Redwood City-based AcelRX Pharmaceuticals has filed for an IPO, saying in a filing with the SEC late Friday that it is looking to raise up to $86.25M on the NASDAQ Global Market. The firm said it is looking to list as ACRX. The IPO is being underwritten by Piper Jaffray, Canaccord Genuity, Cowen and Company, and JMP Securities. AcelRX is venture backed by Three Arch Partners, Skyline Venture Partners, Alta Partners, and Kaiser Foundation Hospitals. AcelRX is a developer of treatments for reducing acute and breakthrough pain.