Abstract: Systems and methods to test robotic end effectors may comprise a testing rig having variable mass properties. The testing rig may include a variable weight assembly and a movement assembly that can adjust a position or orientation of the variable weight assembly. In this manner, the testing rig can be modified to simulate or replicate mass properties of a plurality of items, and grasp performance of a robotic end effector may be measured using the testing rig. Further, simulation models of end effectors and items may be validated based on actual grasp performance of a robotic end effector and the testing rig having variable mass properties.

Abstract: Systems, methods, and computer-readable media are disclosed for portable robotic manipulation systems. In one embodiment, an example robot assembly may include a first portion that includes a first robotic arm configured to manipulate objects, a second portion coupled to the first portion, the second portion including a moveable sensor assembly, and a controller configured to control operation of the first robotic arm and operation of the moveable sensor assembly. The robot assembly is portable and configured to operate in fenced or unfenced environments, and may be configured to perform different tasks in different environments.

Abstract: A device for obtaining a biological sample, such as a capillary blood collection device, that has the ability to lance and squeeze the finger, collect the sample, stabilize the sample, and subsequently dispense the sample in a controlled manner is disclosed. The device also simplifies and streamlines the capillary blood collection by eliminating workflow variabilities which are typically associated with low sample quality including hemolysis and micro-clots.

Abstract: A device for obtaining a biological sample, such as a capillary blood collection device, that has the ability to lance and squeeze the finger, collect the sample, stabilize the sample, and subsequently dispense the sample in a controlled manner is disclosed. The device also simplifies and streamlines the capillary blood collection by eliminating workflow variabilities which are typically associated with low sample quality including hemolysis and micro-clots.

Abstract: An attachable needle assembly (2) is disclosed for use on a medication delivery pen (4). The needle assembly (2) includes a housing (8) enclosing a hub (12) that is configured to engage the medication delivery pen (4), a plurality of needles (18) configured to pierce a reservoir septum (6) of the medication delivery pen (4), a selection ring insert (30) that rotates and identifies which needle (24) of the plurality of needles (18) is to be selected, and a selection ring (36) that applies a force to expose the selected needle (24). When the housing (8) is in a first position, the plurality of needles (18) is not exposed, and when the housing (8) is in a second position, one of the plurality of needles (24) is exposed for medicament delivery.

Abstract: An electronic system (200) connectable to a medication delivery pen (4) and a needle assembly (2, 102), the electronic system (200) exchanging data regarding a medicament traveling from the medication delivery pen (4) to the needle assembly (2, 102), the electronic system (200) comprising a hub (202) having a spike (204) that is configured to engage the medication delivery pen (4) and pierce a reservoir septum of the medication delivery pen (4), a flow sensor (220) that is in fluid communication with the hub (202) to measure flow data of the medicament, a circuit board (250) electrically contacting the flow sensor (220) to process and transmit the flow data, the circuit board (250) including a fluid path hole (254) to route a flow of medicament, and a septum body (270, 284) that is configured to provide fluid communication between the flow sensor (220) and one of a plurality of needles (40, 124) of the needle assembly (2, 102) to administer the medicament to a patient.

Abstract: An electronic system (200) connectable to a medication delivery pen (4) and a needle assembly (2, 100), the electronic system (200) exchanging data regarding a medicament traveling from the medication delivery pen (4) to the needle assembly (2,100), the electronic system (200) comprising a hub (214) having a spike (216) that is configured to engage the medication delivery pen (4) and pierce a reservoir septum (6) of the medication delivery pen (4), a flow sensor (220) that is in fluid communication with the hub (214) to measure flow data of the medicament, one or more circuit boards (250, 260) electrically contacting the flow sensor (220) to process and transmit the flow data, the one or more circuit hoards (250, 260) include one or more fluid path holes (256, 264) to route a flow of medicament, and a septum (270, 284) that is configured to provide fluid communication between the flow sensor (220) and one of a plurality of needles (40, 124) of the needle assembly (2, 100) to administer the medicament to a pat

Abstract: An attachable needle assembly (2) for use on a medication delivery pen (4), the needle assembly (2) comprising a housing (16) that engage the medication delivery pen (4), the housing (16) enclosing a plurality of needles (34) that pierce a reservoir septum (6) of the medication delivery pen (4), a plurality of needle posts (24) each securing one of the plurality of needles (34), and a needle assembly septum (60) enclosing the plurality of needles (34).

Abstract: An electronic system (200) connectable to a medication delivery pen (4) and a needle assembly (2, 102), the electronic system (200) exchanging data regarding a medicament traveling from the medication delivery pen (4) to the needle assembly (2, 102), the electronic system (200) comprising a hub (202) having a spike (204) that is configured to engage the medication delivery pen (4) and pierce a reservoir septum of the medication delivery pen (4), a flow sensor (220) that is in fluid communication with the hub (202) to measure flow data of the medicament, a circuit board (250) electrically contacting the flow sensor (220) to process and transmit the flow data, the circuit board (250) including a fluid path hole (254) to route a flow of medicament, and a septum body (270, 284) that is configured to provide fluid communication between the flow sensor (220) and one of a plurality of needles (40, 124) of the needle assembly (2, 102) to administer the medicament to a patient.

Abstract: An assembly for storing both new and used pen needles of an injection apparatus, comprising a plurality of storage units each configured to store a pen needle having a needle fixed to a hub, the plurality of storage units being hingedly connected, and each including a storage end, and a dispensing end having an anti-rotation structure, wherein the anti-rotation structure working in conjunction with the hub of the pen needle to prevent rotation of the pen needle when the pen needle is in a dispensing position.

Abstract: An attachable needle assembly (2) for use on a medication delivery pen (4), the needle assembly (2) comprising a spike housing (8) that is configured to engage the medication delivery pen (4) and pierce a reservoir septum (6) of the medication delivery pen (4), a needle assembly housing (22) secured to the spike housing (8), the needle assembly housing (22) enclosing a septum (40) with a cavity (42) that is in continuous fluid communication with the spike housing (8), and a plurality of needles (44) configured to pierce the needle assembly septum (40), wherein when the needle assembly housing (22) is in a first position, the plurality of needles (44) are disengaged from the needle assembly septum (40), and when the needle assembly housing (22) is in a second position, one of the plurality of needles (46) enters into fluid communication with the septum cavity (42) and is exposed for medicament delivery.

Abstract: A method of operating an end effector, the end effector including opposing first and second jaws, a distal clevis defining an inner pulley and having a first axle that rotatably mounts the first and second jaws to the distal clevis, a proximal clevis having a second axle that rotatably mounts the distal clevis to the proximal clevis, a plurality of drive cables extending to the end effector, and a power axle cable mounted to the distal clevis at the inner pulley. The method further includes moving one or more of the plurality of drive cables and thereby causing the end effector to articulate about a first pivot axis extending through the first axle, and moving the power axle cable and thereby pivoting the end effector about a second pivot axis extending through the second axle and perpendicular to the first pivot axis.

Abstract: An attachable needle assembly (2) for use on a medication delivery pen (4), the needle assembly (2) comprising a housing (10) enclosing a spike housing (8) configured to (a) engage the medication delivery pen (4), and (b) pierce a reservoir septum (6) of the medication delivery pen (4), a communication septum (72, 76) of the needle assembly (2) defining a septum chamber (80, 82), the septum chamber (80, 82) being in fluid communication with the spike housing (8), a plurality of needles (18) disposed in the communication septum (72, 76), a selection ring insert (30) that rotates and identifies a needle (24) of the plurality of needles (18), and a selection ring (36) exposes the selected needle (24) and moves the selected needle (24) into fluid communication with the septum chamber (80, 82), wherein when the housing (10) is in a first position, the plurality of needles (18) is not exposed, and when the housing (10) is in a second position, one of the plurality of needles (24) is in fluid communication with the

Abstract: An infusion set includes a base (221) and a flexible catheter (242) movable from a first catheter position disposed substantially entirely within the base (221) to a second catheter position in which a free end of the catheter (242) is disposed externally of the base (221). An introducer needle (234) is located within the catheter (242) and is movable between a first introducer needle position disposed substantially entirely within the base (221) and a second introducer needle position in which a free end of the introducer needle (234) is disposed externally of the base (221). A spring (281) is activated to move the catheter (242) from the first to the second catheter position and the introducer needle (234) from the first to the second introducer needle position to facilitate insertion of the catheter (242).

Abstract: An attachable needle assembly (102) for use on a medication delivery pen (104), the needle assembly (102) comprising a housing (110) enclosing a hub (106) having a communication needle (108) configured to engage the medication delivery pen (104) and pierce a reservoir septum of the medication delivery pen (104), a communication septum (172, 176) of the needle assembly (102) defining a septum chamber (180, 182) that is in fluid communication with the communication needle (108), a plurality of needles (118) disposed in the communication septum (172, 176), a follower ring (130) that determines which needle (124) of the plurality of needles (118) is to be selected, and a snap ring (136) that exposes the selected needle (124) and moves the selected needle (124) in fluid communication with the septum chamber (180, 182), wherein when the housing (110) is in a first position, the plurality of needles (118) is not exposed, and when the housing (110) is in a second position, the selected needle (124) is in fluid commun

Abstract: An attachable needle assembly (2) for use on a medication delivery pen (4), the needle assembly (2) comprising a spike housing (8) that is configured to engage the medication delivery pen (4) and pierce a reservoir septum (6) of the medication delivery pen (4), a needle assembly housing (22) secured to the spike housing (8), the needle assembly housing (22) enclosing a septum (40) with a cavity (42) that is in continuous fluid communication with the spike housing (8), and a plurality of needles (44) configured to pierce the needle assembly septum (40), wherein when the needle assembly housing (22) is in a first position, the plurality of needles (44) are disengaged from the needle assembly septum (40), and when the needle assembly housing (22) is in a second position, one of the plurality of needles (46) enters into fluid communication with the septum cavity (42) and is exposed for medicament delivery.

Abstract: An attachable needle assembly (2) used on a medication delivery pen (4), the needle assembly (2) comprising a spike (9) configured to pierce a vial, reservoir or cartridge septum of the pen (4), a needle guide (12) configured to mate with the pen (4), the needle guide (12) enclosing a septum (22) of the needle assembly (2) defining a septum chamber (31), the septum chamber (31) being in fluid communication with the spike (9), a plurality of needles (34) disposed in the septum (22) of the needle assembly (2), a sterility barrier (60) enclosing each of the plurality of needles (34), each of a plurality of sterility barriers (60) having a peel tab (70), each of a plurality of peel tabs (70) being wrapped around the needle guide (12), wherein when one of the plurality of needles (40) is drawn from the needle guide (12) from a first position to a second position, the needle (40) fluidly communicates with the septum chamber (31), and the sterility barrier (60) and the peel tab (70) of the needle (40) are removed.

Abstract: An attachable needle assembly (2) used on a medication delivery pen (4), the needle assembly (2) comprising a communication needle (10) configured to pierce a reservoir septum of the medication delivery pen (4), a spike housing (8) surrounding the communication needle (10) and configured to engage the medication delivery pen (4), a selector ring (16), including a selector opening (18), enclosing a septum (22, 30) of the needle assembly (2) defining a septum chamber (28, 29) that is in fluid communication with the communication needle (10), a plurality of needles (34) disposed in the septum (22, 30) of the needle assembly (2), and a peel tab (60) enclosing each of the plurality of needles (34), wherein the selector opening (18) is aligned with a selected peel tab (60) corresponding to a selected needle (40), the selected peel tab (60) is drawn out of the selector ring (16) and moves the selected needle (40) from a first position to a second position, and the selected needle (40) enters into fluid communication

Abstract: A portable auto-injector configured to store a dry medication separately from a liquid component, wherein removal of a cap operates a first actuation mechanism which opens a valve between a first and second chamber that are slidably movable relative to each other and thus allows for the initiation of a mixing step prior to injection. An extendable needle guard is provided over the delivery assembly which prevents premature injection as well as inadvertent sticks or other cross contamination of a needle. The needle guard can also form part of a secondary trigger mechanism which injects the mixed components after the mixing stage is complete.

Abstract: An attachable needle assembly (102) for use on a medication delivery pen (104), the needle assembly (102) comprising a housing (1 10) enclosing a hub (106) having a communication needle (108) configured to engage the medication delivery pen (104) and pierce a reservoir septum of the medication delivery pen (104), a communication septum (172, 176) of the needle assembly (102) defining a septum chamber (180, 182) that is in fluid communication with the communication needle (108), a plurality of needles (118) disposed in the communication septum (172, 176), a follower ring (130) that determines which needle (124) of the plurality of needles (118) is to be selected, and a snap ring (136) that exposes the selected needle (124) and moves the selected needle (124) in fluid communication with the septum chamber (180, 182), wherein when the housing (110) is in a first position, the plurality of needles (118) is not exposed, and when the housing (110) is in a second position, the selected needle (124) is in fluid commu