the master arm and cable means associated with the slave arm, both coacting with a rotary shaft in the passage block to transmit the handle movements to the gripping member. The slave arm cable means pass over pulleys carried by a mobile carriage positioned externally of the slave arm and then on pulleys mounted on the slave arm in the vicinity of its shoulder pin.

Abstract: Isolator for confining and transporting in a sterile atmosphere human beings and in particular babies, comprising a tight enclosure, ventilated by a forced fresh air circulation circulated by a first fan through an absolute inlet filter and an absolute outlet filter, rapid transfer devices which are sealed from the outside, tight intervention devices, certain of which form an integral part of the enclosure wall, wherein it comprises, between the fresh air inlet and outlet, a branch equipped with a second fan and a variable temperature heater element, said temperature being automatically limited to a maximum value of approximately 120.degree. C., so as to produce heating and setting to a reference temperature of the internal atmosphere by the partial recycling thereof, all the energy necessary for the operation of the installation being provided by an autonomous accumulator battery, which can be that of the transportation vehicle.