Abstract: A medical pump with an improved continuity low flow delivery system and method for use with a pumping chamber, for example in a cassette, is disclosed. The pump includes a pump drive for exerting a force on the pumping chamber and a sensor for sensing the force/pressure exerted by the pump drive on the pumping chamber. The pump drive position sensor senses the position of the pump drive. The medical pump also includes a processing unit and a memory having a programming code adapted to calculate the rate of change of the sensed force/pressure values and determine whether the rate of change of the sensed force/pressure values meets a rate of change threshold. Once the rate of change threshold is met, the programming code is adapted to calculate a remaining pump drive travel value for determining how much farther the pump drive should travel before the end of an effective pump cycle.