Abstract: A method of performing location teaching of a robotic arm includes maneuvering an end of arm tooling of a robotic arm to a predefined position of an interface object. The robotic arm is mounted within a mounting site of a mechanical mounting structure. The interface object is positioned on a sub-system of a medication dosing system that is mounted on the mechanical mounting structure. The interface object includes an alignment feature of a known size and shape. A sensor of the end of arm tooling is engaged with the interface object. An offset between the sensor and the interface object is determined based on an interaction between the sensor and the alignment feature. A position of the end of arm tooling is incremented with respect to the interface object along at least one axis. An actual position of the interface object is determined relative to the robotic arm.

Abstract: A method of performing location teaching of a robotic arm includes maneuvering an end of arm tooling of a robotic arm to a predefined position of an interface object. The robotic arm is mounted within a mounting site of a mechanical mounting structure. The interface object is positioned on a sub-system of a medication dosing system that is mounted on the mechanical mounting structure. The interface object includes an alignment feature of a known size and shape. A sensor of the end of arm tooling is engaged with the interface object. An offset between the sensor and the interface object is determined based on an interaction between the sensor and the alignment feature. A position of the end of arm tooling is incremented with respect to the interface object along at least one axis. An actual position of the interface object is determined relative to the robotic arm.

Abstract: A cartridge and loading system for loading tamper-evident syringe caps into a robotic pharmaceutical compounding device. The compounding device has a syringe finishing station, and can transfer tamper-evident caps from the cartridge to the syringe finishing station. The cartridge has a floor disposed at an angle to horizontal. The device may include a vibratory element for vibrating the cartridge, so that tamper-evident caps are fed to an outlet of the cartridge by gravity.

Abstract: A method of performing location teaching of a robotic arm includes maneuvering an end of arm tooling of a robotic arm to a predefined position of an interface object. The robotic arm is mounted within a mounting site of a mechanical mounting structure. The interface object is positioned on a sub-system of a medication dosing system that is mounted on the mechanical mounting structure. The interface object includes an alignment feature of a known size and shape. A sensor of the end of arm tooling is engaged with the interface object. An offset between the sensor and the interface object is determined based on an interaction between the sensor and the alignment feature. A position of the end of arm tooling is incremented with respect to the interface object along at least one axis. An actual position of the interface object is determined relative to the robotic arm.

Abstract: Systems and methods for parallel medication processing are disclosed herein. Such methods can include receiving a request for preparation of a plurality of dosed medication delivery containers, determining at least one attribute of the request for preparation of at least one dosed medication delivery container, identifying a template corresponding to the at least one attribute of the request, the template identifying steps and a step sequence for filling the dosed medication delivery container, and executing the template. Executing the template can include iteratively assigning tasks to a plurality of stations within the automated dosing device, the performance of which tasks at least partially overlap, and directing a transport tool to move at least one medication delivery container between the stations of the automated dosing device.

Abstract: A method of preparing liquid medication doses using an automated dosing device may include securing a vial within a vial holder. The vial includes a liquid medicament. An empty syringe is secured within a syringe holder with a plunger of the syringe being secured by a plunger gripper and a luer lock of the syringe within a luer lock gripper. The syringe holder and the vial holder are moved closer together to insert a needle of the syringe through a septum of the vial while longitudinal axes of the syringe and the vial are at a downward angle and while the vial holder is lower than the syringe holder. The syringe holder and the vial holder are rotated to vertically align the longitudinal axes with the vial holder above the syringe holder. The plunger gripper is pulled away from the luer lock gripper to transfer liquid medicament into the syringe.

Abstract: This disclosure relates to drug vial spikes, fluid line sets, and related systems. In some aspects, a fluid line set includes a frame, multiple spikes extending from the frame, and multiple fluid lines connected to the frame. The frame is configured to hold the fluid lines in a spaced apart configuration.

Abstract: A medicament dispensing cabinet is comprised of a frame, at least one controller, and a plurality of drawers each movably carried by the frame and each defining a plurality of dispensing cells. A plurality of removable dispensing devices is provided with each one carried by one of the dispensing cells. Each of the dispensing cells further comprises a motor for providing rotary motion to one of the removable dispensing devices in response to the controller, a sensor operating in conjunction with the controller for counting medicament dispensed from one of the removable dispensing devices, a chute for receiving medicament dispensed from one of the removable dispensing devices and a chute gate for controlling access to the chute. The cabinet may additionally comprise a chute gate release responsive to the controller for controlling the chute gate and a chute gate sensor connected to the controller and responsive to the position of the chute gate.

Abstract: A syringe for use in a pharmaceutical delivery system is described. The syringe is a dual zone syringe having a working zone including a fluid reservoir at a distal end of the syringe and a non-working zone configured to receive a slidable plunger assembly, an a plunger having a proximal end to contact a piston and a distal end having a shape similar to the distal end of the syringe. The plunger comprises a distal seal and a proximal seal, where the distal seal seals the working zone and the proximal seal seals the non-working zone.

Abstract: A medicament dispensing cabinet is comprised of a frame, at least one controller, and a plurality of drawers each movably carried by the frame and each defining a plurality of dispensing cells. A plurality of removable dispensing devices is provided with each one carried by one of the dispensing cells. Each of the dispensing cells further comprises a motor for providing rotary motion to one of the removable dispensing devices in response to the controller, a sensor operating in conjunction with the controller for counting medicament dispensed from one of the removable dispensing devices, a chute for receiving medicament dispensed from one of the removable dispensing devices and a chute gate for controlling access to the chute. The cabinet may additionally comprise a chute gate release responsive to the controller for controlling the chute gate and a chute gate sensor connected to the controller and responsive to the position of the chute gate.

Abstract: A device for delivery of a radiopharmaceutical and, in some embodiments, delivery of a pharmaceutical agent are provided herein. A fluid path set comprising a confluence valve, a four-way valve, and one or more tubing sections which are designed to place some combination of a radiopharmaceutical source, a medical fluid source, and a pharmaceutical agent source in sterile fluid communication with a patient or a waste receptacle. Also provided are holders for the fluid path set, and a sterile fluid delivery kit comprising the holder and fluid path set. A fluid delivery system may accept the holder with the fluid path set installed and various sources of radiopharmaceuticals, pharmaceuticals, and medical fluids. The fluid delivery system allows for automated mixing and delivery of exact amounts of these agents to a patient while improving efficiency and safety, and reducing waste.

Abstract: A medicament dispensing cabinet is comprised of a frame, at least one controller, and a plurality of drawers each movably carried by the frame and each defining a plurality of dispensing cells. A plurality of removable dispensing devices is provided with each one carried by one of the dispensing cells. Each of the dispensing cells further comprises a motor for providing rotary motion to one of the removable dispensing devices in response to the controller, a sensor operating in conjunction with the controller for counting medicament dispensed from one of the removable dispensing devices, a chute for receiving medicament dispensed from one of the removable dispensing devices and a chute gate for controlling access to the chute. The cabinet may additionally comprise a chute gate release responsive to the controller for controlling the chute gate and a chute gate sensor connected to the controller and responsive to the position of the chute gate.

Abstract: A medicament dispensing cabinet includes a frame, at least one controller, and a plurality of drawers each movably carried by the frame and each defining a plurality of dispensing cells. A plurality of dispensing devices is provided with each one carried by one of the dispensing cells. Each of the dispensing cells further comprises a motor for providing rotary motion to one of the removable dispensing devices in response to the controller, a sensor operating in conjunction with the controller for counting medicament dispensed from one of the removable dispensing devices, a chute for receiving medicament dispensed from one of the removable dispensing devices and a chute gate for controlling access to the chute. The cabinet may additionally comprise a chute gate release responsive to the controller for controlling the chute gate and a chute gate sensor connected to the controller and responsive to the position of the chute gate.

Abstract: A device for delivery of a radiopharmaceutical and, in some embodiments, delivery of a pharmaceutical agent are provided herein.

Abstract: This disclosure relates to drug delivery devices and related systems and methods. In some aspects, a drug delivery device includes a drug vial holder and a mechanism configured to compress a drug vial between upper and lower members of the drug vial holder.

Abstract: This disclosure relates to drug vial spikes, fluid line sets, and related systems. In some aspects, a fluid line set includes a frame, multiple spikes extending from the frame, and multiple fluid lines connected to the frame. The frame is configured to hold the fluid lines in a spaced apart configuration.

Abstract: This disclosure relates to drug delivery devices and related systems and methods. In certain aspects, a drug delivery device includes a pump extending from a surface of the drug delivery device and a door that includes a spring-loaded member exposed along its inner surface. The fluid line can be compressed between the spring-loaded member and the pump in a manner such that the fluid line is occluded in at least one location.

Abstract: A medicament dispensing cabinet includes a frame, at least one controller, and a plurality of drawers each movably carried by the frame and each defining a plurality of dispensing cells. A plurality of dispensing devices is provided with each one carried by one of the dispensing cells. Each of the dispensing cells further comprises a motor for providing rotary motion to one of the removable dispensing devices in response to the controller, a sensor operating in conjunction with the controller for counting medicament dispensed from one of the removable dispensing devices, a chute for receiving medicament dispensed from one of the removable dispensing devices and a chute gate for controlling access to the chute. The cabinet may additionally comprise a chute gate release responsive to the controller for controlling the chute gate and a chute gate sensor connected to the controller and responsive to the position of the chute gate.

Abstract: This disclosure relates to drug vial spikes, fluid line sets, and related systems. In some aspects, a fluid line set includes a frame, multiple spikes extending from the frame, and multiple fluid lines connected to the frame. The frame is configured to hold the fluid lines in a spaced apart configuration.