Fluid transfer station in robotic drug preparation system

Abstract

A robotic system and method are provided for fluid transfer between a container accessible via a container diaphragm and a fluid transfer assembly accessible via a fluid transfer connector diaphragm. The robotic system includes a controller and a manipulator controllable by the controller to manipulate at least one of the container and the fluid transfer assembly. The controller is configured to operate the manipulator to secure contact between the container diaphragm and the fluid transfer connector diaphragm during at least a portion of the fluid transfer.

Description

[0001] CROSS-REFERENCE TO RELATED APPLICATIONS

[0002] This application claims the benefit of and priority to U.S. Provisional Patent Application Serial No. 63 / 269,004 filed on March 8, 2022, U.S. Provisional Patent Application Serial No. 63 / 382,014 filed on November 2, 2022, and U.S. Provisional Patent Application Serial No. 63 / 429,340 filed on December 1, 2022, each of which is incorporated herein by reference in its entirety. Technical Field

[0003] The present application relates generally to robotic medication preparation systems, and more particularly to fluid transfer stations within robotic medication preparation systems. Background Art

[0004] There are known automatic or semi-automatic preparation systems for preparing drugs designated for administration to patients. These systems include a fluid transfer station for transferring fluid between a syringe and a vial or between a syringe and an intravenous (IV) bag. In closed fluid transfer systems deployed for preparing hazardous drugs, measures are taken to prevent leakage of hazardous drugs from syringes, vials or IV bags. Therefore, the syringe, vial and IV bag are each mounted to a connector (also known as an "adapter" or "spike adapter") comprising a septum so that fluid transfer is performed via the syringe septum and the vial septum or via the syringe septum and the IV bag septum. In the prior art, these connectors include a ring or housing to ensure alignment of the syringe septum with the vial septum or alignment of the syringe septum with the IV bag septum. These housings also include fixing (i.e., fastening) means to securely couple the septa to each other, such as by screws or snaps or extensions extending along the sides of the septum. Summary of the Invention

[0005] The disclosed subject matter as a whole relates to a robotic drug preparation system, and more specifically to a fluid transfer station within a robotic drug preparation system. The robotic drug preparation system and its fluid transfer station are configured to perform operations related to transferring drugs between different fluid transfer devices, which include containers, fluid transfer components, connectors, catheters, pumps, syringes, vials, intravenous bags, adapters, needles, etc. The robotic drug preparation system (or robotic system) according to the disclosed subject matter includes a robotic station, a robotic arm, a motor, a control unit (controller), a mechanism for controlling fluid transfer, etc. It should be understood herein that for the purpose of brevity and clarity of this specification, the examples described in this specification (with reference to the accompanying drawings and other means) are described only with reference to a few components of the fluid transfer device, but all components of the fluid transfer device are covered by the scope of this subject matter. Various examples similar to those described herein having different components of a fluid transfer device and having different robotic stations, including different combinations of components of a fluid transfer device and a robotic station, should be considered to be within the scope of this specification.

[0006] For example, the container is described herein with reference to a vial and / or an IV bag, and it should be understood that the container can be any other container that is a component of a fluid transfer device with or without an adapter or connector for establishing fluid communication between the container and other fluid transfer components. For example, the container can constitute a container assembly having a container and a container connector (or adapter) for establishing fluid communication between the container and other components of the fluid transfer device. For example, the container can be a vial with a vial adapter, or an IV bag with a needle adapter. The container can be accessible via a container septum, which can be a septum of a container cap or can be part of a connector. In some examples, the container can be a syringe, a fluid transfer tube, a catheter, etc.

[0007] Similarly, the fluid transfer assembly is described herein with reference to a syringe assembly including a syringe and a syringe connector, and it should be understood that the fluid transfer assembly may include similar components for transferring medications. In some examples, the fluid transfer assembly may include a pumping mechanism and a fluid transfer tube configured to be connected to a container for transfer of medication. In some examples, the fluid transfer assembly may include a fluid transfer connector (or adapter) for establishing fluid communication between a fluid transfer unit (fluid transfer tube, catheter, pump, syringe, etc.) and a container. In some examples, the fluid transfer assembly may not include a fluid transfer connector, and the fluid transfer connector may form part of a robotic system that operates the fluid transfer assembly. In some examples, the fluid transfer assembly may include a vial or IV bag for performing fluid transfer in conjunction with other containers.

[0008] Furthermore, in all examples described herein, fluid transfer is described as being performed by a needle penetrating a container septum into a container. It should be understood herein that in some examples, fluid transfer can be performed without the needle penetrating the container septum, or optionally, without even penetrating the septum of a fluid transfer connector (associated with the fluid transfer assembly). In some examples, fluid transfer can be performed by controlled pressure of a fluid via a fluid transfer conduit, even without a needle. For example, the fluid transfer conduit may or may not include a needle, and if the fluid transfer conduit includes a needle, the needle may fully penetrate both septa, or may fully penetrate one septum and partially penetrate the other septum, or may partially penetrate one septum and not penetrate the other septum at all, or may not penetrate any septum at all.

[0009] The robotic system according to the presently disclosed subject matter is configured to handle and manipulate containers and fluid transfer assemblies to perform fluid transfers in accordance with all of the different examples of containers and fluid transfer assemblies as noted above. For example, although in all of the examples described herein, the robotic system is described as having a manipulator configured to manipulate a fluid transfer assembly (more specifically, a syringe assembly), it should be understood herein that the robotic system (and manipulator) is configured to handle and manipulate either or both of the containers and fluid transfer assemblies in accordance with all of the examples of containers and fluid transfer assemblies as noted above. Furthermore, although in all of the examples described herein, the manipulator is described as a robotic arm, it should be understood herein that the manipulator can be a platform, a robotic station, etc. having a holder for holding fluid transfer device components and moving them relative to each other and performing fluid transfers.

[0010] The following terms and their derivatives used throughout this application may be better understood in light of the following explanations:

[0011] A robotic system may comprise an autonomous or partially autonomous system comprising a manipulator that is at least partially controlled by a controller unit (also referred to as a controller or control unit).

[0012] The manipulator may include a robotic arm, a platform, a robotic station, or a combination thereof configured to manipulate the container and / or fluid transfer assembly.

[0013] The controller or controller unit may include a computer controller configured to perform operations according to a set of instructions stored on a memory readable by the controller, the set of instructions being executable by a central processing unit (CPU), one or more processors, a processor unit, a microprocessor, or the like. In another embodiment, the controller or controller unit includes one or more control circuits. In some examples, the control unit may include one or more mechanism controllers. The controller unit may include any device that controls elements in a robotic drug preparation system and may include at least one of a controller, a synchronization unit, and a processor.

[0014] A robotic medication preparation system includes a robotic system operable to perform any activity related to the preparation of a medication destined for administration to a patient. Note that the term "robotic system" as used herein may include a robotic medication preparation system.

[0015] The drug preparation system may include any one or more dilution stations (i.e., reconstitution stations, where any type of diluent is added to a drug in solid and / or liquid form) and / or any one or more filling stations (i.e., mixing stations, where at least partially or completely prepared drugs are transferred to containers).

[0016] The terms "drug" and "drug" are used interchangeably.

[0017] The needle may comprise a sleeve or any other device configured to penetrate a container and transfer fluid therethrough. The needle may comprise a bevel at its distal tip or an opening at a side surface or any other configuration.

[0018] A septum generally refers to a membrane configured to seal access to a portion of a device to which it belongs. Generally, a septum on a container or container connector (also referred to as a container septum) seals the container. A septum on a fluid transfer assembly (also referred to as a fluid transfer connector septum) prevents or blocks access to a fluid transfer conduit (e.g., a needle according to the examples described herein with reference to the accompanying drawings). Typically, a septum is made of a resilient, puncturable material. This material can be a polymer with elastic properties, such as rubber.

[0019] The longitudinal axis Lx1 extends centrally along the length of the fluid transfer assembly ( Figure 3B ) and defines the injection axis.

[0020] The central longitudinal axis Lx2 extends centrally along the length of the center of the container (vial) positioned at the container holding module (used interchangeably herein with the container holder) 208. During fluid transfer, the axis Lx2 can be aligned with the axis Lx1, as shown in FIG. Figure 3B shown.

[0021] The central longitudinal axis Lx3 extends centrally along the length of the center of the container (intravenous bag or IV bag) positioned at the container assembly holding module 214. Figure 15A During the fluid transfer shown, axis Lx3 may be aligned with axis Lx1.

[0022] The vertical axis x1 is generally parallel to the longitudinal axis Lx1. The axial movement and axial displacement are generally parallel to the vertical axis x1 ( Figure 3A )conduct.

[0023] The horizontal axis x2 is orthogonal to the vertical axis x1 and is generally parallel to the platform of the fluid transfer station (e.g., Figure 3A The length of the platform 220) is extended.

[0024] The transverse axis x3 is perpendicular to the longitudinal axis x1 and the horizontal axis x2 ( Figure 3A ).

[0025] The rotation axis r1 is parallel to the vertical axis x1, and the rotation around the rotation axis is given by Figure 3A As shown by the arrow r2 in FIG.

[0026] A front view generally refers to a view taken from a front plane spanning along a vertical axis x1 and a horizontal axis x2, such as Figure 3A A side view generally refers to a view taken from a side plane spanning along the vertical axis x1 and the transverse axis x3, such as Figure 4B The cross-sectional illustrations shown herein are primarily longitudinal cross-sectional illustrations.

[0027] According to a first aspect of the presently disclosed subject matter, there is provided a robotic system operable, for example, to transfer fluid between a container accessible via a container septum and a fluid transfer assembly accessible via a fluid transfer connector septum, the robotic system comprising a controller and a manipulator controllable by the controller to manipulate at least one of the container and the fluid transfer syringe assembly, the controller being configured to operate the manipulator to secure contact between the container septum and the fluid transfer connector septum during at least a portion of the fluid transfer.

[0028] In some examples, the container may constitute a container assembly including a container and a container connector, and in such examples, the container septum may constitute part of the container connector. In some examples, the container connector may constitute part of the robotic system. In some examples, the container septum constitutes part of the container and the container connector is not present.

[0029] In some examples, the fluid transfer assembly may include a fluid transfer connector. In some examples, the fluid transfer connector may form part of a robotic system. In some examples, the fluid transfer assembly may include a fluid transfer unit. The fluid transfer unit may be a tube, pipe, container, etc. connected to a pumping mechanism that is operable to pump fluid into and out of the fluid transfer unit. In some examples, the fluid transfer unit may be a syringe that can be operated by a syringe plunger or by a pumping mechanism. In this specification, the examples illustrated in the accompanying drawings and explained with respect to the accompanying drawings have been described with reference to the fluid transfer assembly being a syringe assembly (i.e., including a syringe that can be operated by a plunger) and the fluid transfer connector being a syringe connector. For the sake of brevity of this specification, all other examples of fluid transfer assemblies (tubing assemblies, pipes, pipes, pumping mechanisms, etc.) and the operation of the robotic system therewith are not described in detail and should be considered to be covered by the scope of this specification.

[0030] It should be understood herein that securing contact between the container septum and the syringe septum (fluid transfer connector septum) may include at least one or more of the following: (i) compressing the container septum and the syringe septum to a degree that at least one of the container septum and the syringe septum undergoes elastic deformation; (ii) compressing the container septum and the syringe septum by at least a predetermined compression threshold force, and then maintaining or increasing the force during fluid transfer. Deformation of at least one of the septa is intended to mean that when contact between the septa is secured, the total distance between the non-contacting surfaces of the septa is less than the sum of the heights of the septa. For example, the container septum includes a first surface facing the syringe septum, an opposing second surface, and a side surface extending between the first and second surfaces, the side surface defining a container septum height between the first and second surfaces. Similarly, the syringe septum includes a first surface facing the container septum, an opposing second surface, and a side surface extending between the first and second surfaces, the side surface defining a syringe septum height between the first and second surfaces. When the first surface of the container septum and the first surface of the syringe septum are in contact with each other and the contact is secured by the manipulator, the distance between the second surface of the container septum and the second surface of the syringe septum is less than the sum of the heights of the two septa. In other words, the side surface of at least one septum bulges radially outward.

[0031] The pressing force between the two diaphragms sufficient to secure the contact between them is at least sufficient to prevent liquid from leaking past the point of contact between the diaphragms, even in the absence of any elements radially surrounding the contact point. In other words, secure contact is intended to mean that the diaphragms are pressed against each other with at least a force that keeps the contact between them secure and leak-proof, even in the absence of any elements (locks, snaps, connecting elements, etc.) of the connector, container, or robotic system that act as a leak prevention by radially surrounding the contact. During fluid transfer, the manipulator maintains the minimum amount of force required (i.e., at least sufficient to prevent the diaphragms from disconnecting from each other or allowing fluid to leak through the contact). In some non-limiting examples, the minimum force required to secure contact may be at least in the range of 5 Newtons to 100 Newtons, sub-ranges thereof, and variables thereof, and / or in some non-limiting examples, at least in the range of 25 Newtons to 100 Newtons, sub-ranges thereof, and variables thereof, in some non-limiting examples, the force may be in the range of 10 Newtons to 50 Newtons, sub-ranges thereof, and variables thereof, in some non-limiting examples, the force may be in the range of 25 Newtons to 75 Newtons, sub-ranges thereof, and variables thereof, in some non-limiting examples, the force may be in the range of 30 Newtons to 50 Newtons, sub-ranges thereof, and variables thereof, and in some non-limiting examples, the force may be in the range of 30 Newtons to 40 Newtons, sub-ranges thereof, and variables thereof.

[0032] It is to be understood herein that securing the contact between the diaphragms is intended to mean significantly more than just bringing the diaphragms into contact with each other and / or maintaining the diaphragms in contact by means of external elements such as snaps, locks, connecting elements, etc.

[0033] In some examples, the controller is further configured to control the manipulator to: bring the container septum and the fluid transfer connector septum into contact; and, during at least a portion of the fluid transfer, secure the contact between the container septum and the fluid transfer connector septum by pressing at least one of the container septum and the fluid transfer connector septum against the other of the container septum and the fluid transfer connector septum.

[0034] In some examples, the manipulator includes a pressing mechanism configured to ensure that a predetermined compression threshold between the container septum and the fluid transfer connector septum is reached before fluid transfer is initiated, wherein reaching the predetermined compression threshold is associated with the secure contact.

[0035] In some examples, the compression mechanism is further configured to ensure that a predetermined compression threshold between the container septum and the fluid transfer connector septum is maintained during at least a portion of the fluid transfer.

[0036] In some examples, the controller is configured to operate the manipulator to: align a fluid transfer connector septum of the fluid transfer assembly with a container septum of the container so that the fluid transfer connector septum and the container septum contact each other; press at least one of the fluid transfer connector septum and the container septum against the other of the fluid transfer connector septum and the container septum to perform said securing of contact therebetween, and / or perform at least partial penetration of at least one of the fluid transfer connector septum and the container septum by a fluid transfer conduit associated with the fluid transfer connector of the fluid transfer assembly to enable fluid transfer, wherein the pressing mechanism is configured to ensure that a predetermined compression threshold between the container septum and the fluid transfer connector septum is reached prior to said at least partial penetration. In some examples, the fluid transfer conduit may include a needle.

[0037] In some examples, the manipulator includes a clamping arm configured to clamp a clamping portion of at least one of a fluid transfer assembly and a container. In some examples, the clamping arm is configured to hold at least one of the fluid transfer assembly and the container at least partially along a vertical axis. In some examples, the clamping arm is configured to be controllably movable to allow the fluid transfer assembly to be grasped from a fluid transfer assembly recycling conveyor configured to store one or more fluid transfer assemblies and / or to allow the container to be grasped from a container recycling conveyor configured to store one or more containers. In some examples, the clamping arm is configured to be controllably movable relative to a container holder configured to hold the container, and the clamping arm is configured to align the fluid transfer connector septum with the container septum and bring the fluid transfer connector septum into contact with the container septum when the clamping arm holds the fluid transfer assembly.

[0038] In some examples, the manipulator includes an engagement arm configured to engage the fluid transfer assembly at an engagement portion when the clamping arm clamps the fluid transfer assembly, the engagement arm being configured to be axially movable relative to the clamping arm. In some examples, the engagement arm and the clamping arm are coupled such that the engagement arm and the clamping arm are operable to controllably displace axially together or relative to each other.

[0039] In some examples, the engagement arm is configured to engage a sleeve of a fluid transfer connector of a fluid transfer assembly, the sleeve fixedly coupled relative to a fluid transfer connector septum, and the clamping arm is configured to clamp a body member of the fluid transfer connector, the body member fixedly coupled relative to a fluid transfer conduit of the fluid transfer connector, the controller being configured to cause relative movement between the clamping arm and the engagement arm upon reaching a predetermined compression threshold between the container septum and the fluid transfer connector septum to cause the fluid transfer conduit and the fluid transfer connector septum to move at least partially toward each other.

[0040] In some examples, the manipulator is configured to resist relative movement between the clamping arm and the engagement arm when an axial force below a predetermined compression threshold is applied to cause the relative movement, the predetermined compression threshold being associated with the predetermined compression threshold.

[0041] In some examples, the engagement arm and the clamping arm are coupled via a resistance member that resists relative movement of the clamping arm and the engagement arm toward each other. In some examples, the resistance member may include a spring configured to be selectively compressed by movement of the engagement arm and the clamping arm toward each other. In some examples, the resistance member may include a stretchable member configured to be selectively stretched by movement of the engagement arm and the clamping arm toward each other. In some examples, the resistance member may include a deformable member configured to be selectively deformed by movement of the engagement arm and the clamping arm toward each other. In some examples, the resistance member may include a spring, a belt, a telescopic arrangement, a linear drive arrangement, etc.

[0042] In some examples, the resistance member is configured to move the engagement arm and the clamping arm away from each other after the fluid transfer is completed. In some examples, the engagement arm is configured to abut a radial stop at the engagement portion when the fluid transfer connector septum contacts the container septum, and the manipulator is configured to cause relative movement between the clamping arm and the engagement arm only after a predetermined compression threshold force is applied, thereby pressing the fluid transfer connector septum against the container septum to achieve a predetermined compression threshold before the fluid transfer conduit and the fluid transfer connector septum move at least partially toward each other.

[0043] In some examples, the robotic system also includes a container holding module or container holder configured to hold the container along a longitudinal axis of the container.

[0044] In some examples, the container holder includes a vial holder configured to support at least one vial and / or an IV bag holder configured to support at least one IV bag.

[0045] In some examples, the manipulator is configured to move toward the container holder. In some examples, the container holder is configured to move toward the manipulator.

[0046] In some examples, the controller is further configured to rotate the clamping arm and the engagement arm together about the rotation axis. In some examples, the controller is configured to control the engagement arm and the clamping arm so that: the clamping arm clamps a body member of the fluid transfer connector fixedly coupled relative to a fluid transfer conduit of the fluid transfer connector, aligns the fluid transfer assembly with the container, and brings the fluid transfer connector septum into contact with the container septum; the engagement arm engages a sleeve of the fluid transfer connector of the fluid transfer assembly fixedly coupled relative to the fluid transfer connector septum, pressing the fluid transfer connector septum against the container septum to secure the contact therebetween; and / or the clamping arm causes telescopic movement of the body member and the sleeve toward each other, which performs at least partial movement of the fluid transfer conduit and the fluid transfer connector septum toward each other to facilitate fluid transfer.

[0047] In some examples, the clamp arm is further configured to apply a radial force on an outer wall of the fluid transfer assembly, and the controller is configured to control the clamp arm to selectively apply the radial force to depress the fluid transfer connector actuator of the fluid transfer assembly.

[0048] In some examples, the fluid transfer assembly includes a syringe, the robotic system further includes a plunger arm configured to operate a plunger of the syringe, and wherein the controller is configured to control the plunger arm to: clamp a plunger flange portion of the plunger; and axially displace the plunger flange to transfer fluid between the syringe and the container.

[0049] In some examples, the controller is configured to control the engagement arm and the clamping arm such that, after fluid transfer, the clamping arm moves the body member away from the sleeve and the engagement arm and the clamping arm are distanced from the container to disconnect the septum.

[0050] In some examples, the controller is configured to operate the clamping arm to move the body member away from the sleeve after the fluid is transferred.

[0051] In some examples, the controller is configured to operate the clamping arm to stop applying the radial force after the body member moves away from the sleeve. In some examples, the controller is configured to operate the clamping arm to simultaneously or sequentially: clamp the body member, align the fluid transfer assembly with the container and contact the fluid transfer connector septum with the container septum, and selectively apply the radial force to depress a fluid transfer connector actuator of the fluid transfer assembly.

[0052] In some examples, the controller is configured to control the engagement arm and the clamping arm so that: either the engagement arm or the clamping arm clamps the fluid transfer assembly, aligns the fluid transfer assembly with the container, and brings the fluid transfer connector septum into contact with the container septum; and either the engagement arm or the clamping arm presses the fluid transfer connector septum against the container septum to secure contact therebetween.

[0053] In some examples, the engagement arm and the clamping arm are arranged to contact the fluid transfer component at the fluid transfer connector. In some examples, the engagement arm is formed with a pressing surface configured to press against a radial stopper of the fluid transfer component to tighten contact between the container septum and the fluid transfer connector septum. In some examples, the pressing surface of the engagement arm includes an arcuate portion sized to surround the fluid transfer component and form a radial gap with an outer wall of the fluid transfer component.

[0054] In some examples, the pressing surface of the engagement arm is configured to mate with an outer surface of the fluid transfer component such that no radial gap exists between the outer wall of the fluid transfer component and the pressing surface.

[0055] In some examples, the clamping arm includes at least one protruding element configured to exert a radial force on an outer wall of the fluid transfer assembly when the fluid transfer assembly is manipulated by the robotic system.

[0056] In some examples, the protruding member of the clamping arm includes a plate formed with an arcuate groove.

[0057] In some examples, the clamping arm includes two oppositely facing plates including a first pair of protruding elements and a second pair of protruding elements configured to access a first pair of openings and a second pair of openings on an outer wall of the fluid transfer component.

[0058] In some examples, the two oppositely facing plates are configured to be spaced apart from each other to form a gap therebetween. In some examples, the compression mechanism is further configured to ensure that a predetermined compression threshold between the container septum and the fluid transfer connector septum is maintained after the fluid transfer is completed, at least until the fluid transfer conduit moves away from the fluid transfer connector septum. In some examples, the robotic system includes a fluid transfer connector according to any of the examples of fluid transfer connectors described herein.

[0059] According to an example, a method performed by a robotic system of the first aspect is provided. The method includes a process for transferring fluid between a container accessible via a container septum and a fluid transfer assembly accessible via a fluid transfer connector septum, the method comprising, through operation of the robotic system: bringing the container septum of the container into contact with the fluid transfer connector septum of the fluid transfer assembly; pressing at least one of the container septum and the fluid transfer connector septum against the other of the container septum and the fluid transfer connector septum and securing contact therebetween; transferring fluid through the container septum and the fluid transfer connector septum; and maintaining the secured contact between the container septum and the fluid transfer connector septum during at least a portion of the fluid transfer.

[0060] According to a second aspect of the presently disclosed subject matter, there is provided a robotic system operable to transfer fluid between a container accessible via a container septum and a fluid transfer assembly, the fluid transfer assembly accessible via a fluid transfer connector having a main body member and a sleeve including a fluid transfer connector septum, the sleeve and the main body member being configured to move relative to each other when a locking mechanism is activated, the robotic system comprising: a controller; and a manipulator controllable by the controller and configured to manipulate the fluid transfer assembly, the manipulator being configured to clamp the fluid transfer assembly and activate the locking mechanism, the controller being configured to operate the manipulator to move the sleeve and the main body member relative to each other and transfer fluid between the fluid transfer assembly and the container when the locking mechanism is activated.

[0061] In some examples, the robotic system according to the second aspect can be configured to perform some or all of the operations related to securing contact between the fluid transfer connector septum and the container septum as described above for the robotic system according to the first aspect, and can include some or all of the components related to these operations. In some examples, the robotic system according to the second aspect can be configured to perform some or all of the operations related to the locking mechanism and the relative movement of the engagement arm and the clamping arm (or the sleeve and the main body member) as described above for the robotic system according to the first aspect, and can include some or all of the components related to these operations.

[0062] Furthermore, the robotic system according to the second aspect may comprise some or all features relating to the manipulator, gripping arm, engagement arm and resisting member as described for the robotic system according to the first aspect.

[0063] In some examples, the robotic system includes a fluid transfer connector according to any of the examples of fluid transfer connectors described herein.

[0064] According to an example, a method performed by a robotic system of the second aspect is provided. The method includes a process for transferring fluid between a container accessible via a container septum and a fluid transfer assembly accessible via a fluid transfer connector. The method, through operation of the robotic system, includes: controlling a manipulator of the robotic system to grip the fluid transfer assembly and activate a locking mechanism associated with establishing fluid communication between the fluid transfer assembly and the container; operating the manipulator to move a sleeve and a body member of the fluid transfer connector relative to each other to establish the fluid communication while the locking mechanism is activated; and transferring the fluid between the fluid transfer assembly and the container.

[0065] According to a third aspect of the presently disclosed subject matter, there is provided a robotic system operable to transfer fluid between a container accessible via a container septum and a fluid transfer assembly accessible via a fluid transfer connector, the fluid transfer connector having a body member and a sleeve including a fluid transfer connector septum, the sleeve and the body member being configured to move relative to each other, the system comprising: a container holder configured to support the container and to be positioned at least partially coaxially with the fluid transfer assembly; an engagement arm configured to engage one of the body member and the sleeve; and a clamping arm configured to clamp the other of the body member and the sleeve, the clamping arm and the engagement arm being movable relative to each other.

[0066] In some examples, the engagement arm and the clamping arm are mechanically coupled to a main drive assembly that is configured to simultaneously move the engagement arm and the clamping arm together while bringing at least one of the clamping arm and the engagement arm to an outer surface of the fluid transfer assembly to press thereon.

[0067] In some examples, the engagement arm is connected to the clamping arm via a secondary drive assembly configured to cause the relative movement between the clamping arm and the engagement arm.

[0068] In some examples, the robotic system according to the third aspect can be configured to perform some or all of the operations related to securing contact between the fluid transfer connector septum and the container septum as described above for the robotic systems according to the first and second aspects, and can include some or all of the components related to these operations. In some examples, the robotic system according to the third aspect can be configured to perform some or all of the operations related to the locking mechanism and the relative movement of the engagement arm and the clamping arm (or the sleeve and the main body member) as described above for the robotic systems according to the first and second aspects, and can include some or all of the components related to these operations.

[0069] Furthermore, the robotic system according to the third aspect may comprise some or all of the features relating to the manipulator, gripping arm, engagement arm and resisting member as described for the robotic systems according to the first and second aspects.

[0070] In some examples, the robotic system includes a fluid transfer connector according to any of the examples of fluid transfer connectors described herein.

[0071] According to an example, a method performed by a robotic system of the third aspect is provided. The method includes a process for transferring fluid between a container accessible via a container septum and a fluid transfer assembly accessible via a fluid transfer connector, wherein the method comprises: operating an engagement arm of the robotic system to engage a sleeve of the fluid transfer connector; operating a gripper arm of the robotic system to grip a body member of the fluid transfer connector; moving at least one of the engagement arm and the gripper arm toward the other to establish fluid communication between the fluid transfer assembly and the container; and performing the fluid transfer between the fluid transfer assembly and the container.

[0072] According to a fourth aspect of the presently disclosed subject matter, there is provided a robotic system operable to transfer fluid at least partially along an injection axis between a container accessible via a container septum and a fluid transfer assembly accessible via a fluid transfer connector septum, the robotic system comprising: a controller; and a manipulator controllable by the controller, the manipulator comprising: a clamping arm configured to clamp a clamping portion of the fluid transfer assembly; and a joining arm configured to join the fluid transfer assembly at the joining portion, at least one of the joining arm and the clamping arm being capable of shifting along the injection axis relative to the other of the joining arm and the clamping arm, the joining arm and the clamping arm being configured to shift together during at least a portion of the movement of the manipulator.

[0073] In some examples, the robotic system according to the fourth aspect can be configured to perform some or all of the operations related to securing contact between the fluid transfer connector septum and the container septum as described above for the robotic systems according to the first, second, and third aspects, and can include some or all of the components related to these operations. In some examples, the robotic system according to the fourth aspect can be configured to perform some or all of the operations related to the locking mechanism and the relative movement of the engagement arm and the clamping arm (or the sleeve and the main body member) as described above for the robotic systems according to the first, second, and third aspects, and can include some or all of the components related to these operations.

[0074] Furthermore, the robotic system according to the fourth aspect may comprise some or all of the features associated with the manipulator, gripping arm, engagement arm and resisting member as described for the robotic systems according to the first, second and third aspects.

[0075] In some examples, the robotic system includes a fluid transfer connector according to any of the examples of fluid transfer connectors described herein.

[0076] According to an example, a method performed by a robotic system of the fourth aspect is provided. The method includes a process for transferring fluid between a container accessible via a container septum and a fluid transfer assembly accessible via a fluid transfer connector, at least partially along an injection axis, the method comprising: operating an engagement arm of a manipulator of the robotic system to engage an engagement portion of the fluid transfer assembly; operating a clamping arm of the manipulator to clamp a clamping portion of the fluid transfer assembly; moving the engagement arm and the clamping arm together with the container along the fluid transfer assembly; moving at least one of the engagement arm and the clamping arm toward the other of the engagement arm and the clamping arm along the injection axis to establish fluid communication between the fluid transfer assembly and the container; and performing the fluid transfer between the fluid transfer assembly and the container.

[0077] According to a fifth aspect of the presently disclosed subject matter, there is provided a robotic system operable for transferring fluid between a container accessible via a container septum and a fluid transfer assembly accessible via a fluid transfer connector, the fluid transfer connector being configured to establish fluid communication between the container and the fluid transfer assembly for said fluid transfer, the fluid transfer connector comprising a body member and a sleeve displaceable relative to each other between an extended position, which is a normal position, and a telescoping position in which the fluid transfer connector establishes said fluid communication, the fluid transfer connector comprising a fluid transfer connector septum positioned at the sleeve, the robotic system comprising: a controller; a manipulator controllable by the controller to manipulate at least one of the container and the fluid transfer assembly to bring the fluid transfer connector septum and the container septum into contact with each other and selectively displace the fluid transfer connector from the extended position to its telescoping position; and a contact securing mechanism configured to prevent the manipulator from displacing the fluid transfer connector from the extended position to its telescoping position until a predetermined compression threshold between the container septum and the fluid transfer connector septum is reached.

[0078] In some examples, the manipulator is configured to urge at least one of the fluid transfer connector septum and the container septum against the other of the fluid transfer connector septum and the container septum with a compressive force having a variable magnitude.

[0079] In some examples, the touch-fastening mechanism is configured to prevent the manipulator from displacing the fluid transfer connector from the extended position into its telescoping position at least until the compressive force is less than the predetermined compression threshold.

[0080] In some examples, the touch fastening mechanism is configured to allow the manipulator to displace the fluid transfer connector from the extended position into its telescoping position at least when the compressive force is equal to or greater than the predetermined compression threshold.

[0081] In some examples, the touch fastening mechanism is configured to allow the manipulator to shift the fluid transfer connector into its telescoping position after detecting an event indicating that the compressive force is equal to or greater than the predetermined compression threshold.

[0082] In some examples, the touch fastening mechanism includes a mechanical element.

[0083] In some examples, the touch fastening mechanism includes a resistance member configured to resist displacement of the fluid transfer connector into its telescoping position by the manipulator.

[0084] In some examples, the manipulator includes an engagement arm configured to engage the sleeve and a clamping arm configured to clamp the main body member, the engagement arm and the clamping arm being configured to move relative to each other to shift the fluid transfer connector between an extended position and a collapsed position, wherein the engagement arm and the clamping arm are coupled to each other via a resistance member.

[0085] In some examples, the engagement arm and the clamping arm are configured to move toward each other to shift the fluid transfer connector into the telescoping position when the resisting member begins to deform. In some examples, the resisting member is configured to prevent the deformation until a minimum threshold force is applied to the resisting member. In some examples, the event includes the initiation of the deformation.

[0086] In some examples, the robotic system further comprises a sensor configured to detect the start of the deformation and generate a signal indicative of the start. In some examples, the resisting member is configured to cause the manipulator to shift the fluid transfer connector into its extended position after the fluid transfer is completed.

[0087] In some examples, the robotic system according to the fifth aspect can be configured to perform some or all of the operations related to securing contact between the fluid transfer connector septum and the container septum as described above for the robotic systems according to the first, second, third, and fourth aspects, and can include some or all of the components related to these operations. In some examples, the robotic system according to the fifth aspect can be configured to perform some or all of the operations related to the locking mechanism and the relative movement of the engagement arm and the clamping arm (or the sleeve and the main body member) as described above for the robotic systems according to the first, second, third, and fourth aspects, and can include some or all of the components related to these operations.

[0088] Furthermore, the robotic system according to the fifth aspect may include some or all of the features associated with the manipulators, gripping arms, engagement arms, sensors and resisting members as described for the robotic systems according to the first, second, third and fourth aspects.

[0089] In some examples, the robotic system includes a fluid transfer connector according to any of the examples of fluid transfer connectors described herein.

[0090] In some examples, the robotic system according to the above aspects may include some or all of the features associated with the touch fastening mechanism as described for the robotic system according to the fifth aspect.

[0091] According to an example, a method performed by a robotic system of the fifth aspect is provided. The method includes a process for transferring fluid between a container accessible via a container septum and a fluid transfer assembly accessible via a fluid transfer connector including a fluid transfer connector septum, the method comprising: operating a manipulator of the robotic system to manipulate at least one of the container and the fluid transfer assembly so that the fluid transfer connector septum and the container septum contact each other; operating the manipulator to manipulate the fluid transfer assembly to press the fluid transfer connector septum against the container septum, at least until a predetermined compression threshold between the container septum and the fluid transfer connector septum is reached; operating the manipulator to shift the fluid transfer connector from its extended position to its telescoping position after reaching the predetermined compression threshold, the extended position being a normal position in which fluid communication between the container and the fluid transfer assembly is established; and performing the fluid transfer between the fluid transfer assembly and the container.

[0092] According to a sixth aspect of the presently disclosed subject matter, there is provided a robotic system operable to transfer fluid between a container accessible via a container septum and a fluid transfer assembly accessible via a fluid transfer connector, the robotic system comprising: a controller; a manipulator operable by the controller to manipulate at least one of the container and the fluid transfer assembly to establish fluid communication therebetween; and a sensor configured to monitor operation of the manipulator and transmit a signal indicative of the monitoring.

[0093] In some examples, the manipulator includes: a clamping arm configured to clamp a clamping portion of a fluid transfer connector; and an engagement arm configured to engage the engagement portion of the fluid transfer connector, wherein the engagement arm and the clamping arm are configured to move relative to each other to selectively establish the fluid communication, wherein the sensor is configured to monitor the relative movement of the engagement arm and the clamping arm. In some examples, the sensor is configured to monitor the relative position of at least one of the engagement arm and the clamping arm relative to the other of the engagement arm and the clamping arm.

[0094] In some examples, the engagement arm is coupled to the clamping arm via a resistance member configured to resist the relative movement of the engagement arm and the clamping arm toward each other. In some examples, a sensor is configured to monitor the resistance member. In some examples, the resistance member is configured to deform upon the relative movement between the engagement arm and the clamping arm. In some examples, a sensor is configured to monitor the deformation of the resistance member. In some examples, the resistance member is configured to prevent the initiation of the deformation at least until a force equal to or greater than a predetermined threshold is applied to the resistance member. In some examples, the sensor is configured to monitor the force.

[0095] In some examples, the robotic system further includes a motor configured to move a manipulator to perform the operation of the manipulator, the motor configured to consume variable power for moving the manipulator, wherein the sensor is configured to monitor the power consumption.

[0096] In some examples, the robotic system according to the sixth aspect can be configured to perform some or all of the operations related to securing contact between the fluid transfer connector septum and the container septum as described above for the robotic system according to the above aspects, and can include some or all of the components related to these operations. In some examples, the robotic system according to the sixth aspect can be configured to perform some or all of the operations related to the locking mechanism and the relative movement of the engagement arm and the clamping arm (or the sleeve and the main body member) as described above for the robotic system according to the above aspects, and can include some or all of the components related to these operations.

[0097] Furthermore, the robotic system according to the sixth aspect may include some or all of the features associated with the manipulator, gripping arm, engagement arm, sensor, contact fastening mechanism and resisting member as described for the robotic system according to the above aspects.

[0098] In some examples, the robotic system includes a fluid transfer connector according to any of the examples of fluid transfer connectors described herein.

[0099] In some examples, the robotic system according to the above aspects may include some or all of the features related to sensors as described for the robotic system according to the sixth aspect.

[0100] According to an example, a method performed by a robotic system of the sixth aspect is provided. The method includes a process for transferring fluid between a container accessible via a container septum and a fluid transfer assembly accessible via a fluid transfer connector, wherein the method comprises: controlling a manipulator of the robotic system to manipulate at least one of the container and the fluid transfer assembly to establish fluid communication between the container and the fluid transfer assembly; monitoring the operation of the manipulator via a sensor of the robotic system; and transmitting a signal indicative of the monitoring via the sensor.

[0101] According to a seventh aspect of the presently disclosed subject matter, there is provided a robotic system operable to transfer fluid between a container accessible via a container septum and a fluid transfer assembly accessible via a fluid transfer connector, the robotic system comprising: a manipulator configured to manipulate at least one of the container and the fluid transfer assembly to establish fluid communication between the container and the fluid transfer assembly; a motor configured to move the manipulator to establish the fluid communication, the motor configured to consume variable power for moving the manipulator; and a controller configured to monitor the power consumption and control the motor based at least thereon.

[0102] In some examples, the motor includes a motor shaft operable to cause movement of the manipulator and an encoder operable to detect a position of the motor shaft, wherein the controller is configured to control the motor based on a combination of the power consumption and the position of the motor shaft.

[0103] In some examples, the controller is configured to predetermine at least one of an upper range and a lower range of power consumption and generate an alarm when detecting that the power consumption deviates from the predetermined range. In some examples, the power consumption can be measured by the magnitude of the current applied to the motor.

[0104] In some examples, the robotic system according to the seventh aspect can be configured to perform some or all of the operations related to securing contact between the fluid transfer connector septum and the container septum as described above for the robotic system according to the above aspects, and can include some or all of the components related to these operations. In some examples, the robotic system according to the seventh aspect can be configured to perform some or all of the operations related to the locking mechanism and the relative movement of the engagement arm and the clamping arm (or the sleeve and the main body member) as described above for the robotic system according to the above aspects, and can include some or all of the components related to these operations.

[0105] Furthermore, the robotic system according to the seventh aspect may include some or all of the features associated with the manipulator, gripping arm, engagement arm, sensor, contact fastening mechanism and resisting member as described for the robotic system according to the above aspects.

[0106] In some examples, the robotic system includes a fluid transfer connector according to any of the examples of fluid transfer connectors described herein.

[0107] In some examples, the robotic system according to the above aspects may include some or all of the features related to controlling the motors of the mobile manipulator based on the power consumption of the motors as described for the robotic system according to the seventh aspect.

[0108] According to an example, a method performed by a robotic system of the seventh aspect is provided. The method includes a process for transferring fluid between a container accessible via a container septum and a fluid transfer assembly accessible via a fluid transfer connector, the method comprising: controlling a manipulator of the robotic system to manipulate at least one of the container and the fluid transfer assembly to establish fluid communication between the container and the fluid transfer assembly; operating a motor of the robotic system to move the manipulator to establish the fluid communication, wherein operating the motor includes consuming variable power; monitoring the power consumption by a controller of the robotic system; and controlling the motor based at least on the monitoring.

[0109] According to an eighth aspect of the presently disclosed subject matter, there is provided a robotic system operable to transfer fluid between a container accessible via a container septum and a fluid transfer assembly accessible via a fluid transfer connector, the fluid transfer connector being configured to establish fluid communication between the container and the fluid transfer assembly for said fluid transfer, the fluid transfer connector comprising a body member and a sleeve displaceable relative to each other between an extended position, which is a normal position, and a telescoping position in which the fluid transfer connector establishes said fluid communication, the fluid transfer connector comprising a fluid transfer connector septum positioned at a distal end of the sleeve and a sleeve extending from the body member. The robotic system includes a fluid transfer conduit having a proximal end of the fluid transfer conduit extending toward a fluid transfer connector septum, the robotic system comprising: a controller; and a manipulator controllable by the controller to: apply a variable positioning force to manipulate the fluid transfer assembly through a positioning phase, during which the manipulator positions the fluid transfer assembly and / or the container so that the fluid transfer connector septum and the container septum contact each other; and apply a variable penetration force to manipulate the fluid transfer assembly and / or the container through a penetration phase, during which at least the tip of the fluid transfer conduit at least partially penetrates at least one of the container septum and the fluid transfer connector septum, wherein a minimum value of the variable penetration force is greater than a maximum value of the variable positioning force.

[0110] In some examples, the manipulator can be further controlled by the controller to apply a variable telescoping force to manipulate the fluid transfer assembly through a telescoping stage, during which the sleeve and the body member are displaced relative to each other to reduce the distance between the fluid transfer connector diaphragm and the body member, wherein the manipulator can be further controlled by the controller to continuously increase the variable telescoping force during at least a portion of the telescoping stage.

[0111] In some examples, the manipulator can also be controlled by the controller to continuously increase the variable telescoping force during at least a portion of the telescoping phase before the penetration phase begins.

[0112] In some examples, the manipulator can be further controlled by the controller to apply a variable tightening force to manipulate at least one of the fluid transfer assembly and the container through a contact tightening stage during which the manipulator tightens contact between the fluid transfer connector septum and the container septum.

[0113] According to a ninth aspect of the presently disclosed subject matter, there is provided a robotic system operable for transferring fluid between a container accessible via a container septum and a fluid transfer assembly accessible via a fluid transfer connector, the fluid transfer connector being configured to establish fluid communication between the container and the fluid transfer assembly for said fluid transfer, the fluid transfer connector comprising a body member and a sleeve displaceable relative to each other between an extended position, which is a normal position, and a telescoping position in which the fluid transfer connector establishes said fluid communication, the fluid transfer connector comprising a fluid transfer connector septum positioned at a distal end of the sleeve and a fluid transfer conduit extending from a proximal end of the body member toward the fluid transfer connector septum, the robotic system comprising: a controller; and a manipulator controllable by the controller to apply a variable telescoping force to manipulate the fluid transfer assembly through a telescoping phase during which the sleeve and body member are displaced relative to each other to reduce a distance between the fluid transfer connector septum and the body member, wherein the manipulator is further controllable by the controller to continuously increase the variable telescoping force during at least a portion of the telescoping phase.

[0114] In some examples, the manipulator can be further controlled by the controller to apply a variable penetration force to manipulate the fluid transfer assembly and / or container through a penetration stage during which at least the tip of the fluid transfer conduit at least partially penetrates at least one of the container septum and the fluid transfer connector septum.

[0115] In some examples, the manipulator can also be controlled by the controller to apply a variable positioning force to manipulate the fluid transfer assembly through a positioning stage, during which the manipulator positions the fluid transfer assembly and / or container so that the fluid transfer connector septum and the container septum contact each other.

[0116] In some examples, the manipulator can be further controlled by the controller to apply a variable tightening force to manipulate at least one of the fluid transfer assembly and the container through a contact tightening stage during which the manipulator tightens contact between the fluid transfer connector septum and the container septum.

[0117] According to a tenth aspect of the presently disclosed subject matter, there is provided a robotic system operable to transfer fluid between a container accessible via a container septum and a fluid transfer assembly accessible via a fluid transfer connector, the fluid transfer connector being configured to establish fluid communication between the container and the fluid transfer assembly for said fluid transfer, the fluid transfer connector comprising a body member and a sleeve displaceable relative to each other between an extended position being a normal position in which the fluid transfer connector establishes said fluid communication, the fluid transfer connector comprising a fluid transfer connector septum positioned at a distal end of the sleeve and a sleeve extending from a distal end thereof. A fluid transfer catheter having a proximal end of a body member extending toward a fluid transfer connector septum, the robotic system comprising: a controller; and a manipulator controllable by the controller to: apply a variable tightening force to manipulate at least one of the fluid transfer assembly and the container through a contact tightening stage, during which the manipulator tightens contact between the fluid transfer connector septum and the container septum; and apply a variable telescoping force to manipulate the fluid transfer assembly through a telescoping stage, during which the sleeve and the body member are displaced relative to each other to reduce a distance between the fluid transfer connector septum and the body member, wherein an initial value of the variable telescoping force is greater than an initial value of the variable tightening force.

[0118] In some examples, the manipulator can be further controlled by the controller to apply a variable penetration force to manipulate the fluid transfer assembly and / or container through a penetration stage during which at least the tip of the fluid transfer conduit at least partially penetrates at least one of the container septum and the fluid transfer connector septum.

[0119] In some examples, the manipulator can also be controlled by the controller to apply a variable positioning force to manipulate the fluid transfer assembly through a positioning stage, during which the manipulator positions the fluid transfer assembly and / or container so that the fluid transfer connector septum and the container septum contact each other.

[0120] According to an eleventh aspect of the presently disclosed subject matter, there is provided a robotic system operable for transferring fluid between a container accessible via a container septum and a fluid transfer assembly accessible via a fluid transfer connector, the fluid transfer connector being configured to establish fluid communication between the container and the fluid transfer assembly for said fluid transfer, the fluid transfer connector comprising a body member and a sleeve displaceable relative to each other between an extended position, which is a normal position, and a telescoping position in which the fluid transfer connector establishes said fluid communication, the fluid transfer connector comprising a fluid transfer connector septum positioned at a distal end of the sleeve and A fluid transfer catheter extends from a proximal end of a main body member toward a fluid transfer connector septum, the robotic system comprising: a controller; and a manipulator capable of being controlled by the controller to: apply a variable positioning force to manipulate the fluid transfer assembly through a positioning phase, during which the manipulator positions the fluid transfer assembly and / or the container so that the fluid transfer connector septum and the container septum contact each other; and apply a variable overlapping force to manipulate the fluid transfer assembly through an overlapping phase, during which the sleeve and the main body member are displaced relative to each other to reduce the distance between the fluid transfer connector septum and the main body member, wherein an initial value of the variable overlapping force is greater than a maximum value of the variable positioning force.

[0121] In some examples, the manipulator can be further controlled by the controller to apply a variable penetration force to manipulate the fluid transfer assembly and / or container through a penetration stage during which at least the tip of the fluid transfer conduit at least partially penetrates at least one of the container septum and the fluid transfer connector septum.

[0122] In some examples, the manipulator can be further controlled by the controller to apply a variable tightening force to manipulate at least one of the fluid transfer assembly and the container through a contact tightening stage during which the manipulator tightens contact between the fluid transfer connector septum and the container septum.

[0123] All of the robot systems according to the eighth, ninth, tenth and eleventh aspects include at least some of the following features:

[0124] - the positioning phase begins with the start of the manipulator moving the fluid transfer assembly and / or the container and ends with the manipulator bringing the fluid transfer connector septum and the container septum into contact with each other,

[0125] - the contact fastening phase begins when the manipulator brings the fluid transfer connector septum and the container septum into contact with each other and ends with the completion of the fluid transfer,

[0126] - the telescoping phase begins with the start of the relative movement of the sleeve and the body member towards each other and ends with the displacement of the fluid transfer connector into its telescoping position,

[0127] - a penetration phase begins with the actuation of the tip of the fluid transfer conduit to at least partially penetrate at least one of the container septum and the fluid transfer connector septum and ends with the displacement of the fluid transfer connector into its telescoping position,

[0128] - the contact fastening phase at least partially overlaps the telescoping phase,

[0129] - the contact fastening phase at least partially overlaps the penetration phase,

[0130] - the intussusception phase at least partially overlaps the penetration phase,

[0131] - the minimum value of the variable penetration force is greater than the maximum value of the variable positioning force,

[0132] - the variable telescoping force increases continuously during at least a part of the telescoping phase,

[0133] the variable intussusception force increases continuously during at least a portion of the intussusception phase before the start of the penetration phase,

[0134] - the initial value of the variable telescoping force is greater than the maximum value of the variable positioning force,

[0135] - the variable tightening force is increased at least before the beginning of the telescoping phase,

[0136] - the initial value of the variable nesting force is greater than the initial value of the variable tightening force,

[0137] - the variable telescoping force increases continuously at least during a large part of the telescoping phase,

[0138] - the initial value of the variable penetration force is greater than the initial value of the variable overlap force, and

[0139] -The minimum value of the variable telescoping force is greater than the maximum value of the variable positioning force.

[0140] According to various examples, methods performed by the robotic systems of the eighth, ninth, tenth, and eleventh aspects are provided.

[0141] In some examples, the robotic systems according to the eighth, ninth, tenth, and eleventh aspects can be configured to perform some or all of the operations related to securing contact between the fluid transfer connector septum and the container septum as described above for the robotic systems according to the aforementioned aspects, and can include some or all of the components related to these operations. In some examples, the robotic systems according to the eighth, ninth, tenth, and eleventh aspects can be configured to perform some or all of the operations related to the locking mechanism and the relative movement of the engagement arm and the clamping arm (or the sleeve and the main body member) as described above for the robotic systems according to the aforementioned aspects, and can include some or all of the components related to these operations.

[0142] In addition, the robotic systems according to the eighth, ninth, tenth and eleventh aspects may include some or all of the features associated with the manipulators, gripping arms, engaging arms, sensors, contact fastening mechanisms and resistance members as described for the robotic systems according to the above aspects.

[0143] In some examples, the robotic system according to the eighth, ninth, tenth, and eleventh aspects includes a fluid transfer connector according to any of the examples of fluid transfer connectors described herein.

[0144] In some examples, the robotic systems according to the first to seventh aspects described above may include some or all of the features of the robotic systems according to the eighth, ninth, tenth, and eleventh aspects.

[0145] According to a twelfth aspect of the presently disclosed subject matter, there is provided a robotic system operable to transfer fluid between a container and a fluid transfer assembly, the robotic system comprising: a controller; and a manipulator controllable by the controller, the manipulator comprising: a clamping arm configured to clamp a clamping portion of the fluid transfer assembly; and a support arm configured to support the support portion of the fluid transfer assembly at least before the clamping arm clamps the clamping portion.

[0146] In some examples, the robotic system is operable to transfer the fluid at least partially along an injection axis, and the support arm is configured to be stationary relative to the injection axis.

[0147] In some examples, the clamp arm is configured to be displaceable relative to the support arm, and the support arm is configured to be stationary relative to the clamp arm.

[0148] In some examples, the manipulator further includes a plunger arm configured to engage a plunger flange portion of a fluid transfer unit of the fluid transfer assembly.

[0149] In some examples, the manipulator further includes an engagement arm configured to engage an engagement portion of the fluid transfer assembly.

[0150] In some examples, the engagement arm is configured to be displaceable relative to the support arm, and the support arm is configured to be stationary relative to the engagement arm.

[0151] In some examples, the manipulator includes a body and the support arm includes a protrusion projecting from the body.

[0152] In some examples, the robotic systems according to the first to eleventh aspects described above may include some or all of the features of the robotic system according to the twelfth aspect.

[0153] In some examples, the robotic system according to the twelfth aspect may include some or all of the features of the robotic systems according to the first to eleventh aspects described above.

[0154] According to a thirteenth aspect of the presently disclosed subject matter, there is provided a robotic system operable for transferring fluid between a container and a fluid transfer assembly including a plunger flange portion, the robotic system comprising: a controller; and a manipulator controllable by the controller, the manipulator comprising a plunger support, the plunger support comprising at least a first plunger retaining element and a second plunger retaining element, the first plunger retaining element being configured to accommodate a first plunger flange portion sized to have a first flange size, and the second plunger retaining element being configured to accommodate a second plunger flange portion sized to have a second flange size different from the first flange size.

[0155] In some examples, the first plunger retaining element includes a first recess configured to receive a first plunger flange portion therein, the first recess forming a first receiving space having a first recess size corresponding to the first flange size, and the second plunger retaining element includes a second recess configured to receive a second plunger flange portion therein, the second recess forming a second receiving space having a second recess size corresponding to the second flange size and different from the first recess size.

[0156] In some examples, the plunger support also includes a third plunger retaining element configured to accommodate a third plunger flange portion sized to have a third flange size different from the first flange size and the second flange size, the third plunger retaining element including a third recess configured to receive the third plunger flange portion therein, the third recess forming a third receiving space having a third recess size corresponding to the third flange size and different from the first recess size and the second recess size.

[0157] In some examples, the robotic systems according to the first to twelfth aspects described above may include some or all of the features of the robotic system according to the thirteenth aspect.

[0158] In some examples, the robotic system according to the thirteenth aspect may include some or all of the features of the robotic systems according to the first to twelfth aspects described above.

[0159] According to a fourteenth aspect of the presently disclosed subject matter, there is provided a fluid transfer connector comprising: a main body member connectable to a fluid transfer unit at a unit coupling portion, the main body member being shaped to define a main body lumen; a fluid transfer conduit extending axially from the unit coupling portion into the main body lumen, the fluid transfer conduit being configured to establish fluid communication with the fluid transfer unit when the fluid transfer unit is coupled to the unit coupling portion; a sleeve coaxially arranged relative to the main body member; a fluid transfer connector diaphragm mounted at a distal end of the sleeve, the sleeve and the main body member being configured to move relative to each other between an extended position and a nested position; and a locking mechanism configured to switch between a locked state and an unlocked state to selectively allow and prevent relative movement of the sleeve and the main body member, wherein the locking mechanism is configured to allow relative movement between the sleeve and the main body member from the extended position to the nested position upon activation of an actuator accessible through an outer wall of the fluid transfer connector.

[0160] In some examples, the actuator may be actuated by applying a radial force thereon.

[0161] In some examples, the actuator includes an internal portion at least partially disposed within one of the sleeve and the main body member, and an actuating portion accessible via an opening formed in the other of the sleeve and the main body member, and wherein application of a radial force on the actuating portion causes actuation of the locking mechanism from at least a locked state to an unlocked state to facilitate movement of the main body member relative to the sleeve from at least an extended position to a nested position.

[0162] In some examples, an outer wall of the syringe connector includes a protective surface configured to prevent manual access to the actuator.

[0163] In some examples, the protective surface includes one or more protective elements surrounding the opening.

[0164] In some examples, the fluid transfer connector inner surface is configured for axial, slidable movement of the actuator therealong to facilitate movement between the extended position and the telescoping position.

[0165] In some examples, the actuator is configured to be depressible by a radial force to switch from a locked state to an unlocked state in the extended position, and for subsequent slidable axial movement along the inner surface to transition from the extended position to the telescoping position.

[0166] In some instances, the fluid transfer connector septum includes a through bore extending from a proximal surface of the septum to a distal surface of the septum and sized to receive a fluid transfer conduit.

[0167] In some examples, the fluid transfer connector septum is formed as a single piece.

[0168] In some examples, the outer wall of the fluid transfer connector comprises a peripheral wall of the sleeve and terminates at a distal edge of the peripheral wall, the peripheral wall distal edge being axially spaced from a mounting portion of the sleeve to form a gap therebetween, the sleeve mounting portion being configured for mounting the fluid transfer connector septum thereon.

[0169] In some examples, the peripheral wall is connected to the mounting portion via one or more beams.

[0170] In some examples, the fluid transfer connector has a longitudinal axis, and the one or more beams include two oppositely facing beams such that the diaphragm mounting portion extends between the two oppositely facing beams along a plane perpendicular to the longitudinal axis.

[0171] According to a fifteenth aspect of the presently disclosed subject matter, there is provided a fluid transfer connector comprising: a body member coupleable to a fluid transfer unit at a unit coupling portion, the body member being shaped to define a body lumen; a fluid transfer conduit extending axially from the unit coupling portion into the body lumen, the fluid transfer unit being configured to establish fluid communication with the fluid transfer unit when the fluid transfer unit is coupled to the unit coupling portion; a sleeve coaxially arranged relative to the body member; a fluid transfer connector septum mounted at a distal end of the sleeve, the sleeve and the body member being configured to move relative to each other between an extended position and a telescoping position; and a locking mechanism configured to switch between a locked state and an unlocked state to selectively allow and prevent relative movement of the sleeve and the body member, wherein the locking mechanism is configured to allow relative movement between the sleeve and the body member from the extended position to the telescoping position upon activation of an actuator, wherein the actuator is actuatable regardless of an axial force applied to the fluid transfer connector septum.

[0172] In some examples, the actuator is capable of actuating regardless of an axial force exerted by the container septum on the fluid transfer connector septum.

[0173] In some examples, the fluid transfer connector according to the fifteenth aspect may include some or all of the features of the fluid transfer connector according to the fourteenth aspect.

[0174] In some examples, the fluid transfer connector according to the fourteenth aspect may include some or all of the features of the fluid transfer connector according to the fifteenth aspect.

[0175] According to a sixteenth aspect of the presently disclosed subject matter, there is provided a fluid transfer connector comprising: a main body member connectable to a fluid transfer unit at a unit coupling portion, the main body member being shaped to define a main body lumen including a longitudinal axis of the fluid transfer connector; a fluid transfer conduit extending axially from the unit coupling portion into the main body lumen, the fluid transfer unit being configured to establish fluid communication with the fluid transfer unit when the fluid transfer unit is coupled to the unit coupling portion; a sleeve coaxially arranged relative to the main body member and comprising a fluid transfer connector diaphragm mounted at a distal end of the sleeve, the sleeve and the main body member being configured to move relative to each other between an extended position and a nested position; and a locking mechanism configured to switch between a locked state and an unlocked state to selectively allow and prevent relative movement of the sleeve and the main body member, wherein the locking mechanism in its locked state is configured to prevent relative movement between the sleeve and the main body member from the extended position to the nested position by applying an axial force to at least one of the main body member and the sleeve in a direction parallel to the longitudinal axis.

[0176] In some examples, the locking mechanism is configured to switch from a locked state to an unlocked state when a radial force is applied to the locking mechanism in a direction perpendicular to the longitudinal axis, and to allow relative movement of the sleeve and the body member in its unlocked state.

[0177] In some examples, the locking mechanism includes an actuator configured to prevent the locking mechanism from switching from the locked state to its unlocked state in response to the axial force.

[0178] In some examples, the actuator is configured to switch the locking mechanism from the locked state to the unlocked state in response to the radial force being exerted thereon.

[0179] In some examples, the actuator includes a lockable member, and one of the sleeve and the body member includes a locking member configured to selectively engage the lockable member in a locked state of the locking mechanism, the lockable member being configured to prevent release from the locking member by the axial force.

[0180] In some examples, the lockable member is configured to release from the locking member in response to the radial force.

[0181] In some examples, the fluid transfer connector according to the sixteenth aspect may include some or all of the features of the fluid transfer connectors according to the fourteenth and fifteenth aspects.

[0182] In some examples, the fluid transfer connectors according to the fourteenth and fifteenth aspects may include some or all of the features of the fluid transfer connector according to the sixteenth aspect.

[0183] According to a seventeenth aspect of the presently disclosed subject matter, there is provided a fluid transfer connector comprising: a body member coupleable to a fluid transfer unit at a unit coupling portion, the body member being shaped to define a body lumen; a fluid transfer conduit extending axially from the unit coupling portion into the body lumen, the fluid transfer conduit being configured to establish fluid communication with the fluid transfer unit when the fluid transfer unit is coupled to the unit coupling portion; a sleeve coaxially arranged relative to the body member; a fluid transfer connector septum mounted at a distal end of the sleeve, the sleeve and the body member being configured to move relative to each other between an extended position and an intermediate position, wherein the extended position is at an extended distance from the unit coupling portion, and the intermediate position is at an intermediate distance from the unit coupling portion that is less than the extended distance and less than a second distance from the unit coupling portion; and a locking mechanism configured to switch between a locked state and an unlocked state to selectively allow and prevent relative movement of the sleeve and the body member at the extended position and the intermediate position.

[0184] In some examples, the sleeve and body member are configured to move relative to each other between at least one of an extended position and an intermediate position and a telescoping position in which the fluid transfer connector diaphragm is at a telescoping distance from the unit coupling portion that is less than the intermediate distance.

[0185] In some examples, the sleeve and the body member are configured to move axially relative to each other to transition from at least one of the extended position and the intermediate position to the telescoping position.

[0186] In some examples, the locking mechanism is configured to selectively permit movement of the sleeve relative to the body member from at least one of the extended position and the intermediate position upon activation of an actuator accessible through an outer wall of the fluid transfer connector.

[0187] In some examples, the actuator may be actuated by applying a radial force thereon.

[0188] In some examples, the actuator includes an internal portion at least partially disposed within one of the sleeve and the body member, and an actuating portion accessible via an opening formed in the other of the sleeve and the body member, and wherein application of a radial force on the actuating portion causes actuation of the locking mechanism from at least a locked state to an unlocked state to facilitate movement of the body member relative to the sleeve from at least one of an extended position and an intermediate position.

[0189] In some examples, an outer wall of the syringe connector includes a protective surface configured to prevent manual access to the actuator.

[0190] In some examples, the protective surface includes one or more protective elements surrounding the opening.

[0191] In some examples, the fluid transfer connector inner surface is configured for axial, slidable movement of the actuator therealong to facilitate movement between the extended position and the telescoping position.

[0192] In some examples, the actuator is configured to be: depressible by a radial force to switch from a locked state to an unlocked state at at least one of the extended position and the intermediate position; and for subsequent slidable axial movement along the inner surface to transition between the extended position and the intermediate position.

[0193] In some instances, the fluid transfer connector septum includes a through bore extending from a proximal surface of the septum to a distal surface of the septum and sized to receive a fluid transfer conduit.

[0194] In some examples, the fluid transfer connector septum is formed as a single piece.

[0195] In some examples, the outer wall of the fluid transfer connector comprises a peripheral wall of the sleeve and terminates at a distal edge of the peripheral wall, the peripheral wall distal edge being axially spaced from a mounting portion of the sleeve to form a gap therebetween, the sleeve mounting portion being configured for mounting the fluid transfer connector septum thereon.

[0196] In some examples, the peripheral wall is connected to the mounting portion via one or more beams.

[0197] In some examples, the fluid transfer connector has a longitudinal axis, and the one or more beams include two oppositely facing beams such that the diaphragm mounting portion extends between the two oppositely facing beams along a plane perpendicular to the longitudinal axis.

[0198] In some examples, the locking mechanism is configured to prevent manual access to the actuator.

[0199] In some examples, the fluid transfer connector according to the seventeenth aspect may include some or all of the features of the fluid transfer connectors according to the fourteenth to sixteenth aspects.

[0200] In some examples, the fluid transfer connectors according to the fourteenth to sixteenth aspects may include some or all of the features of the fluid transfer connector according to the seventeenth aspect.

[0201] According to an eighteenth aspect of the presently disclosed subject matter, there is provided a fluid transfer connector comprising: a body member that is coupleable to a fluid transfer unit at a unit coupling portion, the body member being shaped to define a body lumen; a fluid transfer conduit that extends axially from the unit coupling portion into the body lumen, the fluid transfer conduit being configured to establish fluid communication with the fluid transfer unit when the fluid transfer unit is connected to the unit coupling portion; a sleeve that is coaxially arranged relative to the body member; a fluid transfer connector septum that is mounted at a distal end of the sleeve; The sleeve and the main body member are configured to move relative to each other between an intermediate position and a nested position, wherein the intermediate position is where the fluid transfer connector diaphragm is at an intermediate distance from the unit connection portion, and the nested position is where the fluid transfer connector diaphragm is at a nested distance from the unit connection portion that is less than the intermediate distance; and a locking mechanism configured to switch between a locked state and an unlocked state to selectively allow and prevent relative movement of the sleeve and the main body member in the intermediate state, the locking mechanism being configured to selectively allow relative movement of the sleeve and the main body member to transition at least from the intermediate position to the nested position when the actuator is activated.

[0202] In some examples, the sleeve and body member are configured to move relative to each other between at least one of an intermediate position and a collapsed position and an extended position in which the fluid transfer connector diaphragm is at an extended distance from the unit coupling portion that is greater than the intermediate distance.

[0203] In some examples, the fluid transfer connector according to the eighteenth aspect may include some or all of the features of the fluid transfer connectors according to the fourteenth to seventeenth aspects.

[0204] In some examples, the fluid transfer connectors according to the fourteenth to seventeenth aspects may include some or all of the features of the fluid transfer connector according to the eighteenth aspect.

[0205] According to a nineteenth aspect of the presently disclosed subject matter, there is provided a fluid transfer connector comprising: a sleeve having a sleeve distal end; a fluid transfer connector septum mounted at the sleeve distal end and having a septum protrusion protruding axially from the sleeve, the septum protrusion being formed in a stepped shape.

[0206] In some examples, the septum protrusion includes a septum proximal portion having a first circumferential wall including a first circumference and a septum distal portion having a second circumferential wall including a second circumference that is smaller than the first circumference.

[0207] In some examples, the second circumferential wall is sloped such that the second circumference is recessed toward the distal surface of the septum.

[0208] In some examples, the sleeve is shaped to define a sleeve lumen, wherein the fluid transfer connector septum includes a subsurface portion of the septum housed within the sleeve lumen.

[0209] In some examples, the connector has a longitudinal axis, and the subsurface portion of the diaphragm includes a recess formed to receive a protrusion extending medially from the sleeve toward the longitudinal axis.

[0210] In some instances, the septum projection has a length extending axially from the distal end of the sleeve to the distal surface of the septum that is at least 20 millimeters.

[0211] In some instances, the septum projection has a length extending axially from the distal end of the sleeve to the distal surface of the septum that is at least 30 millimeters.

[0212] In some instances, the septum projection has a length extending axially from the distal end of the sleeve to the distal surface of the septum that is in the range of at least 15 mm to 30 mm.

[0213] In some examples, the fluid transfer connector according to the nineteenth aspect may include some or all of the features of the fluid transfer connectors according to the fourteenth to eighteenth aspects.

[0214] In some examples, the fluid transfer connectors according to aspects fourteen to eighteen may include some or all of the features of the fluid transfer connector according to aspect nineteen.

[0215] According to a twentieth aspect of the presently disclosed subject matter, there is provided a fluid transfer connector extending between a connector proximal end and a connector distal end and configured to be connected to a fluid transfer unit at the connector proximal end, the fluid transfer connector comprising: a connector body extending from the connector proximal end; and a septum extending from the connector body and having a septum protruding portion protruding from the connector body toward the connector distal end, the septum protruding portion being formed in a stepped shape.

[0216] In some examples, the septum protrusion includes a septum proximal portion having a first circumferential wall including a first circumference and a septum distal portion having a second circumferential wall including a second circumference that is smaller than the first circumference.

[0217] In some examples, the second peripheral wall is inclined such that the second circumference tapers toward the distal end of the connector.

[0218] In some examples, the septum includes a subsurface septum portion housed within the connector body.

[0219] In some examples, the fluid transfer connector according to the twentieth aspect may include some or all of the features of the fluid transfer connectors according to the fourteenth to nineteenth aspects.

[0220] In some examples, the fluid transfer connectors according to aspects 14 to 19 may include some or all of the features of the fluid transfer connector according to aspect 20.

[0221] According to a twenty-first aspect of the presently disclosed subject matter, there is provided a robotic system operable to transfer fluid between a container and a fluid transfer assembly accessible via a fluid transfer unit and a fluid transfer connector, the fluid transfer connector being configured to facilitate connection of the fluid transfer assembly to the container for said fluid transfer, the robotic system comprising: a controller; and a manipulator controllable by the controller to hold and manipulate the fluid transfer assembly, the manipulator being configured to hold the fluid transfer assembly at the fluid transfer connector.

[0222] In some examples, the manipulator includes a clamping arm having at least one clamping element configured to clamp a clamping portion of the fluid transfer connector.

[0223] In some examples, the manipulator includes an engagement arm configured to engage an engagement portion of the fluid transfer connector.

[0224] In some examples, the manipulator is configured to manipulate the fluid transfer assembly while maintaining the fluid transfer unit free from being held by the manipulator.

[0225] In some examples, the manipulator is configured to manipulate the fluid transfer assembly while holding the fluid transfer assembly at a portion remote from the fluid transfer unit.

[0226] In some examples, the manipulator is configured to manipulate the fluid transfer assembly to secure contact between a fluid transfer connector septum of the fluid transfer connector and a container septum of the container while holding the fluid transfer assembly at the fluid transfer connector.

[0227] In some examples, the robotic system further comprises a fluid transfer connector according to any one of aspects fourteen to twentieth.

[0228] In some examples, the robotic system according to the twenty-first aspect may include some or all of the features of the robotic systems according to the first to thirteenth aspects.

[0229] In some examples, the robotic systems according to the first to thirteenth aspects may include some or all of the features of the robotic system according to the twenty-first aspect.

[0230] According to an example, a method performed by a robotic system of aspect 21 is provided. The method includes a process for performing a fluid transfer between a container accessible via a container septum and a fluid transfer assembly accessible via a fluid transfer connector, the method including operating the robotic system to control a manipulator of the robotic system to control the manipulator of the robotic system to hold the fluid transfer connector and manipulate the fluid transfer assembly to perform the fluid transfer.

[0231] According to a twenty-second aspect of the presently disclosed subject matter, there is provided a robotic system operable to transfer fluid between a fluid transfer assembly and a first container and between the fluid transfer assembly and a second container, the robotic system comprising: a first container holder and a second container holder, the first container holder being configured to hold the first container, the second container holder being configured to hold the second container, the first container holder being separated from the second container holder by an arcuate path; a controller; and a rotatable manipulator capable of rotating about its rotation axis and comprising a clamping arm configured to clamp the fluid transfer assembly, the controller being configured to rotate the rotatable manipulator to move the clamping arm along the arcuate path between a first position and a second position while clamping the fluid transfer assembly, the first position being aligned with the first container holder and the second position being aligned with the second container holder.

[0232] In some examples, the clamping arm moves only along an arcuate path from the first position to the second position.

[0233] In some examples, the clamping arm moves from the first position to the second position along an arcuate path in a single, continuous motion.

[0234] In some examples, the first container holder is configured to hold the first container at a first distance from the rotation axis taken in a first direction perpendicular to the rotation axis, and the second container holder is configured to hold the second container at a second distance from the rotation axis taken in a second direction perpendicular to the rotation axis, the first distance being equal to the second distance.

[0235] In some examples, the first direction and the second direction define an arcuate path angle therebetween, the arcuate path angle corresponding to an arc length of the arcuate path between the first position and the second position.

[0236] In some examples, the manipulator is configured to move at least a portion of the fluid transfer assembly in a direction parallel to the rotational axis when the fluid transfer assembly is in at least one of the first position and the second position.

[0237] In some examples, the manipulator is configured to establish a first fluid communication between the fluid transfer assembly and the first container when the first container is held by the first container holder, and to establish a second fluid communication between the fluid transfer assembly and the second container when the second container is held by the second container holder.

[0238] In some examples, each of the first container and the second container is accessible via a corresponding container septum, and the fluid transfer assembly includes a clamping portion and a fluid transfer conduit configured to transfer fluid through the container septum.

[0239] In some examples, the first container and the second container include any of a vial and an IV bag.

[0240] In some examples, the axis of rotation is a longitudinal axis of the manipulator.

[0241] In some examples, the robotic system further comprises a fluid transfer connector according to any one of aspects fourteen to twentieth.

[0242] In some examples, the robotic system according to the twenty-second aspect may include some or all of the features of the robotic systems according to the first to thirteenth and twenty-first aspects.

[0243] In some examples, the robotic systems according to aspects 1 to 13 and 21 may include some or all of the features of the robotic system according to aspect 22.

[0244] According to an example, a method performed by the robotic system of the twenty-second aspect is provided.

[0245] According to a twenty-third aspect of the presently disclosed subject matter, there is provided a robotic system operable to transfer fluid between a container and a fluid transfer assembly, the fluid transfer assembly comprising: a syringe having a plunger flange and a fluid transfer conduit extending at least partially along an injection axis for transferring fluid when the plunger flange is displaced, the robotic system comprising: a controller; and a manipulator controllable by the controller, the manipulator comprising: a plunger arm configured to engage the plunger flange; a clamping arm configured to clamp a clamping portion of the fluid transfer assembly, the plunger arm being displaceable relative to the clamping arm along the injection axis and being configured to displace with the clamping arm during at least a portion of the movement of the manipulator.

[0246] In some examples, the controller is configured to operate the manipulator to: move the clamp arm to align the fluid transfer assembly with the container, and move the plunger arm along the injection axis to displace the plunger flange for transferring fluid between the container and the syringe.

[0247] In some examples, the manipulator is configured to mechanically couple the plunger arm and the clamp arm.

[0248] In some examples, the manipulator including the plunger arm and the clamping arm is formed as a unitary structure.

[0249] In some examples, the controller is configured to control the plunger arm such that: the plunger arm grips the plunger flange; and the plunger arm axially displaces the plunger flange to transfer fluid between the syringe and the container.

[0250] In some examples, the manipulator has a central longitudinal axis, and the injection axis is located distally from the central longitudinal axis.

[0251] In some examples, the robotic system further comprises a fluid transfer connector according to any one of aspects fourteen to twentieth.

[0252] In some examples, the robotic system according to the twenty-third aspect may include some or all of the features of the robotic systems according to the first to thirteenth aspects, the twenty-first aspect, and the twenty-second aspect.

[0253] In some examples, the robotic systems according to aspects 1 to 13, 21, and 22 may include some or all of the features of the robotic system according to aspect 23.

[0254] According to an example, a method performed by the robotic system of the twenty-third aspect is provided.

[0255] Implementation Plan

[0256] A more detailed description is provided in the Detailed Description, while the following are non-limiting examples of various embodiments of the presently disclosed subject matter.

[0257] 1. A robotic system operable to transfer fluid between a container accessible via a container septum and a fluid transfer assembly accessible via a fluid transfer connector septum, the robotic system comprising:

[0258] Controller; and

[0259] a manipulator controllable by the controller and configured to manipulate at least one of the container and the fluid transfer assembly,

[0260] The controller is configured to operate the manipulator to secure contact between the container septum and the fluid transfer connector septum during at least a portion of the fluid transfer.

[0261] 2. The robotic system of embodiment 1, wherein the controller is further configured to control the manipulator to:

[0262] contacting the container septum and the fluid transfer connector septum; and

[0263] During at least a portion of the fluid transfer, the securing of the contact between the container septum and the fluid transfer connector septum is performed by pressing at least one of the container septum and the fluid transfer connector septum against the other of the container septum and the fluid transfer connector septum.

[0264] 3. A robotic system according to embodiment 1 or 2, wherein the manipulator includes a pressing mechanism, which is configured to ensure that a predetermined compression threshold between the container diaphragm and the fluid transfer connector diaphragm is reached before the fluid transfer is initiated, and the reaching of the predetermined compression threshold is associated with the tightening of the contact.

[0265] 4. The robotic system of embodiment 3, wherein the pressing mechanism is further configured to ensure that the predetermined compression threshold between the container diaphragm and the fluid transfer connector diaphragm is maintained during at least a portion of the fluid transfer.

[0266] 5. The robotic system of embodiment 3 or 4, wherein the controller is configured to operate the manipulator to:

[0267] aligning the fluid transfer connector septum of the fluid transfer assembly with the container septum of the container;

[0268] bringing the fluid transfer connector septum and the container septum into contact with each other;

[0269] pressing at least one of the fluid transfer connector septum and the container septum against the other of the fluid transfer connector septum and the container septum to perform said securing of said contact between the fluid transfer connector septum and the container septum; and / or

[0270] performing at least partial penetration of at least one of the fluid transfer connector septum and the container septum by a fluid transfer conduit associated with a fluid transfer connector of the fluid transfer assembly to enable the fluid transfer, wherein the pressing mechanism is configured to ensure that the predetermined compression threshold between the container septum and the fluid transfer connector septum is reached prior to the at least partial penetration.

[0271] 6. The robotic system of any one of the preceding embodiments, wherein the manipulator comprises a gripping arm configured to grip a gripping portion of at least one of the fluid transfer component and the container.

[0272] 7. The robotic system of embodiment 6, wherein the gripping arm is configured to hold at least one of the fluid transfer assembly and the container at least partially along a vertical axis.

[0273] 8. A robotic system according to embodiment 6 or 7, wherein the gripping arm is configured to be controllably movable to allow the fluid transfer component to be grasped from a fluid transfer component recycling conveyor configured to store one or more fluid transfer components, and / or to allow the container to be grasped from a container recycling conveyor configured to store one or more containers.

[0274] 9. A robotic system according to any one of embodiments 6 to 8, wherein the clamping arm is configured to be able to be moved in a controllable manner relative to a container holder configured to hold the container, and the clamping arm is configured to align the fluid transfer connector diaphragm with the container diaphragm and bring the fluid transfer connector diaphragm into contact with the container diaphragm when the clamping arm holds the fluid transfer assembly.

[0275] 10. A robotic system according to any one of embodiments 6 to 9, wherein the manipulator includes an engagement arm, which is configured to engage the fluid transfer component at a engagement portion when the clamping arm clamps the fluid transfer component, and the engagement arm is configured to be able to move axially relative to the clamping arm.

[0276] 11. A robotic system according to embodiment 10, wherein the engagement arm and the clamping arm are connected so that the engagement arm and the clamping arm can be operated to be controllably displaced axially together or relative to each other.

[0277] 12. A robotic system according to any one of embodiments 10 and 11 when dependent on embodiment 3 or 4, wherein the engagement arm is configured to engage a sleeve of a fluid transfer connector of the fluid transfer assembly, the sleeve being fixedly coupled relative to the fluid transfer connector diaphragm, and the clamping arm is configured to clamp a main body member of the fluid transfer connector, the main body member being fixedly coupled relative to a fluid transfer conduit of the fluid transfer connector, the controller being configured to cause relative movement between the clamping arm and the engagement arm when the predetermined compression threshold between the container diaphragm and the fluid transfer connector diaphragm is reached to cause the fluid transfer conduit and the fluid transfer connector diaphragm to move at least partially toward each other.

[0278] 13. A robotic system according to embodiment 12, wherein the manipulator is configured to resist the relative movement between the clamping arm and the engagement arm when an axial force below a predetermined compression threshold is applied to cause relative movement between the clamping arm and the engagement arm, the predetermined compression threshold being associated with the predetermined compression threshold.

[0279] 14. A robotic system according to embodiment 13, wherein the engagement arm and the clamping arm are connected via a resistance member that resists the relative movement of the clamping arm and the engagement arm toward each other.

[0280] 15. The robotic system of embodiment 14, wherein the resisting member is configured to move the engaging arm and the clamping arm away from each other after the fluid transfer is completed.

[0281] 16. A robotic system according to any one of embodiments 12 to 15, wherein the engagement arm is configured to abut a radial stop at the engagement portion when the fluid transfer connector diaphragm contacts the container diaphragm, and the manipulator is configured to cause relative movement between the clamping arm and the engagement arm only after a predetermined compression threshold force is applied, thereby pressing the fluid transfer connector diaphragm to the container diaphragm so that the contact between the fluid transfer connector diaphragm and the container diaphragm reaches the predetermined compression threshold before the fluid transfer conduit and the fluid transfer connector diaphragm move at least partially toward each other.

[0282] 17. The robotic system according to any one of the preceding embodiments, further comprising a container holder configured to hold the container along its longitudinal axis.

[0283] 18. The robotic system of embodiment 17, wherein the container holder comprises a vial holder configured to support at least one vial and / or an IV bag holder configured to support at least one IV bag.

[0284] 19. The robotic system of any one of embodiments 17 and 18, wherein the manipulator is configured to move toward the container holder.

[0285] 20. The robotic system of any one of embodiments 17 to 19, wherein the container holder is configured to move toward the manipulator.

[0286] 21. The robotic system of any one of embodiments 10 to 20, wherein the controller is further configured to rotate the gripping arm and the engaging arm together around a rotation axis.

[0287] 22. The robotic system of any one of embodiments 10 to 21, wherein the controller is configured to control the engagement arm and the gripping arm such that:

[0288] The clamping arm clamps a body member of the fluid transfer connector, the body member fixedly coupled relative to a fluid transfer conduit of the fluid transfer connector, aligns the fluid transfer assembly with the container, and brings the fluid transfer connector septum into contact with the container septum;

[0289] the engagement arm engages a sleeve of the fluid transfer connector of the fluid transfer assembly, the sleeve fixedly coupled relative to the fluid transfer connector septum, pressing the fluid transfer connector septum against the container septum to perform the tightening of the contact between the fluid transfer connector septum and the container septum; and /

[0290] or

[0291] The clamping arms cause telescopic movement of the body member and the sleeve toward one another, which performs at least partial movement of the fluid transfer conduit and the fluid transfer connector septum toward one another to facilitate the fluid transfer.

[0292] 23. A robotic system according to embodiment 22, wherein the clamping arm is further configured to apply a radial force on the outer wall of the fluid transfer component, and the controller is configured to control the clamping arm to selectively apply the radial force to press the fluid transfer connector actuator of the fluid transfer component.

[0293] 24. The robotic system of any preceding embodiment, wherein the fluid transfer assembly comprises a syringe, the robotic system further comprising a plunger arm configured to operate a plunger of the syringe, and wherein the controller is configured to control the plunger arm to:

[0294] clamping a plunger flange portion of the plunger; and

[0295] The plunger flange is axially displaced to transfer the fluid between the syringe and the container.

[0296] 25. The robotic system of embodiment 22, wherein the controller is configured to control the articulation arm and the gripping arm so that:

[0297] After the fluid is transferred, the clamping arm moves the body member away from the sleeve; and

[0298] The engagement arm and the clamping arm are pulled apart from the container for disconnecting the fluid transfer connector septum from the container septum.

[0299] 26. The robotic system of embodiment 25, wherein the controller is configured to operate the clamping arm to move the body member away from the sleeve after the fluid is transferred.

[0300] 27. A robotic system according to embodiment 26 when dependent on embodiment 23, wherein the controller is configured to operate the clamping arm to stop applying the radial force after the main body member moves away from the sleeve.

[0301] 28. The robotic system of embodiment 27, wherein the controller is configured to operate the gripper arm to perform the following operations simultaneously or sequentially:

[0302] clamping the body member, aligning the fluid transfer assembly with the container, and contacting the fluid transfer connector septum with the container septum; and

[0303] The radial force is selectively applied to depress the fluid transfer connector actuator of the fluid transfer assembly.

[0304] 29. The robotic system of any one of embodiments 10 to 28, wherein the controller is configured to control the engagement arm and the gripping arm such that:

[0305] either the engagement arm or the clamping arm clamps the fluid transfer assembly, aligns the fluid transfer assembly with the container, and brings the fluid transfer connector septum into contact with the container septum; and

[0306] Either the engagement arm or the clamping arm presses the fluid transfer connector septum against the container septum to secure contact between the fluid transfer connector septum and the container septum.

[0307] 30. The robotic system of any one of embodiments 10 to 29, wherein the engagement arm and the clamping arm are arranged to contact the fluid transfer component at the fluid transfer connector.

[0308] 31. A robotic system according to any one of embodiments 10 to 30, wherein the engagement arm is formed with a pressing surface, which is configured to press on a radial stop of the fluid transfer component to perform the tightening of the contact between the container diaphragm and the fluid transfer connector diaphragm.

[0309] 32. A robotic system according to embodiment 31, wherein the pressing surface of the engagement arm includes an arcuate portion, the size of which is set to surround the fluid transfer component and form a radial gap with the outer wall of the fluid transfer component.

[0310] 33. A robotic system according to embodiment 31, wherein the pressing surface of the engagement arm is configured to cooperate with the outer surface of the fluid transfer component so that there is no radial gap between the outer wall of the fluid transfer component and the pressing surface.

[0311] 34. A robotic system according to any one of embodiments 10 to 33, wherein the clamping arm includes at least one protruding element, and the at least one protruding element is configured to apply a radial force on the outer wall of the fluid transfer component when the fluid transfer component is manipulated by the robotic system.

[0312] 35. The robotic system of embodiment 34, wherein the protruding element of the clamping arm comprises a plate formed with an arcuate groove.

[0313] 36. A robotic system according to any one of embodiments 34 and 35, wherein the clamping arm includes two oppositely facing plates, the two oppositely facing plates including a first pair of protruding elements and a second pair of protruding elements, and the first pair of protruding elements and the second pair of protruding elements are configured to contact a first pair of openings and a second pair of openings on the outer wall of the fluid transfer component.

[0314] 37. The robotic system of embodiment 36, wherein the two oppositely facing plates are configured to be spaced apart from each other to form a gap therebetween.

[0315] 38. The robotic system of embodiment 12 and embodiments 13 to 37 when dependent upon embodiment 12, wherein the compression mechanism is further configured to ensure that the predetermined compression threshold between the container septum and the fluid transfer connector septum is maintained after the fluid transfer is completed at least until the fluid transfer conduit moves away from the fluid transfer connector septum.

[0316] 39. The robotic system according to any one of embodiments 1 to 38, further comprising a fluid transfer connector extending between a proximal end of a connector of a fluid transfer unit configured to be connected to the fluid transfer assembly and a distal end of a connector including the fluid transfer connector diaphragm, the fluid transfer connector being configured to establish fluid communication between the fluid transfer unit and the container for the fluid transfer.

[0317] 40. The robotic system of embodiment 39, wherein the fluid transfer connector comprises:

[0318] a connector body extending from the connector proximal end toward a body distal end; and

[0319] The fluid transfer connector septum includes a septum protrusion extending from the body distal end toward the connector distal end.

[0320] 41. The robotic system of embodiment 40, wherein the fluid transfer connector septum comprises a septum proximal end positioned toward the connector body and a septum distal end constituting the connector distal end.

[0321] 42. A robotic system according to any one of embodiments 39 to 41, wherein the fluid transfer connector includes a main body member and a sleeve capable of shifting relative to each other between an extended position and a collapsed position, the extended position being a normal position, and the fluid transfer connector establishes the fluid connection at the collapsed position.

[0322] 43. The robotic system of embodiment 42, wherein the manipulator is configured to shift the fluid transfer connector into the nested position after securing the contact between the fluid transfer connector diaphragm and the container diaphragm.

[0323] 44. The robotic system of embodiment 42 or 43 when dependent upon embodiment 3, wherein the manipulator is configured to shift the fluid transfer connector into the nested position after the predetermined compression threshold is reached thereby securing the contact between the fluid transfer connector diaphragm and the container diaphragm.

[0324] 45. The robotic system of any one of embodiments 42 to 44, wherein the fluid transfer connector comprises a locking mechanism configured to shift between a locked state in which the locking mechanism prevents the fluid transfer connector from shifting into its nested position and an unlocked state in which the locking mechanism allows the fluid transfer connector to shift into its nested position.

[0325] 46. ​​The robotic system of embodiment 45, wherein the manipulator is configured to shift the locking mechanism into its unlocked state after securing the contact between the fluid transfer connector diaphragm and the container diaphragm.

[0326] 47. A method for transferring fluid between a container accessible via a container septum and a fluid transfer assembly accessible via a fluid transfer connector septum, operated by a robotic system, the method comprising:

[0327] contacting the container septum of the container with the fluid transfer connector septum of the fluid transfer assembly;

[0328] pressing at least one of the container septum and the fluid transfer connector septum onto the other of the container septum and the fluid transfer connector septum and securing the contact between the container septum and the fluid transfer connector septum;

[0329] transferring fluid through the container septum and the fluid transfer connector septum; and

[0330] Secured contact between the container septum and the fluid transfer connector septum is maintained during at least a portion of the fluid transfer.

[0331] 48. The method of embodiment 47, wherein securing the contact between the container septum and the fluid transfer connector septum comprises pressing at least one of the container septum and the fluid transfer connector septum against the other of the container septum and the fluid transfer connector septum, at least until a predetermined compression threshold between the container septum and the fluid transfer connector syringe septum is reached.

[0332] 49. The method of any one of embodiments 47 and 48, further comprising operating, by a controller, a manipulator of the robotic system to:

[0333] engaging the manipulator with a portion of at least one of the container and the syringe assembly; and

[0334] The container septum and the fluid transfer connector septum are coaxially positioned.

[0335] 50. The method of embodiment 49, wherein pressing at least one of the container septum and the fluid transfer connector septum onto the other of the container septum and the fluid transfer connector septum comprises causing a fluid associated with the fluid transfer assembly to

[0336] The fluid transfer conduit and the fluid transfer connector septum are at least partially moved toward each other.

[0337] 51. The method of any one of embodiments 47 to 50, wherein pressing at least one of the container septum and the fluid transfer connector septum against the other of the container septum and the fluid transfer connector septum comprises advancing the manipulator toward the container.

[0338] 52. The method of any one of embodiments 47 to 51, wherein pressing at least one of the container septum and the fluid transfer connector septum against the other of the container septum and the fluid transfer connector septum comprises advancing the container toward the manipulator.

[0339] 53. The method of any one of embodiments 47 to 52, wherein securing the contact between the container septum and the fluid transfer connector septum comprises making the contact a tight seal.

[0340] 54. The method of any one of embodiments 47 to 53, further comprising operating a manipulator of the robotic system via a controller to engage an engagement arm of the manipulator at a portion of the fluid transfer assembly distal to the fluid transfer connector diaphragm.

[0341] 55. The method of any one of embodiments 47 to 54, further comprising:

[0342] A fluid transfer connector is provided, comprising:

[0343] Main components, and

[0344] a sleeve coaxially arranged with the body member, the sleeve and the body member being movable relative to each other, the fluid transfer connector septum being mounted at a distal end of the sleeve;

[0345] providing a clamping arm configured to clamp at least a portion of the fluid transfer assembly;

[0346] controlling the clamping arm to coaxially position the clamping arm at a predetermined axial distance from the container while the clamping arm clamps the fluid transfer assembly; and

[0347] The clamping arm is advanced toward the container to cause telescopic relative movement of the body member and the sleeve toward each other.

[0348] 56. A robotic system operable to transfer fluid between a container accessible via a container septum and a fluid transfer assembly accessible via a fluid transfer connector, the fluid transfer connector having a body member and a sleeve including a fluid transfer connector septum, the sleeve and body member configured to move relative to each other upon activation of a locking mechanism, the robotic system comprising:

[0349] Controller; and

[0350] a manipulator controllable by the controller and configured to manipulate the fluid transfer assembly, the manipulator configured to grip the fluid transfer assembly and activate the locking mechanism,

[0351] The controller is configured to operate the manipulator to move the sleeve and the body member relative to each other and transfer fluid between the fluid transfer assembly and the container upon activation of the locking mechanism.

[0352] 57. The robotic system of embodiment 56, wherein the controller is configured to operate the manipulator to bring the fluid transfer connector septum and the container septum into contact with each other.

[0353] 58. The robotic system of embodiment 57, wherein the controller is configured to operate the manipulator to secure the contact between the container septum and the fluid transfer connector septum during at least a portion of the fluid transfer.

[0354] 59. The robotic system of any one of embodiments 56 to 58, wherein the manipulator is configured to activate the locking mechanism by activating an actuator accessible through an outer wall of the fluid transfer connector.

[0355] 60. The robotic system of any one of embodiments 56 to 59, wherein the manipulator comprises a gripping arm configured to grip a gripping portion of the fluid transfer assembly.

[0356] 61. The robotic system of embodiment 60, wherein the clamping arm is configured to hold the fluid transfer assembly at least partially along a vertical axis.

[0357] 62. The robotic system of any one of embodiments 56 to 61, wherein the manipulator is configured to be controllably movable to allow grasping of the fluid transfer component from a fluid transfer component recycling conveyor configured to store one or more fluid transfer components.

[0358] 63. The robotic system of any one of embodiments 56 to 62, wherein the manipulator arm is configured to be controllably movable relative to a container holder configured to hold the container such that the manipulator is configured to align and contact the fluid transfer connector septum with the container septum.

[0359] 64. The robotic system of any one of embodiment 60 or embodiments 61 to 63 when dependent upon embodiment 60, wherein the manipulator comprises an engagement arm configured to engage the fluid transfer assembly at an engagement portion, the engagement arm configured to be axially movable relative to the clamping arm.

[0360] 65. A robotic system according to embodiment 64, wherein the engagement arm and the clamping arm are connected so that the engagement arm and the clamping arm can be operated to be controllably displaced axially together or relative to each other.

[0361] 66. According to any one of embodiments 64 and 65, the controller unit is configured to cause relative movement between the clamping arm clamping the main body member and the engaging arm engaging the sleeve when a predetermined compression threshold between the container diaphragm and the fluid transfer connector diaphragm is reached, so as to cause the fluid transfer conduit associated with the main body member to move at least partially toward the fluid transfer connector diaphragm.

[0362] 67. A robotic system according to any one of embodiments 64 to 66, wherein the manipulator is configured to resist the relative movement between the clamping arm and the engagement arm when an axial force below a predetermined compression threshold is applied to cause the relative movement.

[0363] 68. A robotic system according to any one of embodiments 64 to 67, wherein the engagement arm and the clamping arm are connected via a resistance member that resists the relative movement between the clamping arm and the engagement arm toward each other.

[0364] 69. The robotic system of embodiment 68, wherein the resistance member is configured to move the engagement arm and the clamping arm away from each other after the fluid transfer is completed.

[0365] 70. A robotic system according to any one of embodiments 64 to 69, wherein the engagement arm is configured to abut against a radial stop at the sleeve when the fluid transfer connector diaphragm contacts the container diaphragm, and the manipulator is configured to cause relative movement between the clamping arm and the engagement arm only after a predetermined pressing threshold force is applied, thereby pressing the fluid transfer connector diaphragm to the container diaphragm to cause the fluid transfer conduit associated with the body member and the fluid transfer connector diaphragm to move at least partially toward each other.

[0366] The contact between the connector septum and the container septum reaches a predetermined compression threshold.

[0367] 71. The robotic system of any one of embodiments 64 to 70, further comprising a container holder configured to hold the container along a longitudinal axis of the container.

[0368] 72. The robotic system of embodiment 71, wherein the container holder comprises a vial holder configured to support at least one vial and / or an IV bag holder configured to support at least one IV bag.

[0369] 73. The robotic system of any one of embodiments 70 and 72, wherein the manipulator is configured to move toward the container holder.

[0370] 74. The robotic system of any one of embodiments 70 to 73, wherein the container holder is configured to move toward the manipulator.

[0371] 75. The robotic system of any one of embodiments 64 to 74, wherein the controller is further configured to rotate the gripping arm and the engaging arm together around a rotation axis.

[0372] 76. The robotic system of any one of embodiments 64 to 75, wherein the controller is configured to control the engagement arm and the gripping arm such that:

[0373] The clamping arm clamps the body member, aligns the fluid transfer assembly with the container, and brings the fluid transfer connector septum into contact with the container septum;

[0374] The engagement arm engages the sleeve and presses the fluid transfer connector septum against the container septum to secure contact between the fluid transfer connector septum and the container septum; and / or

[0375] The clamping arm causes telescopic movement of the body member and the sleeve toward each other, which performs a fluid transfer conduit associated with the body member and the fluid

[0376] At least some of the transfer connector diaphragms move toward each other to facilitate said fluid transfer.

[0377] 77. A robotic system according to embodiment 76, wherein the clamping arm is further configured to apply a radial force on the outer wall of the fluid transfer component, and the controller is configured to control the clamping arm to selectively apply the radial force to press the fluid transfer connector actuator of the fluid transfer component.

[0378] 78. The robotic system of any one of embodiments 64 to 77, wherein the fluid transfer assembly comprises a syringe,

[0379] wherein the robotic system further comprises a plunger arm configured to operate a plunger of the syringe, and

[0380] wherein the controller is configured to control the plunger arm to:

[0381] a plunger flange portion that clamps the plunger; and

[0382] The plunger flange is axially displaced to transfer the fluid between the syringe and the container.

[0383] 79. The robotic system of any one of embodiments 64 to 78, wherein the controller is configured to control the engagement arm and the gripping arm such that:

[0384] After the fluid is transferred, the clamping arm moves the body member away from the sleeve; and

[0385] The engagement arm and the clamping arm are pulled apart from the container for disconnecting the fluid transfer connector septum from the container septum.

[0386] 80. The robotic system of embodiment 79, wherein the controller is configured to operate the clamping arm to move the body member away from the sleeve after the fluid is transferred.

[0387] 81. The robotic system of embodiment 80 when dependent upon embodiment 77, wherein the controller is configured to operate the clamping arm to cease applying the radial force after the body member moves away from the sleeve.

[0388] 82. The robotic system of embodiment 81, wherein the controller is configured to operate the gripper arm to perform the following operations simultaneously or sequentially:

[0389] clamping the body member, aligning the fluid transfer assembly with the container, and contacting the fluid transfer connector septum with the container septum; and

[0390] The radial force is selectively applied to depress the fluid transfer connector actuator of the fluid transfer assembly.

[0391] 83. The robotic system of any one of embodiments 64 to 82, wherein the controller is configured to control the engagement arm and the gripping arm such that:

[0392] Any one of the engagement arm and the clamping arm clamps the main body member, aligns the fluid transfer assembly with the container, and brings the fluid transfer connector septum into contact with the container septum;

[0393] Either the engagement arm or the clamping arm presses the fluid transfer connector septum against the container septum to secure contact between the fluid transfer connector septum and the container septum; and / or

[0394] Any one of the engagement arm and the clamping arm causes the relative movement between the body member and the sleeve.

[0395] 84. The robotic system of any one of embodiments 64 to 83, wherein the engagement arm and the clamping arm are arranged to contact the fluid transfer component at the fluid transfer connector.

[0396] 85. The robotic system of any one of embodiments 64 to 84, wherein the engagement arm is formed with a pressing surface configured to press against a radial stop of the fluid transfer assembly to perform tightening of the contact between the container diaphragm and the fluid transfer connector diaphragm.

[0397] 86. A robotic system according to embodiment 85, wherein the pressing surface of the engagement arm includes an arcuate portion, the size of which is set to surround the fluid transfer component and form a radial gap with the outer wall of the fluid transfer component.

[0398] 87. A robotic system according to embodiment 86, wherein the pressing surface of the engagement arm is configured to cooperate with the outer surface of the fluid transfer component so that there is no radial gap between the outer wall of the fluid transfer component and the pressing surface.

[0399] 88. The robotic system of any one of embodiments 64 to 87, wherein the clamping arm comprises at least one protruding element configured to apply a radial force on an outer wall of the fluid transfer component when the fluid transfer component is manipulated by the robotic system.

[0400] 89. The robotic system of embodiment 88, wherein the protruding element of the clamping arm comprises a plate formed with an arcuate groove.

[0401] 90. The robotic system of embodiment 89, wherein the clamping arm comprises two oppositely facing plates, the two oppositely facing plates comprising a first pair of protruding elements and a second pair of protruding elements, the first pair of protruding elements and the second pair of protruding elements being configured to contact a first pair of openings and a second pair of openings on the outer wall of the fluid transfer component.

[0402] 91. The robotic system of embodiment 90, wherein the two oppositely facing plates are configured to be spaced apart from each other to form a gap therebetween.

[0403] 92. The robotic system of any one of embodiments 56 to 91, further comprising a fluid transfer connector comprising:

[0404] a body member coupleable to a fluid transfer unit of the fluid transfer assembly at a unit coupling portion;

[0405] a sleeve coaxially arranged relative to the body member;

[0406] a fluid transfer connector septum mounted at a distal end of the sleeve, the sleeve and the body member being configured to move relative to each other between an extended position being a normal position and a telescoping position in which the fluid transfer connector is configured to establish fluid communication between the fluid transfer unit and the container for the fluid transfer; and

[0407] a locking mechanism configured to switch between a locked state and an unlocked state to selectively allow and prevent relative movement of the sleeve and the main body member, wherein the locking mechanism is configured to allow the relative movement between the sleeve and the main body member from the extended position to the telescoping position upon activation of an actuator accessible through an outer wall of the fluid transfer connector.

[0408] 93. The robotic system of embodiment 92, wherein the manipulator is configured to grip the fluid transfer assembly and switch the locking mechanism from the locked state to the unlocked state.

[0409] 94. The robotic system of embodiment 93, wherein the manipulator is configured to secure contact between the container diaphragm and the fluid transfer connector diaphragm, the manipulator being further configured to, after securing the contact between the fluid transfer connector diaphragm and the container diaphragm, switch the locking mechanism to the unlocked state and shift the fluid transfer connector into the nested position.

[0410] 95. A method for transferring fluid between a container accessible via a container septum and a fluid transfer assembly accessible via a fluid transfer connector, operated by a robotic system, the method comprising:

[0411] controlling a manipulator of the robotic system to grip the fluid transfer assembly and activate a locking mechanism associated with establishing fluid communication between the fluid transfer assembly and the container;

[0412] operating the manipulator to move the sleeve and body member of the fluid transfer connector relative to each other to establish the fluid communication upon activation of the locking mechanism; and

[0413] Fluid is transferred between the fluid transfer assembly and the container.

[0414] 96. The method of embodiment 95, wherein controlling the manipulator to activate the locking mechanism comprises activating an actuator of the locking mechanism.

[0415] 97. The method of any one of embodiments 95 and 96, further comprising operating the robotic system to control the manipulator to secure contact between the container septum and a fluid transfer connector septum of the fluid transfer connector.

[0416] 98. A method according to embodiment 97, wherein controlling the manipulator to activate the locking mechanism includes activating the locking mechanism after securing the contact between the container septum and the fluid transfer connector septum.

[0417] 99. A robotic system operable to transfer fluid between a container accessible via a container septum and a fluid transfer assembly accessible via a fluid transfer connector, the fluid transfer connector having a body member and a sleeve including a fluid transfer connector septum, the sleeve and body member configured to move relative to each other, the system comprising:

[0418] a container holder configured to support the container and positioned at least partially coaxially with the fluid transfer assembly;

[0419] an engagement arm configured to engage one of the body member and the sleeve; and

[0420] A clamping arm is configured to clamp the other of the body member and the sleeve, the clamping arm and the engagement arm being movable relative to each other.

[0421] 100. The robotic system of embodiment 99, wherein the joint arm and the clamp

[0422] The holding arm is mechanically coupled to a main drive assembly configured to simultaneously move the engagement arm and the clamping arm together while simultaneously bringing at least one of the clamping arm and the engagement arm to press against an outer surface of the fluid transfer assembly.

[0423] 101. A robotic system according to any one of embodiments 99 and 100, wherein the

[0424] The engagement arm is connected to the clamping arm via a secondary drive assembly, which is configured to cause the relative movement between the clamping arm and the engagement arm.

[0425] 102. A robotic system according to any one of embodiments 99 to 101, wherein the

[0426] At least one of the clamping arm and the engagement arm includes a pressing surface configured to axially press against a radial stopper formed on an outer surface of the fluid transfer assembly to secure the fluid transfer connector septum in contact with the container septum.

[0427] 103. The robotic system of embodiment 102, wherein the pressing surface is positioned at

[0428] A gap is formed between the fluid transfer component and the outer wall of the fluid transfer component.

[0429] 104. A robotic system according to any one of embodiments 99 to 103, wherein the

[0430] The clamping arm is formed with an arcuate portion configured to clamp the outer surface of the fluid transfer component; and is formed with at least one fork-shaped member configured to contact an actuator provided in the fluid transfer component and operable to selectively prevent and promote the relative movement between the main body member and the sleeve.

[0431] 105. A robotic system according to any one of embodiments 99 to 104, wherein the

[0432] An engagement arm is coupled to the clamping arm via a resistance member configured to exert an axial force on the engagement arm to press the engagement arm against an outer surface of the fluid transfer assembly.

[0433] 106. The robotic system of embodiment 105, wherein the resistance member is configured

[0434] To resist the relative movement of the engagement arm and the clamping arm toward each other.

[0435] 107. The robotic system of embodiment 106, wherein the resistance member is configured

[0436] The clamping arm and the engaging arm are displaced away from each other when the fluid transfer is complete.

[0437] 108. A robotic system according to any one of embodiments 99 to 107, wherein the

[0438] The gripping arm and the engaging arm form part of a manipulator.

[0439] 109. The robotic system according to any one of embodiments 99 to 108, wherein the machine

[0440] The human system also includes a fluid transfer connector having a body member and a sleeve including a fluid transfer connector diaphragm, the sleeve and the body member being configured to move relative to each other, wherein the engagement arm is configured to engage the sleeve and the clamping arm is configured to clamp the body member.

[0441] 110. The robotic system of embodiment 109, wherein the sleeve comprises

[0442] A radial stop protruding radially from the sleeve includes a first stop surface facing the body member and an opposite second stop surface, wherein the engagement arm is configured to engage the first stop surface.

[0443] 111. A method for connecting a container accessible via a container septum to a container accessible via a fluid transfer connection.

[0444] A method for transferring fluid between fluid transfer components contacted by a connector, operated by a robotic system, the method comprising:

[0445] operating an engagement arm of the robotic system to engage a sleeve of the fluid transfer connector;

[0446] operating a gripping arm of the robotic system to grip a body member of the fluid transfer connector;

[0447] At least one of the engagement arm and the clamping arm is moved toward the other of the engagement arm and the clamping arm to separate the fluid transfer assembly from the container.

[0448] establishing fluid communication therebetween; and

[0449] The fluid transfer is performed between the fluid transfer assembly and the container.

[0450] 112. The method according to embodiment 111, further comprising:

[0451] This is followed by moving at least one of the engagement arm and the clamping arm away from the other of the engagement arm and the clamping arm.

[0452] 113. A device operable to connect a container accessible through a container septum and a container accessible through a flow

[0453] A robotic system for transferring fluid between fluid transfer components contacted by a septum of a body transfer connector at least partially along an injection axis, the robotic system comprising:

[0454] Controller; and

[0455] a manipulator, the manipulator being controllable by the controller, the manipulator comprising:

[0456] a clamping arm configured to clamp a clamping portion of the fluid transfer assembly; and

[0457] an engagement arm configured to engage the fluid transfer assembly at an engagement portion, at least one of the engagement arm and the clamping arm being displaceable along the injection axis relative to the other of the engagement arm and the clamping arm, the engagement arm and the clamping arm being configured to displace together during at least a portion of the movement of the manipulator.

[0458] 114. The robotic system of embodiment 113, wherein the controller is configured to

[0459] The clamping arm is operated to bring a fluid transfer connector septum of the fluid transfer connector into contact with the container septum, and the engagement arm is operated to secure contact between the container septum and the fluid transfer connector septum during at least a portion of the fluid transfer.

[0460] 115. A robotic system according to any one of embodiments 113 and 114, wherein the

[0461] A manipulator is configured to mechanically couple the engagement arm and the clamping arm.

[0462] 116. The robotic system according to any one of embodiments 113 to 115, comprising

[0463] The engaging arm and the manipulator of the clamping arm are formed as an integral structure.

[0464] 117. A robotic system according to any one of embodiments 113 to 116, wherein the

[0465] The manipulator has a central longitudinal axis and the injection axis is located distally from the central longitudinal axis.

[0466] 118. A robotic system according to any one of embodiments 113 to 117, wherein the

[0467] The engagement arm is coupled to the clamp arm via a resistance member configured to resist the relative movement of the engagement arm and the clamp arm toward each other.

[0468] 119. The robotic system of embodiment 118, wherein the resistance member is configured

[0469] The clamping arm and the engaging arm are displaced away from each other when the fluid transfer is complete.

[0470] 120. A robotic system according to any one of embodiments 113 to 119, wherein the machine

[0471] The human system also includes a fluid transfer connector having a body member and a sleeve including a fluid transfer connector diaphragm, the sleeve and the body member being configured to move relative to each other, wherein the engagement arm is configured to engage the sleeve and the clamping arm is configured to clamp the body member.

[0472] 121. The robotic system of embodiment 120, wherein the sleeve comprises

[0473] A radial stop protruding radially from the sleeve includes a first stop surface facing the body member and an opposite second stop surface, wherein the engagement arm is configured to engage the first stop surface.

[0474] 122. A method for connecting a container accessible via a container septum to a container accessible via a fluid transfer connection.

[0475] A method for transferring fluid between fluid transfer components accessed by a connector at least partially along an injection axis, operated by a robotic system, the method comprising:

[0476] operating an engagement arm of a manipulator of the robotic system to engage an engagement portion of the fluid transfer assembly;

[0477] operating a clamping arm of the manipulator to clamp a clamping portion of the fluid transfer assembly;

[0478] moving the engagement arm and the gripping arm together with the container along the fluid transfer assembly;

[0479] moving at least one of the engagement arm and the clamping arm toward the other of the engagement arm and the clamping arm along the injection axis to establish fluid communication between the fluid transfer assembly and the container; and

[0480] The fluid transfer is performed between the fluid transfer assembly and the container.

[0481] 123. The method according to embodiment 122, further comprising:

[0482] This is followed by moving at least one of the engagement arm and the clamping arm away from the other of the engagement arm and the clamping arm.

[0483] 124. A device operable to connect a container accessible through a container septum and a container accessible through a flow

[0484] A robotic system for transferring fluid between a container and a fluid transfer assembly accessed by a fluid transfer connector, the fluid transfer connector being configured to establish fluid communication between the container and the fluid transfer assembly for the fluid transfer, the fluid transfer connector comprising a main body member and a sleeve capable of shifting relative to each other between an extended position and a telescoping position, the extended position being a normal position, the fluid transfer connector establishing the fluid communication in the telescoping position, the fluid transfer connector comprising a fluid transfer connector septum positioned at the sleeve, the robotic system comprising:

[0485] Controller;

[0486] a manipulator controllable by the controller and configured to manipulate at least one of the container and the fluid transfer assembly to bring the fluid transfer connector septum and the container septum into contact with each other and selectively displace the fluid transfer connector from the extended position into its telescoping position; and

[0487] A touch-fastening mechanism is configured to prevent the manipulator from displacing the fluid transfer connector from the extended position into its telescoping position until a predetermined compression threshold between the container septum and the fluid transfer connector septum is reached.

[0488] 125. The robotic system of embodiment 124, wherein the manipulator is configured to

[0489] At least one of the fluid transfer connector septum and the container septum is urged against the other of the fluid transfer connector septum and the container septum by a compressive force having a variable magnitude.

[0490] 126. The robotic system of embodiment 125, wherein the contact fastening mechanism is

[0491] The device is configured to prevent the manipulator from displacing the fluid transfer connector from the extended position into its telescoping position at least until the compressive force is less than the predetermined compression threshold.

[0492] 127. The robotic system according to embodiment 125 or 126, wherein the contact fastening

[0493] A mechanism is configured to allow the manipulator to displace the fluid transfer connector from the extended position into its telescoping position at least when the compressive force is equal to or greater than the predetermined compression threshold.

[0494] 128. A robotic system according to any one of embodiments 125 to 127, wherein the

[0495] The touch fastening mechanism is configured to allow the manipulator to shift the fluid transfer connector into its telescoping position upon detecting an event indicating that the compressive force is equal to or greater than the predetermined compression threshold.

[0496] 129. A robotic system according to any one of embodiments 124 to 128, wherein the

[0497] The touch fastening mechanism includes mechanical elements.

[0498] 130. A robotic system according to any one of embodiments 124 to 129, wherein the

[0499] The touch fastening mechanism includes a resisting member configured to resist displacement of the fluid transfer connector into its telescoping position by the manipulator.

[0500] 131. The robotic system of embodiment 130, wherein the manipulator comprises a

[0501] an engagement arm configured to engage the sleeve and a clamping arm configured to clamp the body member, the engagement arm and the clamping arm being configured to move relative to each other to shift the fluid transfer connector between the extended position and the telescoping position, wherein

[0502] The engaging arm and the clamping arm are coupled to each other via the resisting member.

[0503] 132. The robotic system of embodiment 131, wherein the articulating arm and the clamp

[0504] The retaining arms are configured to move toward each other to displace the fluid transfer connector into the telescoping position when the resisting member begins to deform.

[0505] 133. The robotic system of embodiment 132, wherein the resisting member is configured

[0506] To prevent said deformation until a minimum threshold force is applied to said resisting member. 134. According to any one of embodiments 132 and 133 when dependent on embodiment 128

[0507] The robotic system of claim 1, wherein the event comprises the start of the deformation.

[0508] 135. The robotic system according to any one of embodiments 132 to 134, wherein the machine

[0509] The human system further comprises a sensor configured to detect the start of deformation and to generate a signal indicative of the start of deformation.

[0510] 136. A robotic system according to any one of embodiments 130 to 135, wherein the

[0511] The resistance member is configured to cause the manipulator to displace the fluid transfer connector into its extended position after the fluid transfer is completed.

[0512] 137. A robotic system according to any one of embodiments 124 to 136, wherein the machine

[0513] The system further includes a fluid transfer connector configured to establish fluid communication between the container and the fluid transfer assembly, the fluid transfer connector having a main body member and a sleeve including a fluid transfer connector septum, the sleeve and the main body member being displaceable relative to each other between an extended position and a telescoping position, the extended position being a normal position, and the fluid transfer connector establishing the fluid communication in the telescoping position.

[0514] 138. A method for connecting a container accessible through a container septum and a container accessible through a container septum comprising a fluid transfer

[0515] Transfer fluid between fluid transfer components that the connector contacts.

[0516] A method of the invention, operated by a robotic system, comprising:

[0517] The manipulator of the robotic system is operated to manipulate at least one of the container and the fluid transfer assembly so that the fluid transfer connector septum and the container are

[0518] The diaphragms are in contact with each other;

[0519] operating the manipulator to manipulate the fluid transfer assembly to press the fluid transfer connector septum against the container septum, at least until a predetermined compression threshold between the container septum and the fluid transfer connector septum is reached;

[0520] The manipulator is operated to displace the fluid transfer connector from its extended position, which is a normal position, into its telescoping position after reaching the predetermined compression threshold, wherein the container and the fluid transfer assembly are in a telescoping position.

[0521] Fluid communication between the components is established;

[0522] The fluid transfer is performed between the fluid transfer assembly and the container.

[0523] 139. The method of embodiment 138, further comprising operating a touch fastening machine

[0524] structure to prevent the manipulator from displacing the fluid transfer connector from the extended position

[0525] into its telescoping position, at least until the predetermined compression threshold is reached.

[0526] 140. A device operable to connect a container accessible through a container septum and a container accessible through a flow

[0527] A robotic system for transferring fluid between fluid transfer components that are touched by a body transfer connector

[0528] The robot system comprises:

[0529] Controller;

[0530] a manipulator operable by the controller and configured to manipulate at least one of the container and the fluid transfer assembly to move the container and the fluid transfer assembly between the container and the fluid transfer assembly;

[0531] establishing fluid communication between the fluid transfer components;

[0532] A sensor is configured to monitor operation of the manipulator and transmit a signal indicative of the monitoring.

[0533] 141. The robotic system of embodiment 140, wherein the manipulator comprises:

[0534] A clamping arm configured to clamp the fluid transfer connector

[0535] holding part; and

[0536] an engagement arm configured to engage the engagement portion of the fluid transfer connector, the engagement arm and the clamping arm configured to move relative to each other to selectively establish the fluid communication, wherein the sensor is configured to monitor the relative movement of the engagement arm and the clamping arm.

[0537] 142. The robotic system of embodiment 140, wherein the sensor is configured to

[0538] A relative position of at least one of the engagement arm and the clamping arm relative to the other of the engagement arm and the clamping arm is monitored.

[0539] 143. A robotic system according to any one of embodiments 141 and 142, wherein the

[0540] The engagement arm is coupled to the clamp arm via a resistance member configured to resist the relative movement between the engagement arm and the clamp arm toward each other.

[0541] 144. The robotic system of embodiment 143, wherein the sensor is configured to

[0542] The resistive member is monitored.

[0543] 145. A robotic system according to any one of embodiments 143 and 144, wherein the

[0544] The resistance member is configured to deform upon the relative movement between the engagement arm and the clamping arm.

[0545] 146. The robotic system of embodiment 145, wherein the sensor is configured to

[0546] The deformation of the resisting member is monitored.

[0547] 147. A robotic system according to any one of embodiments 145 and 146, wherein the

[0548] The resistance member is configured to prevent initiation of the deformation at least until a force equal to or greater than a predetermined threshold is applied to the resistance member.

[0549] 148. The robotic system of embodiment 147, wherein the sensor is configured to

[0550] The force is monitored.

[0551] 149. The robotic system according to any one of embodiments 140 to 148, wherein the machine

[0552] The human system further includes a motor configured to move the manipulator to perform the operation of the manipulator, the motor being configured to consume variable power for moving the manipulator, wherein the sensor is configured to monitor the power consumption.

[0553] 150. The robotic system according to any one of embodiments 140 to 149, wherein the machine

[0554] The human system also includes a fluid transfer connector configured to establish the fluid communication between the container and the fluid transfer assembly, the fluid transfer connector including a main body member and a sleeve that can be displaced relative to each other between an extended position and a collapsed position, the extended position being a normal position, and the fluid transfer connector establishes the fluid communication in the collapsed position, wherein the manipulator is configured to displace the fluid transfer connector between its extended position and collapsed position.

[0555] 151. The robotic system of embodiment 150, wherein the fluid transfer connector

[0556] comprising a fluid transfer conduit associated with the body member and a fluid transfer connector septum associated with the sleeve, the fluid transfer connector being configured to establish the fluid communication between the container and the fluid transfer assembly when the fluid communication portion of the fluid transfer conduit is positioned at a reference position, wherein the controller is configured to receive the signal indicative of the monitoring and determine, based at least thereon, whether the fluid communication portion is positioned at the reference position.

[0557] 152. A robotic system according to embodiment 151 when subordinate to embodiment 142

[0558] system, wherein the body member includes the clamping portion and the sleeve includes the engaging portion, wherein the controller is configured to make the determination based on the relative position of at least one of the engaging arm and the clamping arm relative to the other of the engaging arm and the clamping arm.

[0559] 153. A robotic system according to embodiment 151 when subordinate to embodiment 146

[0560] The system comprises a first embodiment of the present invention and a second embodiment of the present invention wherein the body member comprises the clamping portion and the sleeve comprises the engaging portion, wherein the controller is configured to make the determination based on the deformation of the resisting member.

[0561] 154. A robotic system according to embodiment 151 when subordinate to embodiment 148

[0562] system, wherein the body member includes the clamping portion and the sleeve includes the engaging portion, wherein the controller is configured to make the determination based on the monitoring of the force.

[0563] 155. A robotic system according to embodiment 151 when subordinate to embodiment 149

[0564] system, wherein the body member includes the clamping portion and the sleeve includes the engaging portion, wherein the controller is configured to make the determination based on the monitoring of the power consumption.

[0565] 156. A method for connecting a container accessible through a container septum and a container accessible through a fluid transfer connection

[0566] A method for transferring fluid between fluid transfer components contacted by a connector, operated by a robotic system, the method comprising:

[0567] controlling a manipulator of the robotic system to manipulate at least one of the container and the fluid transfer assembly to establish a contact between the container and the fluid transfer assembly;

[0568] Vertical fluid communication;

[0569] monitoring said operation of said manipulator by sensors of said robotic system;

[0570] as well as

[0571] A signal indicative of the monitoring is transmitted by the sensor.

[0572] 157. The method of embodiment 156, further comprising:

[0573] clamping a clamping portion of the fluid transfer assembly with a clamping arm of the manipulator;

[0574] engaging an engagement portion of the fluid transfer assembly via an engagement arm of the manipulator;

[0575] The engagement arm and the clamping arm are moved relative to each other to selectively establish

[0576] said fluid being in communication;

[0577] The relative movement of the engagement arm and the clamping arm is monitored by the sensor.

[0578] 158. The method of embodiment 157, wherein the engagement arm and the clamping

[0579] The relative movement of the arms includes monitoring a relative position of at least one of the engagement arm and the clamping arm relative to the other of the engagement arm and the clamping arm.

[0580] 159. The method of any one of embodiments 157 and 158, wherein the receiving

[0581] The relative movement of the engagement arm and the gripping arm includes monitoring a resistance member of the robotic system configured to resist the relative movement between the engagement arm and the gripping arm toward each other.

[0582] 160. The method of embodiment 159, wherein monitoring the resistive member comprises monitoring

[0583] The resisting member deforms.

[0584] 161. The method of any one of embodiments 159 and 160, wherein the

[0585] The resisting member includes monitoring a force exerted on the resisting member.

[0586] 162. The method of any one of embodiments 156 to 161, wherein the operation is monitored

[0587] The operation of the manipulator includes monitoring power consumption of a motor configured to move the manipulator to perform the operation.

[0588] 163. The method of any one of embodiments 156 to 162, wherein the operation is monitored

[0589] The operation of the manipulator includes monitoring relative movement between a sleeve and a body member of a fluid transfer connector of the robotic system, and determining, based at least on the monitoring, whether a fluid communication portion of a fluid transfer conduit associated with the fluid transfer connector is positioned at the reference position associated with establishment of the fluid communication.

[0590] 164. A device operable to connect a container accessible through a container septum and a container accessible through a flow

[0591] A robotic system for transferring fluid between fluid transfer components that are touched by a body transfer connector

[0592] The robot system comprises:

[0593] A manipulator configured to manipulate at least one of the container and the fluid transfer assembly to establish a flow between the container and the fluid transfer assembly.

[0594] Body connectivity;

[0595] a motor configured to move the manipulator to establish the fluid communication, the motor configured to consume variable power for moving the manipulator; and

[0596] A controller is configured to monitor the power consumption and control the motor based at least thereon.

[0597] 165. The robotic system of embodiment 164, wherein the motor comprises a motor capable of operating

[0598] A motor shaft operable to cause the movement of the manipulator and an encoder operable to detect a position of the motor shaft, wherein the controller is configured to control the motor based on a combination of the power consumption and the position of the motor shaft.

[0599] 166. A robotic system according to any one of embodiments 164 and 165, wherein the

[0600] The controller is configured to predetermine at least one of an upper limit range and a lower limit range of power consumption, and generate an alarm when it is detected that the power consumption deviates from the predetermined range.

[0601] 167. A robotic system according to any one of embodiments 164 to 166, wherein the

[0602] Power consumption can be measured by the amount of current applied to the motor.

[0603] 168. A robotic system according to any one of embodiments 164 to 167, wherein the machine

[0604] The human system also includes a fluid transfer connector configured to establish the fluid communication between the container and the fluid transfer assembly, the fluid transfer connector including a main body member and a sleeve that can be displaced relative to each other between an extended position and a collapsed position, the extended position being a normal position, and the fluid transfer connector establishes the fluid communication in the collapsed position, wherein the manipulator is configured to displace the fluid transfer connector between its extended position and collapsed position.

[0605] 169. The robotic system of embodiment 168, wherein the fluid transfer connector

[0606] comprising a fluid transfer conduit associated with the body member and a fluid transfer connector diaphragm associated with the sleeve, the fluid transfer connector being configured to establish the fluid communication between the container and the fluid transfer assembly when a fluid communication portion of the fluid transfer conduit is positioned at a reference position, wherein the controller is configured to monitor the position of the fluid communication portion and control the motor based at least thereon.

[0607] 170. A method for connecting a container accessible via a container septum to a container accessible via a fluid transfer connection.

[0608] A method for transferring fluid between fluid transfer components contacted by a connector, operated by a robotic system, the method comprising:

[0609] controlling a manipulator of the robotic system to manipulate at least one of the container and the fluid transfer assembly to establish a contact between the container and the fluid transfer assembly;

[0610] Vertical fluid communication;

[0611] Operate the motors of the robotic system to move the manipulator to establish the flow

[0612] in communication with the motor, wherein operating the motor comprises consuming variable power;

[0613] monitoring the power consumption by a controller of the robotic system; and

[0614] The motor is controlled based at least on the monitoring.

[0615] 171. The method of embodiment 170, further comprising:

[0616] operating a motor shaft of the motor to cause the movement of the manipulator; and detecting a position of the motor shaft by an encoder of the motor;

[0617] Wherein said controlling the motor based at least on said monitoring comprises controlling the motor based on a combination of said power consumption and said position of said motor shaft.

[0618] 172. The robotic system according to any one of embodiments 170 and 171, wherein monitoring

[0619] The power consumption includes at least one of a predetermined upper range and a predetermined lower range of power consumption, and the method further includes generating an alarm when a deviation of the power consumption from the predetermined range is detected.

[0620] 173. A device operable to connect a container accessible through a container septum and a container accessible through a flow

[0621] A robotic system for transferring fluid between a fluid transfer component accessed by a body transfer connector, the fluid transfer connector being configured to establish fluid communication between the container and the fluid transfer component for the fluid transfer, the fluid transfer connector comprising a main body member and a sleeve capable of shifting relative to each other between an extended position and a telescoping position, the extended position being a normal position, and the fluid transfer connector establishing the fluid communication in the telescoping position, the fluid transfer connector comprising a fluid transfer connector septum positioned at a distal end of the sleeve and a fluid transfer conduit extending from a proximal end of the main body member toward the fluid transfer connector septum, the robotic system comprising:

[0622] Controller; and

[0623] A manipulator, the manipulator being controllable by the controller, the manipulator being

[0624] The configuration is:

[0625] applying a variable positioning force to manipulate the fluid transfer assembly through a positioning stage during which the manipulator positions the fluid transfer assembly and / or the container so that the fluid transfer connector septum and the container septum contact each other; and

[0626] A variable penetration force is applied to manipulate the fluid transfer assembly and / or the container through a penetration stage during which at least the tip of the fluid transfer conduit at least partially penetrates at least one of the container septum and the fluid transfer connector septum, wherein a minimum value of the variable penetration force is greater than a maximum value of the variable positioning force.

[0627] 174. The robotic system of embodiment 173, wherein the positioning phase begins with the

[0628] The manipulator moves the fluid transfer assembly and / or the container and ends with the manipulator bringing the fluid transfer connector septum and the container septum into contact with each other, and the penetration phase begins with the tip of the fluid transfer conduit at least partially penetrating at least one of the container septum and the fluid transfer connector septum.

[0629] 175. The robotic system of any one of embodiments 173 and 174, wherein the

[0630] The manipulator can be further controlled by the controller to apply a variable telescoping force to manipulate the fluid transfer assembly through a telescoping stage, during which the sleeve and the body member are displaced relative to each other to reduce the distance between the fluid transfer connector septum and the body member, wherein the manipulator can be further controlled by the controller to continuously increase the variable telescoping force during at least a portion of the telescoping stage.

[0631] 176. The robotic system of embodiment 175, wherein the invagination phase begins at

[0632] Relative movement of the sleeve and body member toward each other begins and ends with displacement of the fluid transfer connector into its telescoping position.

[0633] 177. A robotic system according to embodiment 176 when subordinate to embodiment 174

[0634] system, wherein the telescoping phase at least partially overlaps the penetrating phase.

[0635] 178. The robotic system of embodiment 177, wherein the manipulator is further capable of

[0636] The controller controls to continuously increase the variable telescoping force during at least a portion of the telescoping phase before the penetration phase begins.

[0637] 179. A robotic system according to any one of embodiments 175 to 178, wherein the

[0638] The initial value of the variable telescoping force is greater than the maximum value of the variable positioning force.

[0639] 180. A robotic system according to any one of embodiments 173 to 179, wherein the

[0640] A manipulator is further controllable by the controller to apply a variable tightening force to manipulate at least one of the fluid transfer assembly and the container through a contact tightening stage during which the manipulator tightens the contact between the fluid transfer connector septum and the container septum.

[0641] 181. The robotic system of embodiment 180, wherein the contact fastening phase is

[0642] It begins when the manipulator brings the fluid transfer connector septum and the container septum into contact with each other and ends with the completion of the fluid transfer.

[0643] 182. The robotic system of embodiment 181 when dependent upon embodiment 174, wherein the contact fastening phase at least partially overlaps the penetration phase.

[0644] 183. According to any one of embodiments 181 and 182 when dependent on embodiment 176

[0645] The robotic system of claim 1, wherein the contact fastening phase at least partially overlaps the telescoping phase.

[0646] 184. The robotic system of embodiment 183, wherein the manipulator is further capable of

[0647] The controller controls to increase the variable tightening force at least before the start of the telescoping phase.

[0648] 185. The robotic system of any one of embodiments 183 and 184, wherein the

[0649] An initial value of the variable overlapping force is greater than an initial value of the variable tightening force.

[0650] 186. A robotic system according to any one of embodiments 173 to 185, wherein the machine

[0651] The human system further comprises the fluid transfer connector.

[0652] 187. A method for connecting a container accessible through a container septum and a container accessible through a fluid transfer connection

[0653] The invention relates to a method for transferring fluid between a fluid transfer component accessed by a fluid transfer connector, wherein the fluid transfer connector is configured to establish fluid communication between the container and the fluid transfer component for the fluid transfer, the fluid transfer connector comprising a main body member and a sleeve that can be displaced relative to each other between an extended position and a folded position, the extended position being a normal position, the fluid transfer connector establishing the fluid communication in the folded position, the fluid transfer connector comprising a fluid transfer connector septum positioned at the distal end of the sleeve and a fluid transfer catheter extending from the proximal end of the main body member toward the fluid transfer connector septum, the fluid transfer connector being operated by a robotic system.

[0654] The method comprises:

[0655] operating the robotic system to control a manipulator of the robotic system, comprising:

[0656] applying a variable positioning force to manipulate the fluid transfer assembly through a positioning stage during which the manipulator positions the fluid transfer assembly and / or the container so that the fluid transfer connector septum and the container septum contact each other; and

[0657] A variable penetration force is applied to manipulate the fluid transfer assembly and / or the container through a penetration stage during which at least the tip of the fluid transfer conduit at least partially penetrates at least one of the container septum and the fluid transfer connector septum, wherein a minimum value of the variable penetration force is greater than a maximum value of the variable positioning force.

[0658] 188. The method of embodiment 187, wherein the positioning phase begins when the operation

[0659] The invention also provides a method for providing a fluid transfer connector septum and a fluid transfer connector septum to a fluid transfer apparatus. The method further provides a method for providing a fluid transfer connector septum and a fluid transfer connector septum to a fluid transfer apparatus.

[0660] 189. The method according to any one of embodiments 187 and 189, wherein the method further

[0661] The method further comprises controlling the manipulator to apply a variable telescoping force to manipulate the fluid transfer assembly through a telescoping stage, during which the sleeve and the body member are displaced relative to each other to reduce a distance between the fluid transfer connector septum and the body member, wherein the method further comprises continuously increasing the variable telescoping force during at least a portion of the telescoping stage.

[0662] 190. The method of embodiment 189, wherein the invagination phase begins with the invagination

[0663] Relative movement of the cartridge and the body member toward each other begins and ends with displacement of the fluid transfer connector into its telescoping position.

[0664] 191. The method of embodiment 190 when dependent on embodiment 188, wherein

[0665] The telescoping phase at least partially overlaps the penetrating phase.

[0666] 192. The method of embodiment 191, wherein the method further comprises:

[0667] The variable telescoping force is continuously increased during at least a portion of the phase before the penetration phase begins.

[0668] 193. The method of any one of embodiments 189 to 192, wherein the variable sleeve

[0669] The initial value of the stacking force is greater than the maximum value of the variable positioning force.

[0670] 194. The method of any one of embodiments 187 to 193, wherein the method further

[0671] This includes controlling the manipulator to apply a variable tightening force to manipulate at least one of the fluid transfer assembly and the container through a contact tightening stage during which the manipulator tightens the contact between the fluid transfer connector septum and the container septum.

[0672] 195. The method of embodiment 194, wherein the contact fastening phase begins with

[0673] The manipulator brings the fluid transfer connector septum and the container septum into contact with each other, and ends with the completion of the fluid transfer.

[0674] 196. The method of embodiment 195 when dependent on embodiment 188, wherein

[0675] The touch-fastening phase at least partially overlaps the penetration phase.

[0676] 197. According to any one of embodiments 195 and 196 when dependent on embodiment 190

[0677] The method of claim 1, wherein the contact fastening stage at least partially overlaps the nesting stage.

[0678] 198. The method according to embodiment 197, wherein the method further comprises at least

[0679] The variable tightening force is increased before the start of the telescoping phase.

[0680] 199. The method according to any one of embodiments 197 and 198, wherein the variable sleeve

[0681] An initial value of the stacking force is greater than an initial value of the variable tightening force.

[0682] 200. A device operable to connect a container accessible through a container septum and a container accessible through a flow

[0683] A robotic system for transferring fluid between a fluid transfer component accessed by a body transfer connector, the fluid transfer connector being configured to establish fluid communication between the container and the fluid transfer component for the fluid transfer, the fluid transfer connector comprising a main body member and a sleeve that are displaceable relative to each other between an extended position and a telescoping position, the extended position being a normal position, the fluid transfer connector establishing the fluid communication in the telescoping position, the fluid transfer connector comprising a fluid transfer connector septum positioned at a distal end of the sleeve, the robotic system

[0684] include:

[0685] Controller; and

[0686] a manipulator controllable by the controller, the manipulator configured to apply a variable telescoping force to manipulate the fluid transfer assembly through a telescoping phase during which the sleeve and the body member are displaced relative to each other to reduce a distance between the fluid transfer connector septum and the body member, wherein the manipulator is further controllable by the controller and configured to continuously increase the variable telescoping force during at least a portion of the telescoping phase.

[0687] 201. The robotic system of embodiment 200, wherein the manipulator is further capable of

[0688] The controller controls and is configured to continuously increase the variable telescoping force during at least a majority of the telescoping phase.

[0689] 202. A robotic system according to any one of embodiments 200 and 201, wherein the

[0690] The telescoping phase begins with the initiation of relative movement of the sleeve and body member toward each other and ends with the displacement of the fluid transfer connector into its telescoping position.

[0691] 203. A robotic system according to any one of embodiments 200 to 202, wherein the

[0692] The manipulator is further controllable by the controller and is configured to apply a variable penetration force to manipulate the fluid transfer assembly and / or the container through a penetration stage during which at least the tip of the fluid transfer conduit at least partially penetrates at least one of the container septum and the fluid transfer connector septum.

[0693] 204. The robotic system of embodiment 203, wherein the penetration phase begins at

[0694] The tip of the fluid transfer conduit at least partially penetrates at least one of the container septum and the fluid transfer connector septum initiating and ends with the fluid transfer connector being displaced into its telescoping position.

[0695] 205. The robotic system of embodiment 204, wherein the telescoping phase is at least partially

[0696] Particularly overlaps with the breakthrough phase.

[0697] 206. The robotic system of embodiment 205, wherein the manipulator is further capable of

[0698] The controller controls and is configured to increase the variable telescoping force at least before the start of the penetration phase.

[0699] 207. A robotic system according to any one of embodiments 203 to 206, wherein the

[0700] The initial value of the variable penetration force is greater than the initial value of the variable overlay force.

[0701] 208. A robotic system according to any one of embodiments 200 to 207, wherein the

[0702] The manipulator can also be controlled by the controller and is configured to apply a variable positioning force to manipulate the fluid transfer assembly through a positioning stage, during which the manipulator positions the fluid transfer assembly and / or the container so that the fluid transfer connector septum and the container septum contact each other.

[0703] 209. The robotic system of embodiment 208, wherein the positioning phase begins at

[0704] actuation of the manipulator to move the fluid transfer assembly and / or the container, and

[0705] This ends with the manipulator bringing the fluid transfer connector septum and the container septum into contact with each other.

[0706] 210. A robotic system according to any one of embodiments 208 and 209, wherein the

[0707] The minimum value of the variable telescoping force is greater than the maximum value of the variable positioning force.

[0708] 211. According to any one of embodiments 208 to 210 when dependent on embodiment 203

[0709] The robotic system described above, wherein the minimum value of the variable penetration force is greater than the maximum value of the variable positioning force.

[0710] 212. A robotic system according to any one of embodiments 200 to 211, wherein the

[0711] A manipulator is further controllable by the controller and is configured to apply a variable tightening force to manipulate at least one of the fluid transfer assembly and the container through a contact tightening stage during which the manipulator tightens the contact between the fluid transfer connector septum and the container septum.

[0712] 213. The robotic system of embodiment 212, wherein the contact fastening phase is

[0713] It begins when the manipulator brings the fluid transfer connector septum and the container septum into contact with each other and ends with the completion of the fluid transfer.

[0714] 214. A robotic system according to any one of embodiments 212 and 213, wherein the

[0715] The touch-fastening phase at least partially overlaps the nesting phase.

[0716] 215. The robotic system of embodiment 214, wherein the manipulator is further capable of

[0717] The controller controls and is configured to increase the variable tightening force at least before the start of the telescoping phase.

[0718] 216. A robotic system according to any one of embodiments 214 and 215, wherein the

[0719] An initial value of the variable overlapping force is greater than an initial value of the variable tightening force.

[0720] 217. A robotic system according to any one of embodiments 200 to 216, wherein the machine

[0721] The human system further comprises the fluid transfer connector.

[0722] 218. A method for connecting a container accessible via a container septum to a container accessible via a fluid transfer connection.

[0723] The invention relates to a method for transferring fluid between a fluid transfer component accessed by a fluid transfer connector, wherein the fluid transfer connector is configured to establish fluid communication between the container and the fluid transfer component for the fluid transfer, the fluid transfer connector comprising a main body member and a sleeve that can be displaced relative to each other between an extended position and a folded position, the extended position being a normal position, the fluid transfer connector establishing the fluid communication in the folded position, the fluid transfer connector comprising a fluid transfer connector septum positioned at the distal end of the sleeve and a fluid transfer catheter extending from the proximal end of the main body member toward the fluid transfer connector septum, the fluid transfer connector being operated by a robotic system.

[0724] The method comprises:

[0725] operating the robotic system to control a manipulator of the robotic system, comprising:

[0726] applying a variable telescoping force to manipulate the fluid transfer assembly through a telescoping stage during which the sleeve and the body member are displaced relative to each other to reduce a distance between the fluid transfer connector septum and the body member; and

[0727] The variable telescoping force is continuously increased during at least a portion of the telescoping phase.

[0728] 219. The method of embodiment 218, wherein the method comprises:

[0729] The variable telescoping force is continuously increased during at least a majority of the segment.

[0730] 220. The method of any one of embodiments 218 and 219, wherein the telescoping stage

[0731] A segment begins with the initiation of relative movement of the sleeve and body member toward each other and ends with the displacement of the fluid transfer connector into its telescoping position.

[0732] 221. The method according to any one of embodiments 218 to 220, wherein the method further

[0733] This includes applying a variable penetration force to manipulate the fluid transfer assembly and / or the container through a penetration stage during which at least the tip of the fluid transfer conduit at least partially penetrates at least one of the container septum and the fluid transfer connector septum.

[0734] 222. The method of embodiment 221, wherein the breakthrough phase begins when the flow

[0735] The tip of the fluid transfer catheter at least partially penetrates at least one of the container septum and the fluid transfer connector septum, and ends with the fluid transfer connector being displaced into its telescoping position.

[0736] 223. The method according to embodiment 222, wherein the telescoping stage is at least partially

[0737] The penetration phases overlap.

[0738] 224. The method according to embodiment 223, wherein the method further comprises at least

[0739] The variable telescoping force is increased prior to the initiation of the penetration phase.

[0740] 225. The method according to any one of embodiments 221 to 224, wherein the wearable

[0741] The initial value of the penetration force is greater than the initial value of the variable overlapping force.

[0742] 226. The method of any one of embodiments 218 to 225, wherein the method further

[0743] including applying a variable positioning force to manipulate the fluid transfer assembly through a positioning phase during which the manipulator positions the fluid transfer assembly and / or the

[0744] The container is placed such that the fluid transfer connector septum and the container septum are in contact with each other.

[0745] 227. The method of embodiment 226, wherein the positioning phase begins when the operation

[0746] The controller moves the fluid transfer assembly and / or the container and ends at

[0747] The manipulator brings the fluid transfer connector septum and the container septum into contact with each other. 228. The method according to any one of embodiments 226 and 227, wherein the variable sleeve

[0748] The minimum value of the stacking force is greater than the maximum value of the variable positioning force.

[0749] 229. According to any one of embodiments 226 to 228 when dependent on embodiment 221

[0750] The method of claim 1, wherein the minimum value of the variable penetrating force is greater than the maximum value of the variable positioning force.

[0751] 230. The method of any one of embodiments 218 to 229, wherein the method further

[0752] The invention further comprises applying a variable tightening force to manipulate at least one of the fluid transfer assembly and the container through a contact tightening stage, during which the manipulation

[0753] A device secures the contact between the fluid transfer connector septum and the container septum.

[0754] 231. The method of embodiment 230, wherein the contact fastening phase begins with

[0755] The manipulator brings the fluid transfer connector septum and the container septum into contact with each other, and ends with the completion of the fluid transfer.

[0756] 232. The method according to any one of embodiments 230 and 231, wherein the contacting

[0757] The solidification phase at least partially overlaps with the telescoping phase.

[0758] 233. The method according to embodiment 232, wherein the method comprises at least

[0759] The variable tightening force is increased before the start of the folding phase.

[0760] 234. The method according to any one of embodiments 232 and 233, wherein the variable sleeve

[0761] An initial value of the stacking force is greater than an initial value of the variable tightening force.

[0762] 235. A device operable to connect a container accessible through a container septum and a container accessible through a flow

[0763] A robotic system for transferring fluid between a fluid transfer component accessed by a body transfer connector, the fluid transfer connector being configured to establish fluid communication between the container and the fluid transfer component for the fluid transfer, the fluid transfer connector comprising a main body member and a sleeve that are displaceable relative to each other between an extended position and a telescoping position, the extended position being a normal position, the fluid transfer connector establishing the fluid communication in the telescoping position, the fluid transfer connector comprising a fluid transfer connector septum positioned at a distal end of the sleeve, the robotic system

[0764] include:

[0765] Controller; and

[0766] a manipulator controllable by the controller and configured to:

[0767] applying a variable tightening force to manipulate at least one of the fluid transfer assembly and the container through a contact tightening stage during which the manipulator tightens the contact between the fluid transfer connector septum and the container septum; and

[0768] A variable telescoping force is applied to manipulate the fluid transfer assembly through a telescoping stage during which the sleeve and the body member are displaced relative to each other to reduce a distance between the fluid transfer connector septum and the body member, wherein an initial value of the variable telescoping force is greater than an initial value of the variable tightening force.

[0769] 236. The robotic system of embodiment 235, wherein the contact fastening phase is

[0770] The telescoping phase begins with the manipulator bringing the fluid transfer connector diaphragm and the container diaphragm into contact with each other and ends with the completion of the fluid transfer, and the telescoping phase begins with the initiation of relative movement of the sleeve and the body member toward each other and ends with the fluid transfer connector being displaced into its telescoping position.

[0771] 237. The robotic system of embodiment 236, wherein the contact fastening stage is

[0772] A small part overlaps with the telescoping stage.

[0773] 238. The robotic system of embodiment 237, wherein the manipulator is further capable of

[0774] The controller controls and is configured to increase the variable tightening force at least before the start of the telescoping phase.

[0775] 239. A robotic system according to any one of embodiments 235 to 238, wherein the

[0776] The manipulator can also be controlled by the controller and is configured to apply a variable positioning force to manipulate the fluid transfer assembly through a positioning stage, during which the manipulator positions the fluid transfer assembly and / or the container so that the fluid transfer connector septum and the container septum contact each other.

[0777] 240. The robotic system of embodiment 239, wherein the positioning phase begins at

[0778] actuation of the manipulator to move the fluid transfer assembly and / or the container, and

[0779] This ends with the manipulator bringing the fluid transfer connector septum and the container septum into contact with each other.

[0780] 241. A robotic system according to any one of embodiments 239 and 240, wherein the

[0781] The minimum value of the variable telescoping force is greater than the maximum value of the variable positioning force.

[0782] 242. A robotic system according to any one of embodiments 235 to 241, wherein the

[0783] The manipulator is further controllable by the controller and is configured to apply a variable penetration force to manipulate the fluid transfer assembly and / or the container through a penetration stage during which at least the tip of the fluid transfer conduit at least partially penetrates at least one of the container septum and the fluid transfer connector septum.

[0784] 243. The robotic system of embodiment 242, wherein the penetration phase begins at

[0785] The tip of the fluid transfer conduit at least partially penetrates at least one of the container septum and the fluid transfer connector septum initiating and ends with the fluid transfer connector being displaced into its telescoping position.

[0786] 244. The robotic system of embodiment 243, wherein the telescoping stage is at least partially

[0787] Particularly overlaps with the breakthrough phase.

[0788] 245. A robotic system according to any one of embodiments 243 and 244, wherein the

[0789] The touch-fastening phase at least partially overlaps the penetration phase.

[0790] 246. The robotic system of embodiment 245, wherein the manipulator is further capable of

[0791] The controller controls and is configured to increase the variable telescoping force at least before the start of the penetration phase.

[0792] 247. A robotic system according to any one of embodiments 242 to 246, wherein the

[0793] The initial value of the variable penetration force is greater than the initial value of the variable overlay force.

[0794] 248. A robotic system according to any one of embodiments 235 to 247, wherein the machine

[0795] The human system further comprises the fluid transfer connector.

[0796] 249. A method for connecting a container accessible via a container septum to a container accessible via a fluid transfer connection.

[0797] The invention relates to a method for transferring fluid between a fluid transfer component accessed by a fluid transfer connector, wherein the fluid transfer connector is configured to establish fluid communication between the container and the fluid transfer component for the fluid transfer, the fluid transfer connector comprising a main body member and a sleeve that can be displaced relative to each other between an extended position and a folded position, the extended position being a normal position, the fluid transfer connector establishing the fluid communication in the folded position, the fluid transfer connector comprising a fluid transfer connector septum positioned at the distal end of the sleeve and a fluid transfer catheter extending from the proximal end of the main body member toward the fluid transfer connector septum, the fluid transfer connector being operated by a robotic system.

[0798] The method comprises:

[0799] A manipulator operating a robotic system to control said robotic system comprises:

[0800] applying a variable tightening force to manipulate at least one of the fluid transfer assembly and the container through a contact tightening stage during which the manipulator tightens the contact between the fluid transfer connector septum and the container septum; and

[0801] A variable telescoping force is applied to manipulate the fluid transfer assembly through a telescoping stage during which the sleeve and the body member are displaced relative to each other to reduce a distance between the fluid transfer connector septum and the body member, wherein an initial value of the variable telescoping force is greater than an initial value of the variable tightening force.

[0802] 250. The method according to embodiment 249, wherein the contact fastening stage begins with

[0803] The manipulator brings the fluid transfer connector diaphragm and the container diaphragm into contact with each other and ends with the completion of the fluid transfer, and the collapse phase begins with the initiation of relative movement of the sleeve and the main body toward each other and ends with the fluid transfer connector being displaced into its collapsed position.

[0804] 251. The method according to embodiment 250, wherein the contact fastening stage is at least partially

[0805] overlaps with the telescoping stage.

[0806] 252. The robotic system of embodiment 251, wherein the method further comprises at least

[0807] The variable tightening force is increased prior to the initiation of the telescoping phase.

[0808] 253. The method of any one of embodiments 249 to 252, wherein the method further

[0809] including applying a variable positioning force to manipulate the fluid transfer assembly through a positioning phase during which the manipulator positions the fluid transfer assembly and / or the

[0810] The container is placed such that the fluid transfer connector septum and the container septum are in contact with each other.

[0811] 254. The method of embodiment 253, wherein the positioning phase begins when the operation

[0812] The controller moves the fluid transfer assembly and / or the container and ends at

[0813] The manipulator brings the fluid transfer connector septum and the container septum into contact with each other. 255. The method according to any one of embodiments 253 and 254, wherein the variable sleeve

[0814] The minimum value of the stacking force is greater than the maximum value of the variable positioning force.

[0815] 256. The method of any one of embodiments 249 to 255, wherein the method further

[0816] This includes applying a variable penetration force to manipulate the fluid transfer assembly and / or the container through a penetration stage during which at least the tip of the fluid transfer conduit at least partially penetrates at least one of the container septum and the fluid transfer connector septum.

[0817] 257. The method of embodiment 256, wherein the breakthrough phase begins when the flow

[0818] The tip of the fluid transfer catheter at least partially penetrates at least one of the container septum and the fluid transfer connector septum, and ends with the fluid transfer connector being displaced into its telescoping position.

[0819] 258. The method of embodiment 257, wherein the telescoping stage is at least partially

[0820] The penetration phases overlap.

[0821] 259. The method according to any one of embodiments 257 and 258, wherein the contacting

[0822] The solidification phase at least partially overlaps with the penetration phase.

[0823] 260. The method according to embodiment 259, wherein the method further comprises at least

[0824] The variable telescoping force is increased prior to the initiation of the penetration phase.

[0825] 261. The method of any one of embodiments 256 to 260, wherein the wearable

[0826] The initial value of the penetration force is greater than the initial value of the variable overlapping force.

[0827] 262. A device operable to connect a container accessible through a container septum and a container accessible through a flow

[0828] A robotic system for transferring fluid between a fluid transfer component accessed by a body transfer connector, the fluid transfer connector being configured to establish fluid communication between the container and the fluid transfer component for the fluid transfer, the fluid transfer connector comprising a main body member and a sleeve that are displaceable relative to each other between an extended position and a telescoping position, the extended position being a normal position, the fluid transfer connector establishing the fluid communication in the telescoping position, the fluid transfer connector comprising a fluid transfer connector septum positioned at a distal end of the sleeve, the robotic system

[0829] include:

[0830] Controller; and

[0831] a manipulator controllable by the controller and configured to:

[0832] Applying a variable positioning force to manipulate the fluid transfer assembly through a positioning stage during which the manipulator positions the fluid transfer assembly and

[0833] and / or the container so that the fluid transfer connector septum and the container septum are in contact with each other; and

[0834] A variable telescoping force is applied to manipulate the fluid transfer assembly through a telescoping stage, during which the sleeve and the body member are displaced relative to each other to reduce the distance between the fluid transfer connector septum and the body member, wherein an initial value of the variable telescoping force is greater than a maximum value of the variable positioning force.

[0835] 263. The robotic system of embodiment 262, wherein the positioning phase begins at

[0836] The manipulator moves the fluid transfer assembly and / or the container and ends with the manipulator bringing the fluid transfer connector septum and the container septum into contact with each other, and the telescoping phase begins with the initiation of relative movement of the sleeve and the body member toward each other and ends with the fluid transfer connector being displaced into its telescoping position.

[0837] 264. The robotic system of embodiment 263, wherein the maximum value of the variable telescoping force

[0838] The minimum value is greater than the maximum value of the variable positioning force.

[0839] 265. A robotic system according to any one of embodiments 262 to 264, wherein the

[0840] A manipulator is further controllable by the controller and is configured to apply a variable tightening force to manipulate at least one of the fluid transfer assembly and the container through a contact tightening stage during which the manipulator tightens the contact between the fluid transfer connector septum and the container septum.

[0841] 266. The robotic system of embodiment 265, wherein the contact fastening phase is

[0842] It begins when the manipulator brings the fluid transfer connector septum and the container septum into contact with each other and ends with the completion of the fluid transfer.

[0843] 267. A robotic system according to any one of embodiments 265 and 266, wherein the

[0844] The touch-fastening phase at least partially overlaps the nesting phase.

[0845] 268. The robotic system of embodiment 267, wherein the manipulator is further capable of

[0846] The controller controls and is configured to increase the variable tightening force at least before the start of the telescoping phase.

[0847] 269. A robotic system according to any one of embodiments 267 and 268, wherein the

[0848] An initial value of the variable overlapping force is greater than an initial value of the variable tightening force.

[0849] 270. A robotic system according to any one of embodiments 262 to 269, wherein the

[0850] The manipulator is further controllable by the controller and is configured to apply a variable penetration force to manipulate the fluid transfer assembly and / or the container through a penetration stage during which at least the tip of the fluid transfer conduit at least partially penetrates at least one of the container septum and the fluid transfer connector septum.

[0851] 271. The robotic system of embodiment 270, wherein the penetration phase begins at

[0852] The tip of the fluid transfer conduit at least partially penetrates at least one of the container septum and the fluid transfer connector septum initiating and ends with the fluid transfer connector being displaced into its telescoping position.

[0853] 272. The robotic system of embodiment 271, wherein the telescoping stage is at least partially

[0854] Particularly overlaps with the breakthrough phase.

[0855] 273. The robotic system of embodiment 272, wherein the manipulator is further capable of

[0856] The controller controls and is configured to increase the variable telescoping force at least before the start of the penetration phase.

[0857] 274. A robotic system according to any one of embodiments 270 to 273, wherein the

[0858] The initial value of the variable penetration force is greater than the initial value of the variable overlay force.

[0859] 275. A robotic system according to any one of embodiments 270 to 274, wherein the

[0860] The minimum value of the variable penetration force is greater than the maximum value of the variable positioning force.

[0861] 276. A robotic system according to any one of embodiments 262 to 275, wherein the machine

[0862] The human system further comprises the fluid transfer connector.

[0863] 277. A method for connecting a container accessible through a container septum and a container accessible through a fluid transfer connection.

[0864] A method for transferring fluid between a fluid transfer assembly accessed by a fluid transfer connector, the fluid transfer connector being configured to establish fluid communication between the container and the fluid transfer assembly for the fluid transfer, the fluid transfer connector comprising a main body member and a sleeve capable of shifting relative to each other between an extended position and a telescoping position, the extended position being a normal position, the fluid transfer connector establishing the fluid communication in the telescoping position, the fluid transfer connector comprising a fluid transfer connector septum positioned at a distal end of the sleeve and a fluid transfer conduit extending from a proximal end of the main body member toward the fluid transfer connector septum, the method comprising:

[0865] A manipulator operating a robotic system to control said robotic system comprises:

[0866] Applying a variable positioning force to manipulate the fluid transfer assembly through a positioning stage during which the manipulator positions the fluid transfer assembly and

[0867] and / or the container so that the fluid transfer connector septum and the container septum are in contact with each other; and

[0868] A variable telescoping force is applied to manipulate the fluid transfer assembly through a telescoping stage, during which the sleeve and the body member are displaced relative to each other to reduce the distance between the fluid transfer connector septum and the body member, wherein an initial value of the variable telescoping force is greater than a maximum value of the variable positioning force.

[0869] 278. The robotic system of embodiment 277, wherein the positioning phase begins at

[0870] The manipulator moves the fluid transfer assembly and / or the container and ends with the manipulator bringing the fluid transfer connector septum and the container septum into contact with each other, and the telescoping phase begins with the initiation of relative movement of the sleeve and the body member toward each other and ends with the fluid transfer connector being displaced into its telescoping position.

[0871] 279. The robotic system of embodiment 278, wherein the maximum value of the variable telescoping force

[0872] The minimum value is greater than the maximum value of the variable positioning force.

[0873] 280. A robotic system according to any one of embodiments 277 to 279, wherein the

[0874] The method also includes applying a variable tightening force to manipulate at least one of the fluid transfer assembly and the container through a contact tightening stage during which the manipulator tightens the contact between the fluid transfer connector septum and the container septum.

[0875] 281. The robotic system of embodiment 280, wherein the contact fastening phase is

[0876] It begins when the manipulator brings the fluid transfer connector septum and the container septum into contact with each other and ends with the completion of the fluid transfer.

[0877] 282. The robotic system of any one of embodiments 280 and 281, wherein the

[0878] The touch-fastening phase at least partially overlaps the nesting phase.

[0879] 283. The robotic system of embodiment 282, wherein the method further comprises at least

[0880] The variable tightening force is increased prior to the initiation of the telescoping phase.

[0881] 284. The robotic system of any one of embodiments 282 and 283, wherein the

[0882] An initial value of the variable overlapping force is greater than an initial value of the variable tightening force.

[0883] 285. A robotic system according to any one of embodiments 282 to 284, wherein the

[0884] The method also includes applying a variable penetration force to manipulate the fluid transfer assembly and / or the container through a penetration stage, during which at least the tip of the fluid transfer conduit at least partially penetrates at least one of the container septum and the fluid transfer connector septum.

[0885] 286. The robotic system of embodiment 285, wherein the penetration phase begins at

[0886] The tip of the fluid transfer conduit at least partially penetrates at least one of the container septum and the fluid transfer connector septum initiating and ends with the fluid transfer connector being displaced into its telescoping position.

[0887] 287. The robotic system of embodiment 286, wherein the telescoping stage is at least partially

[0888] Particularly overlaps with the breakthrough phase.

[0889] 288. The robotic system of embodiment 287, wherein the method further comprises at least

[0890] The variable telescoping force is increased prior to the initiation of the penetration phase.

[0891] 289. A robotic system according to any one of embodiments 285 to 288, wherein the

[0892] The initial value of the variable penetration force is greater than the initial value of the variable overlay force.

[0893] 290. A robotic system according to any one of embodiments 285 to 289, wherein the

[0894] The minimum value of the variable penetration force is greater than the maximum value of the variable positioning force.

[0895] 291. A robotic system operable to transfer fluid between a container and a fluid transfer assembly, the robotic system comprising:

[0896] Controller; and

[0897] a manipulator, the manipulator being controllable by the controller, the manipulator comprising:

[0898] a clamping arm configured to clamp a clamping portion of the fluid transfer assembly; and

[0899] A support arm is configured to support the support portion of the fluid transfer assembly at least before the clamping arm clamps the clamping portion.

[0900] 292. A robotic system according to embodiment 291, wherein the robotic system is capable of

[0901] The support arm is operable to transfer fluid at least partially along an injection axis, and the support arm is configured to be stationary relative to the injection axis.

[0902] 293. The robotic system of embodiment 291 or 292, wherein the gripping arm is

[0903] The support arm is configured to be displaceable relative to the support arm, and the support arm is configured to be stationary relative to the clamping arm.

[0904] 294. A robotic system according to any one of embodiments 291 to 293, wherein the

[0905] The manipulator also includes a plunger arm configured to engage a plunger flange portion of a fluid transfer unit of the fluid transfer assembly.

[0906] 295. A robotic system according to any one of embodiments 291 to 294, wherein the

[0907] The manipulator also includes an engagement arm configured to engage the engagement portion of the fluid transfer assembly.

[0908] 296. The robotic system of embodiment 295, wherein the articulated arm is configured to

[0909] The support arm is displaceable relative to the support arm, and the support arm is configured to be stationary relative to the engagement arm.

[0910] 297. A robotic system according to any one of embodiments 291 to 296, wherein the

[0911] The manipulator includes a body, and the support arm includes a protrusion protruding from the body.

[0912] 298. A device operable to provide a fluid transfer assembly between a container and a plunger flange portion.

[0913] A robotic system for transferring fluid between cells, the robotic system comprising:

[0914] Controller; and

[0915] A manipulator capable of being controlled by the controller, the manipulator comprising a plunger support, the plunger support comprising at least a first plunger retaining element and a second plunger retaining element, the first plunger retaining element being configured to accommodate a first plunger flange portion sized to have a first flange size, and the second plunger retaining element being configured to accommodate a second plunger flange portion sized to have a second flange size different from the first flange size.

[0916] 299. The robotic system of embodiment 298, wherein the first plunger holding element

[0917] The component includes a first recess configured to receive the first plunger flange portion therein, the first recess being formed with a first receiving space having a first recess size corresponding to the first flange size, and the second plunger retaining element includes a second recess configured to receive the second plunger flange portion therein, the second recess being formed with a second receiving space having a second recess size corresponding to the second flange size and different from the first recess size.

[0918] 300. The robotic system of embodiment 298 or 299, wherein the plunger supports

[0919] The component also includes a third plunger retaining element, which is configured to accommodate a third plunger flange portion whose size is set to have a third flange size different from the first flange size and the second flange size, and the third plunger retaining element includes a third recessed portion configured to receive the third plunger flange portion therein, and the third recessed portion is formed with a third receiving space having a third recessed portion size corresponding to the third flange size and different from the first recessed portion size and the second recessed portion size.

[0920] 301. A fluid transfer connector comprising:

[0921] A main body member capable of being coupled to a fluid at a unit coupling portion

[0922] a transfer unit, the body member being shaped to define a body lumen;

[0923] A fluid transfer conduit extending axially from the unit coupling portion into the body lumen, the fluid transfer conduit being configured to establish a fluid transfer connection with the fluid transfer unit when the fluid transfer unit is coupled to the unit coupling portion.

[0924] Fluid communication;

[0925] a sleeve coaxially arranged relative to the body member;

[0926] a fluid transfer connector septum mounted at the distal end of the sleeve,

[0927] The sleeve and the main body member are configured to be in an extended position and a telescoping position.

[0928] move relative to each other; and

[0929] a locking mechanism configured to switch between a locked state and an unlocked state to selectively allow and prevent the relative movement of the sleeve and the main body member, wherein the locking mechanism is configured to allow the relative movement between the sleeve and the main body member from the extended position to the telescoping position upon activation of an actuator accessible through an outer wall of the fluid transfer connector.

[0930] 302. A fluid transfer connector according to embodiment 301, wherein the actuator is capable of

[0931] It is actuated by exerting a radial force on it.

[0932] 303. A fluid transfer connector according to any one of embodiments 301 and 302, wherein

[0933] The actuator includes an interior portion at least partially disposed within one of the sleeve and the body member, and an actuating portion accessible via an opening formed in the other of the sleeve and the body member, and

[0934] Wherein applying a radial force on the actuation portion causes actuation of the locking mechanism from at least the locked state to the unlocked state to facilitate movement of the main body member relative to the sleeve from at least the extended position to the telescoping position.

[0935] 304. The fluid transfer connector of any one of embodiments 301 to 303, wherein

[0936] The outer wall of the syringe connector includes a protective surface configured to prevent manual access to the actuator.

[0937] 305. The fluid transfer connection according to embodiment 304 when dependent on embodiment 303.

[0938] The connector comprises a protective surface comprising one or more protective elements surrounding the opening.

[0939] 306. The fluid transfer connector of any one of embodiments 301 to 305, wherein

[0940] The fluid transfer connector inner surface is configured for axial, slidable movement of the actuator therealong to facilitate the movement between the extended position and the telescoping position.

[0941] 307. The fluid transfer connector of embodiment 306, wherein the actuator is configured

[0942] Set to:

[0943] Can be pressed by radial force so as to move from the locked state in the extended position

[0944] Switching to the unlocked state; and

[0945] for subsequent slidable axial movement along the inner surface to transition from the extended position to the telescoping position.

[0946] 308. The fluid transfer connector of any one of embodiments 301 to 307, wherein

[0947] The fluid transfer connector septum includes a through bore extending from a proximal septum surface to a distal septum surface and sized to receive the fluid transfer conduit.

[0948] 309. The fluid transfer connector of any one of embodiments 301 to 308, wherein

[0949] The fluid transfer connector diaphragm is formed as a single piece.

[0950] 310. The fluid transfer connector of any one of embodiments 301 to 309, wherein

[0951] The outer wall of the fluid transfer connector comprises a peripheral wall of the sleeve and terminates at a distal edge of the peripheral wall, the peripheral wall distal edge being axially spaced from a mounting portion of the sleeve to form a gap therebetween, the sleeve mounting portion being configured to mount the fluid transfer connector septum thereon.

[0952] 311. A fluid transfer connector according to embodiment 310, wherein the peripheral wall is connected to a

[0953] One or more beams are connected to the mounting portion.

[0954] 312. The fluid transfer connector of embodiment 311, wherein the fluid transfer connector

[0955] The connector has a longitudinal axis, and the one or more beams include two oppositely facing beams, such that the diaphragm mounting portion extends between the two oppositely facing beams along a plane perpendicular to the longitudinal axis.

[0956] 313. A fluid transfer connector comprising:

[0957] A main body member capable of being coupled to a fluid at a unit coupling portion

[0958] a transfer unit, the body member being shaped to define a body lumen;

[0959] A fluid transfer conduit extending axially from the unit coupling portion into the body lumen, the fluid transfer unit being configured to establish a fluid transfer connection with the fluid transfer unit when the fluid transfer unit is coupled to the unit coupling portion.

[0960] Fluid communication;

[0961] a sleeve coaxially arranged relative to the body member;

[0962] a fluid transfer connector septum mounted at the distal end of the sleeve,

[0963] The sleeve and the main body member are configured to be in an extended position and a telescoping position.

[0964] move relative to each other; and

[0965] a locking mechanism configured to switch between a locked state and an unlocked state to selectively allow and prevent the relative movement of the sleeve and the body member, wherein the locking mechanism is configured to allow the relative movement between the sleeve and the body member from the extended position to the telescoping position when an actuator is activated, wherein the actuator is capable of actuation regardless of an axial force applied to the fluid transfer connector diaphragm.

[0966] 314. A fluid transfer connector according to embodiment 313, wherein the actuator is capable of

[0967] Actuation is performed regardless of the axial force exerted by the container septum on the fluid transfer connector septum.

[0968] 315. A fluid transfer connector according to any one of embodiments 313 and 314, wherein

[0969] The actuator is accessible through an outer wall of the syringe connector.

[0970] 316. A fluid transfer connector according to embodiment 315, wherein the actuator is capable of

[0971] It is actuated by exerting a radial force on it.

[0972] 317. A fluid transfer connector according to any one of embodiments 315 and 316, wherein

[0973] The actuator includes an internal portion at least partially disposed within one of the sleeve and the main body member, and an actuating portion accessible via an opening formed on the other of the sleeve and the main body member, and wherein application of a radial force on the actuating portion causes actuation of the locking mechanism at least from the locked state to the unlocked state to facilitate the movement of the main body member relative to the sleeve at least from the extended position to the folded position.

[0974] 318. A fluid transfer connector according to any one of embodiments 313 to 317, wherein

[0975] An outer wall of the syringe connector includes a protective surface configured to prevent manual access to the actuator.

[0976] 319. A fluid transfer connector according to embodiment 318, wherein the protective surface includes one or more protective elements surrounding the opening.

[0977] 320. The fluid transfer connector of embodiment 319, wherein the fluid transfer connector

[0978] The inner surface is configured for axial, slidable movement of the actuator therealong to facilitate the movement between the extended position and the telescoping position.

[0979] 321. A fluid transfer connector according to embodiment 320, wherein the actuator is configured

[0980] for:

[0981] Can be pressed by radial force so as to move from the locked state in the extended position

[0982] Switching to the unlocked state; and

[0983] for subsequent slidable axial movement along the inner surface to transition from the extended position to the telescoping position.

[0984] 322. The fluid transfer connector of any one of embodiments 313 to 321, wherein

[0985] The fluid transfer connector septum includes a through bore extending from a proximal septum surface to a distal septum surface and sized to receive the fluid transfer conduit.

[0986] 323. A fluid transfer connector according to any one of embodiments 313 to 322, wherein

[0987] The fluid transfer connector diaphragm is formed as a single piece.

[0988] 324. A fluid transfer connector according to any one of embodiments 313 to 323, wherein

[0989] The outer wall of the fluid transfer connector comprises a peripheral wall of the sleeve and terminates at a distal edge of the peripheral wall, the peripheral wall distal edge being axially spaced from a mounting portion of the sleeve to form a gap therebetween, the sleeve mounting portion being configured to mount the fluid transfer connector septum thereon.

[0990] 325. A fluid transfer connector according to embodiment 324, wherein the peripheral wall is connected to a

[0991] One or more beams are connected to the mounting portion.

[0992] 326. The fluid transfer connector of embodiment 325, wherein the fluid transfer connector

[0993] The connector has a longitudinal axis, and the one or more beams include two oppositely facing beams, such that the diaphragm mounting portion extends between the two oppositely facing beams along a plane perpendicular to the longitudinal axis.

[0994] 327. A fluid transfer connector according to any one of embodiments 315 to 326, wherein

[0995] The locking mechanism is configured to prevent manual access to the actuator.

[0996] 328. A fluid transfer connector comprising:

[0997] A body member capable of being coupled to a fluid transfer unit at a unit coupling portion, the body member being shaped to define a housing including the fluid transfer connector.

[0998] the main body cavity having a longitudinal axis;

[0999] A fluid transfer conduit extending axially from the unit coupling portion into the body lumen, the fluid transfer unit being configured to establish a fluid transfer connection with the fluid transfer unit when the fluid transfer unit is coupled to the unit coupling portion.

[1000] Fluid communication;

[1001] A sleeve is coaxially disposed relative to the body member and includes a fluid transfer connector septum mounted at a distal end of the sleeve, the sleeve and body member being configured to move relative to each other between an extended position and a telescoping position.

[1002] movement; and

[1003] A locking mechanism configured to switch between a locked state and an unlocked state to selectively allow and prevent the relative movement of the sleeve and the main body member, wherein the locking mechanism in its locked state is configured to prevent the relative movement between the sleeve and the main body member from the extended position to the nested position by applying an axial force on at least one of the main body member and the sleeve in a direction parallel to the longitudinal axis.

[1004] 329. A fluid transfer connector according to embodiment 328, wherein the locking mechanism is

[1005] The locking mechanism is configured to switch from the locked state to the unlocked state when a radial force is applied to the locking mechanism in a direction perpendicular to the longitudinal axis, and to allow the relative movement of the sleeve and the body member in its unlocked state.

[1006] 330. The fluid transfer connector of embodiment 328 or 329, wherein the locking

[1007] The mechanism includes an actuator configured to prevent the locking mechanism from switching from the locked state into its unlocked state in response to the axial force.

[1008] 331. The fluid transfer connection according to embodiment 330 when dependent on embodiment 329

[1009] The invention relates to a connector, wherein the actuator is configured to switch the locking mechanism from the locked state to the unlocked state in response to the radial force being exerted thereon.

[1010] 332. A fluid transfer connector according to embodiment 330 or 331, wherein the actuation

[1011] The device includes a lockable member, and one of the sleeve and the main body member includes a locking member, which is configured to selectively engage the lockable member in the locked state of the locking mechanism, and the lockable member is configured to prevent it from being released from the locking member by the axial force.

[1012] 333. The fluid transfer connection according to embodiment 332 when dependent on embodiment 329

[1013] The invention relates to a connector, wherein the lockable member is configured to be released from the locking member in response to the radial force.

[1014] 334. A fluid transfer connector comprising:

[1015] A main body member capable of being coupled to a fluid at a unit coupling portion

[1016] a transfer unit, the body member being shaped to define a body lumen;

[1017] A fluid transfer conduit extending axially from the unit coupling portion into the body lumen, the fluid transfer conduit being configured to establish a fluid transfer connection with the fluid transfer unit when the fluid transfer unit is coupled to the unit coupling portion.

[1018] Fluid communication;

[1019] a sleeve coaxially arranged relative to the body member;

[1020] a fluid transfer connector septum mounted at a distal end of the sleeve, the sleeve and the body member being configured to move relative to each other between an extended position in which the fluid transfer connector septum is at an extended distance from the cell coupling portion and an intermediate position in which the fluid transfer connector septum is at an intermediate distance from the cell coupling portion that is less than the extended distance and less than a second distance from the cell coupling portion; and

[1021] A locking mechanism is configured to switch between a locked state and an unlocked state to selectively allow and prevent relative movement of the sleeve and the main body member at the extended position and the intermediate position.

[1022] 335. A fluid transfer connector according to embodiment 334, wherein the sleeve and the

[1023] The body members are configured to move relative to each other between at least one of the extended position and the intermediate position and a telescoping position in which the fluid transfer connector septum is at a telescoping distance from the unit coupling portion that is less than the intermediate distance.

[1024] 336. A fluid transfer connector according to embodiment 335, wherein the sleeve and the

[1025] The body members are configured to move axially relative to each other to transition from at least one of the extended position and the intermediate position to the telescoping position.

[1026] 337. The fluid transfer connector according to any one of embodiments 334 to 336, wherein

[1027] A locking mechanism is configured to selectively permit said movement of said sleeve relative to said body member from at least one of said extended position and said intermediate position upon activation of an actuator accessible through an outer wall of said fluid transfer connector.

[1028] 338. A fluid transfer connector according to embodiment 337, wherein the actuator is capable of

[1029] It is actuated by exerting a radial force on it.

[1030] 339. A fluid transfer connector according to any one of embodiments 337 and 338, wherein

[1031] The actuator includes an internal portion at least partially disposed within one of the sleeve and the main body member, and an actuating portion accessible via an opening formed on the other of the sleeve and the main body member, and wherein application of a radial force on the actuating portion causes actuation of the locking mechanism at least from the locked state to the unlocked state to facilitate the movement of the main body member relative to the sleeve from at least one of the extended position and the intermediate position.

[1032] 340. A fluid transfer connector according to embodiment 339, wherein the syringe connector

[1033] The outer wall of the device includes a protective surface configured to prevent manual access to the actuator.

[1034] 341. A fluid transfer connector according to embodiment 340, wherein the protective surface includes one or more protective elements surrounding the opening.

[1035] 342. A fluid transfer connector according to embodiment 341, wherein the fluid transfer connector

[1036] The inner surface is configured for axial, slidable movement of the actuator therealong to facilitate the movement between the extended position and the telescoping position.

[1037] 343. The fluid transfer connector of embodiment 342, wherein the actuator is configured

[1038] Set to:

[1039] capable of being pressed by a radial force to switch from the locked state to the unlocked state at at least one of the extended position and the intermediate position; and

[1040] for subsequent slidable axial movement along the inner surface to transition between the extended position and the intermediate position.

[1041] 344. A fluid transfer connector according to any one of embodiments 337 to 343, wherein

[1042] The fluid transfer connector septum includes a through bore extending from a proximal septum surface to a distal septum surface and sized to receive the fluid transfer conduit.

[1043] 345. A fluid transfer connector according to any one of embodiments 337 to 344, wherein

[1044] The fluid transfer connector diaphragm is formed as a single piece.

[1045] 346. A fluid transfer connector according to any one of embodiments 337 to 345, wherein

[1046] The outer wall of the fluid transfer connector comprises a peripheral wall of the sleeve and terminates at a distal edge of the peripheral wall, the peripheral wall distal edge being axially spaced from a mounting portion of the sleeve to form a gap therebetween, the sleeve mounting portion being configured to mount the fluid transfer connector septum thereon.

[1047] 347. A fluid transfer connector according to embodiment 346, wherein the peripheral wall is connected via a

[1048] One or more beams are connected to the mounting portion.

[1049] 348. The fluid transfer connector of embodiment 347, wherein the fluid transfer connector

[1050] The connector has a longitudinal axis, and the one or more beams include two oppositely facing beams, such that the diaphragm mounting portion extends between the two oppositely facing beams along a plane perpendicular to the longitudinal axis.

[1051] 349. A fluid transfer connector according to any one of embodiments 337 to 348, wherein

[1052] The locking mechanism is configured to prevent manual access to the actuator.

[1053] 350. A fluid transfer connector comprising:

[1054] A main body member capable of being coupled to a fluid at a unit coupling portion

[1055] a transfer unit, the body member being shaped to define a body lumen;

[1056] A fluid transfer conduit extending axially from the unit coupling portion into the body lumen, the fluid transfer conduit being configured to establish a fluid transfer connection with the fluid transfer unit when the fluid transfer unit is connected to the unit coupling portion.

[1057] Fluid communication;

[1058] a sleeve coaxially arranged relative to the body member;

[1059] The fluid transfer connector diaphragm is installed in the

[1060] at the distal end of the sleeve;

[1061] The sleeve and the body member are configured to move relative to each other between an intermediate position in which the fluid transfer connector diaphragm is at an intermediate distance from the cell coupling portion and a telescoping position in which the fluid transfer connector diaphragm is at less than the intermediate distance from the cell coupling portion.

[1062] the overlapping distance between the two sides; and

[1063] A locking mechanism is configured to switch between a locked state and an unlocked state to selectively allow and prevent relative movement of the sleeve and the main body member in an intermediate state, and the locking mechanism is configured to selectively allow the relative movement of the sleeve and the main body member to transition from at least the intermediate position to the nested position when the actuator is activated.

[1064] 351. A fluid transfer connector according to embodiment 350, wherein the sleeve and the

[1065] The body members are configured to move relative to each other between at least one of the intermediate position and the telescoping position and an extended position in which the fluid transfer connector septum is at an extended distance from the unit coupling portion that is greater than the intermediate distance.

[1066] 352. A fluid transfer connector according to any one of embodiments 350 and 351, wherein

[1067] The locking mechanism includes the actuator, and the actuator includes an actuating portion accessible through an outer wall of the fluid transfer connector.

[1068] 353. A fluid transfer connector according to embodiment 352, wherein the actuator is capable of

[1069] It is actuated by exerting a radial force on it.

[1070] 354. A fluid transfer connector according to any one of embodiments 350 to 353, wherein

[1071] The actuator includes an internal portion at least partially disposed within one of the sleeve and the main body member, and an actuating portion accessible via an opening formed on the other of the sleeve and the main body member, and wherein application of a radial force on the actuating portion causes actuation of the locking mechanism at least from the locked state to the unlocked state to facilitate the movement of the main body member relative to the sleeve at least from the extended position to the folded position.

[1072] 355. A fluid transfer connector according to embodiment 354, wherein the syringe connector

[1073] The outer wall of the device includes a protective surface configured to prevent manual access to the actuator.

[1074] 356. A fluid transfer connector according to embodiment 355, wherein the protective surface includes one or more protective elements surrounding the opening.

[1075] 357. A fluid transfer connector according to embodiment 356, wherein the fluid transfer connector

[1076] The inner surface is configured for axial, slidable movement of the actuator therealong to facilitate the movement between the extended position and the telescoping position.

[1077] 358. A fluid transfer connector according to embodiment 357, wherein the protrusion is

[1078] The configuration is:

[1079] Can be pressed by radial force so as to move from the locked state in the intermediate position

[1080] Switching to the unlocked state; and

[1081] for subsequent slidable axial movement along the inner surface to transition between the intermediate position and the telescoping position.

[1082] 359. A fluid transfer connector according to any one of embodiments 350 to 358, wherein

[1083] The fluid transfer connector septum includes a through bore extending from a proximal septum surface to a distal septum surface and sized to receive the fluid transfer conduit.

[1084] 360. The fluid transfer connector of any one of embodiments 350 to 359, wherein

[1085] The fluid transfer connector diaphragm is formed as a single piece.

[1086] 361. A fluid transfer connector according to any one of embodiments 350 to 360, wherein

[1087] The outer wall of the fluid transfer connector comprises a peripheral wall of the sleeve and terminates at a distal edge of the peripheral wall, the peripheral wall distal edge being axially spaced from a mounting portion of the sleeve to form a gap therebetween, the sleeve mounting portion being configured to mount the fluid transfer connector septum thereon.

[1088] 362. A fluid transfer connector according to embodiment 361, wherein the peripheral wall is connected via a

[1089] One or more beams are connected to the mounting portion.

[1090] 363. The fluid transfer connector of embodiment 362, wherein the fluid transfer connector

[1091] The connector has a longitudinal axis, and the one or more beams include two oppositely facing beams, such that the diaphragm mounting portion extends between the two oppositely facing beams along a plane perpendicular to the longitudinal axis.

[1092] 364. A fluid transfer connector according to any one of embodiments 350 to 363, wherein

[1093] The locking mechanism is configured to prevent manual access to the actuator.

[1094] 365. The fluid transfer connector of embodiment 351 or any one of embodiments 352 to 364 when dependent upon embodiment 351, wherein the locking mechanism is configured to selectively allow the movement of the sleeve relative to the body member upon activation of the actuator to perform any one or more of the following transitions:

[1095] transitioning from the extended position to the intermediate position;

[1096] transitioning from the intermediate position to the telescoping position; and

[1097] Transition from the telescoping position back to the intermediate position or the extended position.

[1098] 366. A fluid transfer connector comprising:

[1099] a sleeve having a sleeve distal end; and

[1100] A fluid transfer connector septum is installed at the distal end of the sleeve and has a septum protruding portion axially protruding from the sleeve, the septum protruding portion being formed in a stepped shape.

[1101] 367. A fluid transfer connector according to embodiment 366, wherein the septum protrusion

[1102] The septum comprises a proximal septum portion having a first circumferential wall with a first circumference and a distal septum portion having a second circumferential wall with a second circumference smaller than the first circumference.

[1103] 368. A fluid transfer connector according to embodiment 367, wherein the second peripheral wall is

[1104] The second circumference is inclined so as to be recessed toward the distal surface of the septum.

[1105] 369. The fluid transfer connector according to any one of embodiments 366 to 368, wherein

[1106] The sleeve is shaped to define a sleeve lumen, wherein the fluid transfer connector septum includes a subsurface septum portion received within the sleeve lumen.

[1107] 370. The fluid transfer connector of embodiment 369, wherein the fluid transfer connector

[1108] The connector has a longitudinal axis, and the subsurface portion of the diaphragm includes a

[1109] A recessed portion of the projection extends medially from the sleeve toward the longitudinal axis.

[1110] 371. A fluid transfer connector according to any one of embodiments 366 to 370, wherein

[1111] The septum projection has a length extending axially from the distal end of the sleeve to a septum distal surface that is at least 20 millimeters.

[1112] 372. A fluid transfer connector according to any one of embodiments 366 to 371, wherein

[1113] The septum projection has a length extending axially from the distal end of the sleeve to a septum distal surface that is at least 30 millimeters.

[1114] 373. A fluid transfer connector according to any one of embodiments 366 to 372, wherein

[1115] The septum projection has a length extending axially from the distal end of the sleeve to a septum distal surface, the length being in the range of at least 15 mm to 30 mm.

[1116] 374. A fluid transfer connector having a proximal end connected to the fluid transfer connector.

[1117] The connector extends between the distal end and is configured to be located at the proximal end of the connector.

[1118] Connected to a fluid transfer unit, the fluid transfer connector comprises:

[1119] a connector body extending from the connector proximal end;

[1120] and

[1121] A septum extends from the connector body and has a septum protruding portion protruding from the connector body toward the connector distal end, the septum protruding portion being formed in a stepped shape.

[1122] 375. A fluid transfer connector according to embodiment 374, wherein the septum protrusion

[1123] The septum comprises a proximal septum portion having a first circumferential wall with a first circumference and a distal septum portion having a second circumferential wall with a second circumference smaller than the first circumference.

[1124] 376. A fluid transfer connector according to embodiment 375, wherein the second peripheral wall is

[1125] The second circumference is inclined so as to recede toward the distal end of the connector.

[1126] 377. A fluid transfer connector according to any one of embodiments 374 to 376, wherein

[1127] The septum includes a subsurface septum portion received within the connector body.

[1128] 378. A method operable to connect a container to a fluid transfer unit and a fluid transfer connection

[1129] A robotic system for transferring fluid between a fluid transfer component accessible by a fluid transfer connector configured to facilitate connection of the fluid transfer component to the container.

[1130] For the fluid transfer, the robotic system comprises:

[1131] Controller; and

[1132] A manipulator is controllable by the controller and is configured to hold and manipulate the fluid transfer assembly, the manipulator being configured to hold the fluid transfer assembly at the fluid transfer connector.

[1133] 379. The robotic system of embodiment 378, wherein the manipulator comprises a gripper

[1134] An arm having at least one gripper element configured to grip a gripping portion of the fluid transfer connector.

[1135] 380. The robotic system of embodiment 378 or 379, wherein the manipulator comprises an engagement arm configured to engage the engagement portion of the fluid transfer connector.

[1136] 381. The robotic system of any one of embodiments 378 to 380, wherein the

[1137] The manipulator is configured to manipulate the fluid transfer assembly while maintaining the fluid transfer unit free from being held by the manipulator.

[1138] 382. The robotic system of any one of embodiments 378 to 381, wherein the

[1139] The manipulator is configured to manipulate the fluid transfer assembly while holding the fluid transfer assembly at a portion remote from the fluid transfer unit.

[1140] 383. A robotic system according to any one of embodiments 378 to 382, ​​wherein the

[1141] The manipulator is configured to manipulate the fluid transfer assembly to secure contact between a fluid transfer connector septum of the fluid transfer connector and a container septum of the container while holding the fluid transfer assembly at the fluid transfer connector.

[1142] 384. The robotic system according to any one of embodiments 378 to 383, wherein the machine

[1143] The human system further includes a fluid transfer connector configured to connect to a fluid transfer unit of the fluid transfer assembly and facilitate connection of the fluid transfer unit with the container for the fluid transfer.

[1144] 385. A robotic system according to embodiment 384 when dependent on embodiment 379.

[1145] The system further comprises a fluid transfer connector comprising a clamping portion configured to be clamped by the clamping arm of the manipulator.

[1146] 386. The robotic system of embodiment 385, wherein the gripping portion comprises

[1147] At least one clampable element is configured to be clamped by the clamp element of the clamp arm.

[1148] 387. A robotic system according to embodiment 386, wherein the at least one grippable

[1149] The element includes a protrusion, and the holder element includes a corresponding recess configured to at least partially receive the protrusion therein.

[1150] 388. The robotic system of embodiment 386, wherein the gripper element comprises

[1151] A protrusion is formed, and the clampable element includes a corresponding recess configured to at least partially receive the protrusion therein.

[1152] 389. A robotic system according to any one of embodiments 384 to 388, wherein the

[1153] The fluid transfer connector includes a fluid transfer connector septum, and the manipulator is configured to secure contact between the fluid transfer connector septum and a vessel septum of the vessel.

[1154] 390. A method for connecting a container accessible through a container septum and a container accessible through a fluid transfer connection

[1155] A method for transferring fluid between fluid transfer components contacted by a connector, by operation of a robotic system, the method comprising operating the robotic system by controlling a manipulator of the robotic system to hold the fluid transfer connector and manipulate the fluid transfer component to perform the fluid transfer.

[1156] 391. A method operable to connect a fluid transfer assembly to a first container and to the fluid transfer assembly

[1157] A robotic system for transferring fluid between a transfer assembly and a second container, the robotic system

[1158] include:

[1159] A first container holder and a second container holder, wherein the first container holder is configured to hold the first container, the second container holder is configured to hold the second container, and the first container holder is connected to the second container via an arc path.

[1160] retainers are spaced apart;

[1161] Controller; and

[1162] a rotatable manipulator rotatable about its rotational axis and comprising a clamping arm configured to clamp the fluid transfer assembly, the controller being configured to rotate the rotatable manipulator to move the clamping arm along the arcuate path while clamping the fluid transfer assembly between a first position aligned with the first container holder and a second position aligned with the second container holder.

[1163] 392. A robotic system according to embodiment 391, wherein the gripping arm is only along the

[1164] The arcuate path moves from the first position to the second position.

[1165] 393. The robotic system of embodiment 391 or 392, wherein the gripping arm is

[1166] A single, continuous motion moves along the arcuate path from the first position to the second position.

[1167] 394. A robotic system according to any one of embodiments 391 to 393, wherein the

[1168] A first container holder is configured to hold the first container at a first distance from the rotation axis taken in a first direction perpendicular to the rotation axis, and

[1169] The second container holder is configured to hold the second container at a second distance from the rotation axis taken in a second direction perpendicular to the rotation axis, the first distance being equal to the second distance.

[1170] 395. The robotic system of embodiment 394, wherein the first direction and the

[1171] The second direction defines an arcuate path angle therebetween, the arcuate path angle corresponding to an arc length of the arcuate path between the first position and the second position.

[1172] 396. A robotic system according to any one of embodiments 391 to 395, wherein the

[1173] A manipulator is configured to move at least a portion of the fluid transfer assembly in a direction parallel to the rotational axis when the fluid transfer assembly is in at least one of the first position and the second position.

[1174] 397. A robotic system according to any one of embodiments 391 to 396, wherein the

[1175] a manipulator configured to establish a first fluid communication between the fluid transfer assembly and the first container when the first container is held by the first container holder, and

[1176] A second fluid communication is established between the fluid transfer assembly and the second container when the second container is held by the second container holder.

[1177] 398. A robotic system according to any one of embodiments 391 to 397, wherein the

[1178] Each of the first container and the second container is accessible via a corresponding container septum, and the fluid transfer assembly includes a clamping portion and a fluid transfer conduit configured to transfer fluid through the container septum.

[1179] 399. A robotic system according to any one of embodiments 391 to 398, wherein the

[1180] The first container and the second container include any of a vial and an IV bag.

[1181] 400. A robotic system according to any one of embodiments 391 to 399, wherein the

[1182] The axis of rotation is the longitudinal axis of the manipulator.

[1183] 401. A machine operable to transfer fluid between a container and a fluid transfer assembly

[1184] The fluid transfer assembly comprises a syringe having a plunger flange and a fluid transfer conduit extending at least partially along an injection axis for injecting fluid into the syringe.

[1185] The robot system is configured to transfer the fluid when the edge is displaced, the robot system comprising:

[1186] Controller; and

[1187] a manipulator, the manipulator being controllable by the controller, the manipulator comprising:

[1188] a plunger arm configured to engage the plunger flange; and

[1189] A clamp arm is configured to clamp a clamp portion of the fluid transfer assembly, the plunger arm being displaceable relative to the clamp arm along the injection axis and configured to displace with the clamp arm during at least a portion of the movement of the manipulator.

[1190] 402. The robotic system of embodiment 401, wherein the controller is configured to

[1191] Operate the manipulator to:

[1192] moving the clamping arm to align the fluid transfer assembly with the container, and

[1193] The plunger arm is moved along the injection axis to displace the plunger flange for transferring the fluid between the container and the syringe.

[1194] 403. The robotic system of embodiment 401 or 402, wherein the manipulator is

[1195] The device is configured to mechanically couple the plunger arm and the clamp arm.

[1196] 404. The robotic system according to any one of embodiments 401 to 403, comprising

[1197] The plunger arm and the manipulator of the clamping arm are formed as an integral structure.

[1198] 405. The robotic system of any one of embodiments 401 to 404, wherein the

[1199] The controller is configured to control the plunger arm so that:

[1200] The plunger arm clamps the plunger flange; and

[1201] The plunger arm axially displaces the plunger flange to transfer the fluid between the syringe and the container.

[1202] 406. The robotic system of any one of embodiments 401 to 405, wherein the manipulator has a central longitudinal axis and the injection axis is positioned away from the central longitudinal axis. BRIEF DESCRIPTION OF THE DRAWINGS

[1203] In order to better understand the subject matter disclosed herein and to illustrate how it may be implemented in practice, examples will now be described, by way of non-limiting example only, with reference to the accompanying drawings, in which:

[1204] Figure 1A is a block diagram illustration of a fluid transfer station within a robotic medication preparation system according to an example of the presently disclosed subject matter;

[1205] Figure 1B is a block diagram illustration of some elements of a syringe connector configured to be deployed with a syringe for transferring fluids in a robotic medication preparation system according to an example of the presently disclosed subject matter;

[1206] Figures 2A to 2F are illustrations of a syringe connector configured to be deployed with a syringe for transferring fluid in a robotic medication preparation system, the syringe connector in an extended position in a partially disassembled state (2A), in an assembled state (2B), Figure 2B A cross-sectional view (2C) of the embodiment of the present invention is shown in a front view; and in a partially disassembled state (2D), in an assembled state (2E) and Figure 2EA cross-sectional illustration (2F) of is shown in side view;

[1207] Figure 2G is a side cross-sectional illustration of a syringe connector shown in an intermediate position;

[1208] Figure 2H is a side cross-sectional illustration of a syringe connector shown in a telescoping position;

[1209] Figure 3A is an elevational pictorial illustration of a fluid transfer station of a robotic medication preparation system constructed and operative in accordance with examples of the presently disclosed subject matter;

[1210] Figure 3B yes Figure 3A A front view drawing illustration of a manipulator of a fluid transfer system;

[1211] Figure 3C and Figure 3D They are in the first and second operation stages respectively. Figure 3B A front view drawing diagram of a pressing mechanism of a manipulator;

[1212] Figure 3E yes Figure 3B A drawing illustration of a plunger arm of a manipulator;

[1213] Figure 3F is constructed and operative in accordance with examples of the presently disclosed subject matter Figure 3C and also includes a graphical representation of a pressing mechanism of the sensor;

[1214] Figure 4A and Figure 4B yes Figure 3B Side view pictorial illustrations of a gripper arm of a manipulator shown alone (4A) and during operation thereof in a robotic medication preparation system (4B);

[1215] Figure 5A and Figure 5B yes Figure 3B Front view pictorial illustrations of an articulated arm of a manipulator of FIG, shown alone (5A) and during operation thereof in a robotic drug preparation system (5B);

[1216] Figure 5C shows an example of a system constructed and operative in accordance with the presently disclosed subject matter. Figure 3A Top view of a portion of;

[1217] Figures 6A to 6C is an illustration of a fluid transfer station in a first stage of operation according to an example of the presently disclosed subject matter, shown in front view (6A), side view (6B), and Figure 6BThe cross-sectional view (6C) shows;

[1218] 7A to 7C is an illustration of a fluid transfer station in a second stage of operation according to an example of the presently disclosed subject matter, shown in front view (7A), side view (7B), and Figure 7B The cross-sectional view (7C) shows;

[1219] Figures 8A to 8C is an illustration of a fluid transfer station in a third stage of operation according to an example of the presently disclosed subject matter, shown in front view (8A), side view (8B), and Figure 8B The cross-sectional view (8C) shows;

[1220] Figures 9A to 9C is an illustration of a fluid transfer station in a fourth stage of operation according to an example of the presently disclosed subject matter, shown in front view (9A), side view (9B), and Figure 9B The cross-sectional view (9C) shows;

[1221] Figures 10A to 10C is an illustration of a fluid transfer station in a fifth stage of operation according to an example of the presently disclosed subject matter, shown in front view (10A), side view (10B), and Figure 10B The cross-sectional view (10C) shows;

[1222] Figures 11A to 11C is an illustration of a fluid transfer station in a sixth stage of operation according to an example of the presently disclosed subject matter, shown in front view (11A), side view (11B), and Figure 11B The cross-sectional view (11C) shows;

[1223] 12A to 12C is an illustration of a fluid transfer station in a seventh stage of operation according to an example of the presently disclosed subject matter, shown in front view (12A), side view (12B), and Figure 12B The cross-sectional view (12C) shows;

[1224] 13A to 13C is an illustration of a fluid transfer station in an eighth stage of operation according to an example of the presently disclosed subject matter, shown in front view (13A), side view (13B), and Figure 13B The cross-sectional view (13C) shows;

[1225] Figure 14 is an illustration of a fluid transfer station in a ninth stage of operation according to an example of the presently disclosed subject matter;

[1226] Figures 15A to 15C is an illustration of a fluid transfer station in a tenth stage of operation according to an example of the presently disclosed subject matter, shown in front view (15A), side view (15B), and Figure 15B The cross-sectional view (15C) shows;

[1227] Figure 16A is an elevational pictorial illustration of a fluid transfer station of a robotic medication preparation system constructed and operative in accordance with another example of the presently disclosed subject matter;

[1228] Figure 16B and Figure 16C yes Figure 16A A front view drawing illustration of the engaging arm and the gripping arm of the manipulator of the fluid transfer system (16B) and Figure 16B a slightly angled closer view of (16C);

[1229] Figure 16D yes 16A to 16C A side view diagrammatic illustration of a gripper arm of a manipulator;

[1230] Figure 16E yes 16A to 16C A front view drawing illustration of an articulated arm of a manipulator;

[1231] Figure 17A and Figure 17B is configured to be used with 16A to 16E A side view illustration of a syringe connector deployed together with a syringe for transferring fluid in a robotic drug preparation system (17A) and Figure 17A A cross-sectional view of (17B);

[1232] Figure 18 is a side cross-sectional illustration of a syringe connector constructed and operative in accordance with another example of the presently disclosed subject matter; and

[1233] 19A to 19C is a front pictorial illustration (19A), a side pictorial illustration (19B) of a syringe connector constructed and operative in accordance with another example of the presently disclosed subject matter, and Figure 19B A cross-sectional view of (19C);

[1234] Figure 20A is a graph illustrating velocity and current of one or more arms of a first manipulator in a first robotic medication preparation system constructed and operative in accordance with examples of the presently disclosed subject matter;

[1235] Figure 20B is a graph illustrating speed and current of one or more arms of a second manipulator in a second conventional robotic medicine preparation system;

[1236] Figure 21A is a perspective pictorial illustration of a fluid transfer station of a robotic medication preparation system constructed and operative in accordance with examples of the presently disclosed subject matter; and

[1237] Figure 21B yes Figure 21A A close up view of the fluid transfer station. DETAILED DESCRIPTION

[1238] The robotic drug preparation system and fluid transfer station described below with reference to the accompanying drawings are configured to perform operations related to transferring drugs between different fluid transfer devices, including containers, fluid transfer components, connectors, catheters, pumps, syringes, vials, IV bags, adapters, needles, etc. It should be understood that for the purposes of brevity and clarity of this specification, the examples described in this specification (with reference to the accompanying drawings and otherwise) are described with reference to only a few components of the fluid transfer device, but all components of the fluid transfer device are encompassed by the scope of this subject matter. Various examples similar to those described herein having different components of the fluid transfer device and having different robotic stations, including different combinations of components of the fluid transfer device and robotic stations, should be considered within the scope of this specification.

[1239] For example, the container is described herein with reference to a vial and / or an IV bag, and it should be understood that the container can be any other container that is a component of a fluid transfer device with or without an adapter or connector for establishing fluid communication between the container and other fluid transfer components. For example, the container can constitute a container assembly having a container and a container connector (or adapter) for establishing fluid communication between the container and other components of the fluid transfer device. For example, the container can be a vial with a vial adapter, or an IV bag with a needle adapter. The container can be accessible via a container septum, which can be a septum of a container cap or can be part of a connector. In some examples, the container can be a syringe, a fluid transfer tube, a catheter, etc.

[1240] Similarly, the fluid transfer assembly is described herein with reference to a syringe assembly including a syringe and a syringe connector, and it should be understood that the fluid transfer assembly may include similar components for transferring medications. In some examples, the fluid transfer assembly may include a pumping mechanism and a fluid transfer tube configured to be connected to a container for drug transfer. In some examples, the fluid transfer assembly may include a fluid transfer connector (or adapter) for establishing fluid communication between a fluid transfer unit (e.g., a fluid transfer tube, a catheter, a pump, a syringe, etc.) and a container. In some examples, the fluid transfer assembly may not include a fluid transfer connector, and the fluid transfer connector may form part of a robotic system that operates the fluid transfer assembly. In some examples, the fluid transfer assembly may include a vial or an IV bag for performing fluid transfer in conjunction with another container.

[1241] Furthermore, in all examples described herein, fluid transfer is described as being performed by a needle penetrating a container septum into a container. It should be understood herein that in some examples, fluid transfer can be performed without a needle penetrating the container septum (i.e., by needle-free fluid transfer), or optionally, without even penetrating the septum of a fluid transfer connector (associated with the fluid transfer assembly). In some examples, fluid transfer can be performed by controlled pressure of a fluid via a fluid transfer conduit, even without a needle. For example, the fluid transfer conduit may or may not include a needle, and if the fluid transfer conduit includes a needle, the needle may fully penetrate both septa, or may fully penetrate one septum and partially penetrate the other septum, or may partially penetrate one septum and not penetrate the other septum at all, or may not penetrate any septum at all.

[1242] The robotic system according to the presently disclosed subject matter is configured to handle and manipulate containers and fluid transfer assemblies to perform fluid transfers in accordance with all of the different examples of containers and fluid transfer assemblies as noted above. For example, although in all of the examples described herein, the robotic system is described as having a manipulator configured to manipulate a fluid transfer assembly (more specifically, a syringe assembly), it should be understood herein that the robotic system (and manipulator) is configured to handle and manipulate either or both of the containers and fluid transfer assemblies in accordance with all of the examples of containers and fluid transfer assemblies as noted above. Furthermore, although in all of the examples described herein, the manipulator is described as a robotic arm, it should be understood herein that the manipulator can be a platform, a robotic station, etc. having a holder for holding fluid transfer device components and moving them relative to each other and performing fluid transfers.

[1243] Specific examples of the robotic system and its components are now explained in detail with reference to the accompanying drawings. The following detailed description of the specific examples is for illustrative purposes, and all examples of components of the fluid transfer device are to be considered within the scope of this specification.

[1244] Figure 1A is a block diagram illustration of a fluid transfer station 10 within a robotic medication preparation system 12. The robotic system may include an automated or partially automated system having a manipulator that is at least partially controlled by a controller unit and may also include one or more drive assemblies for facilitating movement of the manipulator, as will be further described. The medication preparation system 12 includes a robotic system operable to perform any activity related to the preparation of a medication destined for administration to a patient.

[1245] Fluid transfer station 10 is operable to transfer fluid between container 14 and syringe assembly 18. In the illustrated example, the fluid transfer assembly is syringe assembly 18. In some examples, the fluid transfer assembly may be a tube or tubing set associated with a pump.

[1246] Container 14 is configured to be accessible via container septum 16. Syringe assembly 18 includes a syringe septum 20 that is displaceable relative to a needle 22. Needle 22 is operable to extend into container 14 via syringe septum 20 and container septum 16 to transfer fluid between container 14 and syringe assembly 18 via the needle. In some examples, the syringe septum may constitute part of a fluid transfer connector that constitutes part of a robotic system rather than part of the fluid transfer assembly. In some examples, fluid transfer may be performed without a needle by fluid pressure through a slit formed in the septum. In some examples, the needle may be configured to partially and incompletely extend either or both of the septa.

[1247] The container 14 may include any receptacle configured to hold a fluid therein, such as a vial and intravenous (IV) bag described below, or other type of container, such as a pump, e.g., a dispensing pump, an elastomeric pump, an infusion pump, an infusion container, a bottle, an IV container, an IV bottle, and / or a closed or open system IV bottle, as non-limiting examples.

[1248] Fluids typically include medication, diluents, saline solution or water or any other fluid used for drug mixing or reconstitution. Medication can be provided in powder or liquid phase.

[1249] The robotic medication preparation system 12 includes a controller unit 30 operable to control a manipulator 32. The manipulator 32 operates to manipulate the syringe assembly 18 to at least secure contact between the container septum 16 and the syringe septum 20, such as by pressing the syringe septum 20 against the container septum 16. The contact is secured at least during the transfer of fluid via the needle 22 when the needle 22 extends through the container septum 16 and the syringe septum 20 into the container 14 (the extended state of the needle is shown in dashed lines). In some examples, the manipulator can be configured to manipulate the container instead of or in addition to the syringe assembly.

[1250] The container septum 16 and the syringe septum 20 can be formed from an elastic material, which can be defined as a material that can be elastically deformed and substantially rebound to its original shape after deformation. The elastic container septum 16 and the syringe septum 20 are configured to be reversibly pierced by the needle 22 and to reshape to their original form even after repeated piercing by the needle 22, so as to prevent microorganisms from entering the syringe assembly 18 and the container 14 and / or prevent cross-contamination thereof. In addition, the contact between the container septum 16 and the syringe septum 20 is a sealing contact, so as to prevent microorganisms from entering the syringe assembly 18 and the container 14 and / or prevent cross-contamination thereof. In addition, tightening the syringe septum and the container septum via a robotic system can reduce the formation of droplets at the interface of the syringe septum and the container septum. It should be noted that the container septum 16 and the syringe septum 20 can be configured to temporarily deform and radially expand when in tight sealing contact therebetween.

[1251] The container septum 16 and the syringe septum 20 may be formed of the same or different materials.

[1252] In other words, according to some examples of the present subject matter, the robotic system 12 is operable to transfer fluid between a container 14 accessible via a container septum 16 and a syringe assembly 18 including a syringe septum 20. The syringe septum 20 is displaceable relative to a needle 22 to allow the needle 22 to extend through the syringe septum 20 and the container septum 16. The robotic system 12 is operable to bring the container septum 16 into contact with the syringe septum 20 and to extend the needle 22 through the container septum 16 and the syringe septum 20 for transferring fluid via the needle 22 while the needle 22 extends through the container septum 16 and the syringe septum 20. The robotic system 12 is operable to secure contact between the container septum 16 and the syringe septum 20 at least during transfer of fluid via the needle 22 when the needle 22 extends through the container septum 16 and the syringe septum 20, wherein securing contact between the container septum 16 and the syringe septum 20 is performed by the robotic system 12 pressing the container septum 16 and the syringe septum 20 against each other with a minimum force equivalent to a compression threshold.

[1253] In some examples, securing contact between the container septum 16 and the syringe septum 20 is performed by the robotic system 12 additionally pressing the container septum 16 and the syringe septum 20 against each other during extension of the needle through the container septum 16 and the syringe septum 20 and during withdrawal of the needle therefrom.

[1254] Extending needle 22 through container septum 16 and syringe septum 20 may be performed after reducing the predetermined axial distance between syringe assembly 18 and container 14 (which results in advancement of needle 22 toward container 14 and then the aforementioned extension of needle 22). Reducing the predetermined axial distance may be performed by advancing syringe assembly 18 toward container 14. Alternatively, reducing the predetermined axial distance may be performed by advancing container 14 toward syringe assembly 18. Additionally, in some examples, reducing the predetermined axial distance may be performed by advancing container 14 and syringe assembly 18 toward each other.

[1255] The robotic system 12 is operable to transfer fluid between the container 14 and the syringe assembly 18. In some examples, the robotic system includes a manipulator 32 controlled by a controller unit 30. Bringing the container septum 16 into contact with the syringe septum 20 includes engaging the manipulator 32 with a portion of the syringe assembly 18 (e.g., by gripping the syringe assembly) and positioning the syringe assembly 18 coaxially with the container septum 16 at the aforementioned predetermined axial distance from the container 14.

[1256] The robotic medication preparation system 12 may be deployed to prepare any type of medication, including hazardous medications as well as non-hazardous medications prepared in a closed system.

[1257] In some examples, the container septum 16 may include an auxiliary septum added to a conventional container. The auxiliary septum can typically be mounted to the container via a housing such as a container connector. For example, a vial may include a vial adapter having an auxiliary adapter septum.

[1258] In some examples, the container septum 16 may comprise a conventional septum of a commercially available container, such as a pre-existing vial rubber closure or a pre-existing IV bag medication port. Figure 12A 500) can be obtained in various diameters and lengths. As described above, in conventional robotic or non-robotic drug preparation systems, the container septum is housed in a container connector (also referred to as an "adapter") that is designed to fit a port of a predefined size (e.g., diameter and / or length). Therefore, the use of various IV bags or bottles formed with ports of different size settings or connected to different adapters (e.g., from different manufacturers) is not allowed in such drug preparation systems. In addition, pre-existing IV bag drug ports can be manufactured to protrude from various positions on the IV bag, such as from its edge or from its center (e.g., a "navel" IV bag). Therefore, it is difficult to install the container connector on a pre-existing IV bag drug port.

[1259] According to the present application, contact between the syringe septum 20 and the container septum 16 is established and secured by a manipulator 32, which is configured to align and maintain secure contact while being positioned away from both the syringe septum 20 and the container septum 16. The manipulator 32 is operable to apply a sufficient amount of force to maintain secure contact without requiring an auxiliary securing (i.e., securing) device that would restrict drug transfer to a predefined, specific port size. Thus, the robotic drug preparation system of the present application facilitates drug transfer when utilizing containers of various sizes, without being limited to predefined container sizes or port sizes.

[1260] Additionally, eliminating the IV bag connector (and / or vial connector) reduces reliance on auxiliary parts that could malfunction and prevent proper fluid transfer.

[1261] In some examples, contact between the syringe septum 20 and the container septum 16 is secured at least primarily due to the application of an axial force on the syringe assembly 18 and / or the container by the manipulator 32. The manipulator 32 can be configured to engage the syringe assembly 18 or the container 14 at any engaging portion thereof, preferably excluding the syringe septum 20 and the container septum 16. The manipulator 32 can be configured to press the syringe septum 20 against the container septum 16 by indirectly applying an axial force on the syringe septum 20, such as by applying an axial force at an engaging portion that is spaced (e.g., axially) from the syringe septum 20 and the container septum 16.

[1262] In some examples, the syringe assembly 18 may include a syringe connector. The syringe septum 20 may be mounted on the syringe connector. The syringe connector may include any suitable configuration. Figure 1B Exemplary syringe connectors are described.

[1263] Figure 1B 1 is a block diagram illustrating some elements of a syringe connector 50 that may form part of a syringe assembly 18 or a robotic system. The syringe connector 50 includes a body member 52 that is shaped to define a body lumen. The body member 52 can be coupled to a syringe 54 (which, in the illustrated example, is a fluid transfer unit) at a syringe coupling portion 56. A sleeve 58 is coaxially arranged relative to the body member 52, and the syringe septum 20 is mounted at a distal end 60 of the sleeve 58. The needle 22 extends axially from the syringe coupling portion 56 into the body lumen and is configured to establish fluid communication with the syringe 54 when the syringe 54 is coupled to the syringe coupling portion 56.

[1264] The sleeve 58 and the body member 52 are configured to move relative to each other between at least one of the following positions: (i) an extended position in which the needle tip is proximal to the proximal septum surface 62 (shown in solid lines), (ii) an intermediate position in which the needle tip is enclosed within the syringe septum 20 (shown in dashed lines), and (iii) a collapsed position in which the needle tip protrudes beyond the distal septum surface 66 (shown in phantom lines).

[1265] In some examples, the transition from either the extended position and the intermediate position to the telescoped position and from the telescoped position to the intermediate position can be performed by a sleeve 58 that is configured to move only axially relative to the main body member 52. In some examples, the transition from either the extended position and the intermediate position to the telescoped position and from the telescoped position to the intermediate position can be performed by a sleeve 58 that is configured to rotate about the longitudinal axis Lx1(3B) and / or move axially relative to the main body member 52.

[1266] In some examples, the syringe connector may not include a needle, or the needle may not penetrate either of the septa at all, and fluid transfer may be performed by means of fluid pressure through a slit formed in the septa. In such examples, fluid communication is established between the syringe assembly and the container when the syringe connector is displaced into its telescoping position and the extended position is the normal position of the syringe connector. In some examples, the extended position is for sterilization purposes during manufacturing and / or testing, and after sterilization, the syringe connector can be brought to its intermediate position. In such examples, the syringe connector is used in a robotic system from its intermediate position (excluding the extended position), which is the normal position. In the extended state, the syringe septum is at an extended distance from the proximal portion of the syringe connector to which the syringe is connected. In the intermediate state, the syringe septum is at an intermediate distance from the proximal portion of the syringe connector to which the syringe is connected, which is less than the extended distance. In the telescoping state, the syringe septum is at a telescoping distance from the proximal portion of the syringe connector to which the syringe is connected, which is less than the intermediate distance.

[1267] The syringe connector 50 may include a locking mechanism 70 configured to lock the sleeve 58 into the body member 52 in one or more of an extended position and an intermediate position (or a telescoping position or any other position). The locking mechanism is configured to selectively allow and prevent movement of the sleeve 58 relative to the body member 52 from the extended position upon actuation of the actuator 72. In some examples, the actuator 72 is actuatable regardless of whether the syringe connector 50 is connected to any auxiliary septum. The auxiliary septum may include the container septum 16 or a septum that is not engaged with the container 14, such as a stand-alone septum or a septum engaged with another component, such as a septum engaged with an adapter or connector.

[1268] Thus, a syringe connector 50 is provided that is operable to be positioned in at least one of the above-mentioned extended position, intermediate position, or telescoping position. The syringe connector 50 includes a locking mechanism 70 that is activated by an actuator 72 for locking the syringe connector 50 in the extended position or the intermediate position and for facilitating transition to the other position.

[1269] It is noted that in known syringe connectors, controlling the position of needle 22 relative to the syringe septum is not straightforward due to various reasons, such as due to inaccurate tolerances of the syringe connector. In contrast, the locking mechanism 70 described herein facilitates substantially precisely controlling the position of the needle tip relative to the syringe septum 20 so as to be positioned in any one of the following positions: proximal to the septum proximal surface 60 in the extended position; enclosed within the syringe septum 20 in the intermediate position; and protruding beyond the septum distal surface 66 in the telescoped position.

[1270] The syringe connector 50 may be deployed in conventional robotic systems and / or in the robotic medication preparation system 12 of the present application.

[1271] It is noted that the robotic medication preparation system 12 of the present application may utilize the syringe connector 50 described herein or any other type of syringe connector.

[1272] In some examples, a syringe connector may include telescoping portions, such as the sleeve 58 and the body member 52, but may not include the locking mechanism 70. The robotic medication preparation system 12 may be operable for fluid transfer using such a syringe connector lacking the locking mechanism 70.

[1273] In another example, the syringe connector may include a locking mechanism 70 configured to be actuated at any stage of the fluid transfer operation. 6A to 15C In the described operating steps, the actuation of the locking mechanism 70 is described as referring to Figures 6A to 6C It should be understood that the robotic medication preparation system 12 may be configured to actuate the locking mechanism 70 at any stage, such as at any time before the needle 22 is extended into the container 14, for example.

[1274] The syringe connector 50 may be configured in any suitable manner. Figures 2A to 2H An exemplary configuration is described.

[1275] like Figures 2A to 2H, syringe connector 50 includes a sleeve 58 coaxially disposed relative to a body member 52 and includes a syringe septum 20 mounted at a distal end 60 of the sleeve 58. The body member 52 is shaped to define a body lumen and is coupleable to a syringe 54 (1B) at a syringe coupling portion 56. The needle 22 extends axially from the syringe coupling portion 56 into the body lumen.

[1276] The sleeve 58 and the body member 52 are configured to Figure 2C The extended position shown (where the needle tip is proximal to the septum proximal surface 62) is similar to the Figure 2H The sleeve 58 is movable relative to each other between the telescoped position shown (in which the needle tip protrudes beyond the septum distal surface 66). The sleeve 58 can be inserted into the body member 52 along a track 120 (2A) formed on the inner surface 122 of the body member 52. The track 120 is configured to slide along a corresponding groove 124 formed on the outer surface 126 of the sleeve 58.

[1277] It should be appreciated that the body member 52 and sleeve 58 may include any suitable means for being telescoping relative to one another.

[1278] It should also be understood that the main body member 52 can be inserted into the sleeve 58, as shown in FIG. Figure 17A and Figure 17B shown.

[1279] The syringe connector 50 includes a locking mechanism 70 that is configured to selectively allow and prevent the sleeve 58 from moving from an extended position relative to the main body member 52 when the actuator 72 is actuated. The actuator 72 can be formed in any suitable manner and can include a protrusion 138 that can be accessed on the outer wall 140 of the syringe connector 50 so that it can be actuated by applying a force such as a radial or lateral force Fr (2F) (and in some examples and / or an axial force) on the protrusion 138. The radial or lateral force Fr can include a clamping force, a lateral force, a linear bidirectional (squeezing) force, a bilinear force, a bidirectional force, and / or a balanced force. The actuator 72 includes an inner portion 144 (2D) disposed within the sleeve 58. The protrusion 138 protrudes laterally through at least one opening 148 (2B) formed on the main body member 52. Applying a radial force (and / or axial force) Fr on the protrusion 138 causes actuation (i.e., activation) of the locking mechanism 70 from a locked state to an unlocked state and promotes slidable axial movement of the main member 52 relative to the sleeve 58 to transition from the extended position to the intermediate position and / or to the nested position.

[1280] In an alternative example, the inner portion 144 is disposed within the body member 52 and the protruding portion 138 protrudes laterally through at least one opening 148 formed in the sleeve 58, as shown. Figure 17B shown.

[1281] In some examples, the locking mechanism can be configured to enable relative movement of the sleeve and the body member regardless of any axial force applied to the syringe septum in a direction parallel to the longitudinal axis Lx1(3B) of the syringe connector. For example, the locking mechanism can enable relative movement between the sleeve and the body member even when no force is applied to the syringe septum in a direction parallel to the longitudinal axis of the syringe connector.

[1282] In some examples, the locking mechanism in its locked state is configured to prevent relative movement between the sleeve and the body member from the extended position to the telescoping position and / or from the intermediate position (i.e., the normal position) to the telescoping position due to an axial force applied in a direction parallel to the longitudinal axis on at least one of the body member and the sleeve or on the syringe septum. For example, the flat surface 138A (2G) at the bottom of the protrusion 138 prevents relative movement between the sleeve and the body member regardless of an axial force applied in a direction parallel to the longitudinal axis on at least one of the body member and the sleeve or on the syringe septum, at least until the locking mechanism is shifted to its unlocked state. In this example, the protrusion 138 constitutes a lockable member and the opening 148 constitutes a locking member that locks the lockable member, and the locking mechanism is not permitted to shift to the unlocked state in response to the axial force.

[1283] Back to Figures 2A to 2H , the actuator 72 includes a pair of inner portions 144 configured as flexible extensions formed at opposite sides of the sleeve 58. Each of the flexible extensions 144 includes a protruding portion 138 configured as a tab for forming a snap connection with a pair of corresponding openings 148. The pair of corresponding openings 148 are formed at opposite sides of the body member 52 and are arranged to align with the tabs so as to allow the tabs 138 to protrude laterally from the corresponding openings 148 in the locked state.

[1284] The second pair of openings 150 ( 2F) may be disposed along the syringe connector 50 and may be disposed at any suitable location, such as axially co-linear with respect to the first pair of openings 148 .

[1285] In the absence of a force Fr applied to the tab 138 and when aligned with the corresponding first pair of openings 148 or with the corresponding second pair of openings 150, the flexible extension 144 is configured to extend radially therefrom, thereby causing the tab 138 to protrude laterally from the corresponding pair of openings 148 or the pair of openings 150 and positioning the syringe connector 50 in the locked state.

[1286] Figures 2A to 2FThe sleeve 58 and the main body member 52 are shown positioned in the extended position. The tabs 138 protrude from the first pair of openings 148 in the locked state. This extended position can be deployed to allow the needle (including its needle tip, which is positioned proximal to the septum proximal surface 62) to be sterilized. Sterilizing gas that penetrates the syringe connector 50 is thereby allowed to sterilize the needle 22 along with the needle tip. Sterilization is typically performed as described with reference to FIG. Figures 6A to 6C The first operational stage shown in FIG. 1 is performed prior to positioning the syringe connector 50 in the fluid transfer station 10 as further described.

[1287] By applying a force Fr (2F) on the tab 138, the tab 138 is pushed medially toward the longitudinal axis Lx1 (3B) through the first opening 148 and positioned within the inner surface 122 of the body member 52 to transition from the locked state to the unlocked state. In the unlocked state, the body member 52 is slidably movable axially relative to the sleeve 58 to transition from the extended position to the unlocked state. Figure 2G Intermediate positions shown and / or transitions to Figure 2H The nested position is shown.

[1288] Figure 2G The sleeve 58 and body member 52 are shown positioned in an intermediate position. Tabs 138 are positioned to protrude from the second pair of openings 150 in the locked state. The needle tip or opening is positioned to be enclosed within the syringe septum 20, preventing the needle tip from protruding beyond the syringe septum 20. This intermediate position can be configured to prevent contamination of the needle tip and the entry of microorganisms into th...

Claims

1. A robotic system operable to transfer fluid between a container accessible via a container septum and a fluid transfer component accessible via a fluid transfer connector septum, the robotic system comprising: Controller; and a manipulator controllable by the controller and configured to manipulate at least one of the container and the fluid transfer assembly, The controller is configured to operate the manipulator to secure contact between the container septum and the fluid transfer connector septum during at least a portion of the fluid transfer.

2. The robotic system of claim 1 , wherein the controller is further configured to control the manipulator to: contacting the container septum and the fluid transfer connector septum; and During at least a portion of the fluid transfer, the securing of the contact between the container septum and the fluid transfer connector septum is performed by pressing at least one of the container septum and the fluid transfer connector septum against the other of the container septum and the fluid transfer connector septum.

3. The robotic system of claim 1 or 2, wherein the manipulator comprises a pressing mechanism configured to ensure that a predetermined compression threshold between the container diaphragm and the fluid transfer connector diaphragm is reached before the fluid transfer is initiated, wherein reaching the predetermined compression threshold is associated with securing the contact.

4. The robotic system of claim 3, wherein the pressing mechanism is further configured to ensure that the predetermined compression threshold between the container septum and the fluid transfer connector septum is maintained during at least a portion of the fluid transfer.

5. The robotic system according to claim 3 or 4, wherein the controller is configured to operate the manipulator to: aligning the fluid transfer connector septum of the fluid transfer assembly with the container septum of the container; bringing the fluid transfer connector septum and the container septum into contact with each other; pressing at least one of the fluid transfer connector septum and the container septum against the other of the fluid transfer connector septum and the container septum to perform said tightening of said contact between the fluid transfer connector septum and the container septum; and / or performing at least partial penetration of at least one of the fluid transfer connector septum and the container septum by a fluid transfer conduit associated with a fluid transfer connector of the fluid transfer assembly to enable the fluid transfer, wherein the pressing mechanism is configured to ensure that the predetermined compression threshold between the container septum and the fluid transfer connector septum is reached prior to the at least partial penetration.

6. The robotic system of any one of the preceding claims, wherein the manipulator comprises a gripping arm configured to grip a gripping portion of at least one of the fluid transfer component and the container.

7. The robotic system of claim 6, wherein the gripper arm is configured to hold the at least one of the fluid transfer assembly and the container at least partially along a vertical axis.

8. The robotic system of claim 6 or 7, wherein the gripping arm is configured to be controllably movable to allow grasping of the fluid transfer component from a fluid transfer component recycling conveyor configured to store one or more fluid transfer components, and / or to allow grasping of the container from a container recycling conveyor configured to store one or more containers.

9. The robotic system of any one of claims 6 to 8, wherein the clamping arm is configured to be controllably movable relative to a container holder configured to hold the container, and the clamping arm is configured to align the fluid transfer connector diaphragm with the container diaphragm and bring the fluid transfer connector diaphragm into contact with the container diaphragm when the clamping arm holds the fluid transfer assembly.

10. The robotic system according to any one of claims 6 to 9, wherein the manipulator comprises an engagement arm configured to engage the fluid transfer component at an engagement portion when the clamping arm clamps the fluid transfer component, the engagement arm being configured to be axially movable relative to the clamping arm.

11. The robotic system of claim 10, wherein the engagement arm and the gripping arm are coupled such that the engagement arm and the gripping arm are operable to controllably displace axially together or relative to each other.

12. A robotic system according to any one of claims 10 and 11 when dependent on claim 3 or 4, wherein the engagement arm is configured to engage a sleeve of a fluid transfer connector of the fluid transfer assembly, the sleeve being fixedly coupled relative to the fluid transfer connector diaphragm, and the clamping arm is configured to clamp a body member of the fluid transfer connector, the body member being fixedly coupled relative to a fluid transfer conduit of the fluid transfer connector, the controller being configured to cause relative movement between the clamping arm and the engagement arm when the predetermined compression threshold between the container diaphragm and the fluid transfer connector diaphragm is reached to cause the fluid transfer conduit and the fluid transfer connector diaphragm to move at least partially toward each other.

13. The robotic system of claim 12, wherein the manipulator is configured to resist relative movement between the clamping arm and the engagement arm when an axial force below a predetermined compression threshold is applied to cause relative movement between the clamping arm and the engagement arm, the predetermined compression threshold being associated with the predetermined compression threshold.

14. The robotic system of claim 13, wherein the engagement arm and the gripping arm are coupled via a resisting member that resists the relative movement of the gripping arm and the engagement arm toward each other.

15. The robotic system of claim 14, wherein the resistance member is configured to move the engagement arm and the clamping arm away from each other after the fluid transfer is completed.

16. The robotic system of any one of claims 12 to 15, wherein the engagement arm is configured to abut against a radial stop at the engagement portion when the fluid transfer connector diaphragm contacts the container diaphragm, and the manipulator is configured to cause relative movement between the clamp arm and the engagement arm only after a predetermined compression threshold force is applied, thereby pressing the fluid transfer connector diaphragm to the container diaphragm so that the contact between the fluid transfer connector diaphragm and the container diaphragm reaches the predetermined compression threshold before the fluid transfer conduit and the fluid transfer connector diaphragm move at least partially toward each other.

17. The robotic system according to any one of the preceding claims, further comprising a container holder configured to hold the container along a container longitudinal axis.

18. The robotic system of claim 17, wherein the container holder comprises a vial holder configured to support at least one vial and / or an IV bag holder configured to support at least one IV bag.

19. The robotic system according to any one of claims 17 and 18, wherein the manipulator is configured to move towards the container holder.

20. The robotic system of any one of claims 17 to 19, wherein the container holder is configured to move towards the manipulator.

21. The robotic system according to any one of claims 10 to 20, wherein the controller is further configured to rotate the gripper arm and the engagement arm together about a rotation axis.

22. The robotic system according to any one of claims 10 to 21, wherein the controller is configured to control the engagement arm and the gripping arm such that: The clamping arm clamps a body member of the fluid transfer connector, the body member fixedly coupled relative to a fluid transfer conduit of the fluid transfer connector, aligns the fluid transfer assembly with the container, and brings the fluid transfer connector septum into contact with the container septum; the engagement arm engaging a sleeve of the fluid transfer connector of the fluid transfer assembly, the sleeve fixedly coupled relative to the fluid transfer connector septum, pressing the fluid transfer connector septum against the container septum to perform the tightening of the contact between the fluid transfer connector septum and the container septum; and / or The clamping arms cause telescopic movement of the body member and the sleeve toward one another, which performs at least partial movement of the fluid transfer conduit and the fluid transfer connector septum toward one another to facilitate the fluid transfer.

23. The robotic system of claim 22, wherein the clamping arm is further configured to apply a radial force on an outer wall of the fluid transfer component, and the controller is configured to control the clamping arm to selectively apply the radial force to press a fluid transfer connector actuator of the fluid transfer component.

24. The robotic system of any one of the preceding claims, wherein the fluid transfer assembly comprises a syringe, the robotic system further comprising a plunger arm configured to operate a plunger of the syringe, and wherein the controller is configured to control the plunger arm to: clamping a plunger flange portion of the plunger; and The plunger flange is axially displaced to transfer the fluid between the syringe and the container.

25. The robotic system of claim 22, wherein the controller is configured to control the engagement arm and the gripping arm such that: After the fluid is transferred, the clamping arm moves the body member away from the sleeve; and The engagement arm and the clamping arm are pulled apart from the container for disconnecting the fluid transfer connector septum from the container septum.

26. The robotic system of claim 25, wherein the controller is configured to operate the clamp arm to move the body member away from the sleeve after fluid transfer.

27. The robotic system of claim 26 when dependent on claim 23, wherein the controller is configured to operate the clamping arm to cease applying the radial force after the body member moves away from the sleeve.

28. The robotic system of claim 27, wherein the controller is configured to operate the gripper arm to perform the following operations simultaneously or sequentially: clamping the body member, aligning the fluid transfer assembly with the container, and contacting the fluid transfer connector septum with the container septum; and The radial force is selectively applied to depress the fluid transfer connector actuator of the fluid transfer assembly.

29. The robotic system according to any one of claims 10 to 28, wherein the controller is configured to control the engagement arm and the gripping arm such that: Any one of the engagement arm and the clamping arm clamps the fluid transfer assembly, aligns the fluid transfer assembly with the container, and brings the fluid transfer connector septum into contact with the container septum; and Either the engagement arm or the clamping arm presses the fluid transfer connector septum against the container septum to secure contact between the fluid transfer connector septum and the container septum.

30. The robotic system of any one of claims 10 to 29, wherein the engagement arm and the gripping arm are arranged to contact the fluid transfer component at the fluid transfer connector.

31. The robotic system of any one of claims 10 to 30, wherein the engagement arm is formed with a pressing surface configured to press on a radial stopper of the fluid transfer component to perform the tightening of the contact between the container diaphragm and the fluid transfer connector diaphragm.

32. The robotic system of claim 31, wherein the pressing surface of the engagement arm comprises an arcuate portion sized to surround the fluid transfer component and form a radial gap with an outer wall of the fluid transfer component.

33. The robotic system of claim 31, wherein the pressing surface of the engagement arm is configured to cooperate with an outer surface of the fluid transfer component such that no radial gap exists between an outer wall of the fluid transfer component and the pressing surface.

34. The robotic system of any one of claims 10 to 33, wherein the clamping arm comprises at least one protruding element configured to exert a radial force on an outer wall of the fluid transfer component when the fluid transfer component is manipulated by the robotic system.

35. The robotic system of claim 34, wherein the protruding element of the gripper arm comprises a plate formed with an arcuate groove.

36. The robotic system of any one of claims 34 and 35, wherein the clamping arm comprises two oppositely facing plates, the two oppositely facing plates comprising a first pair of protruding elements and a second pair of protruding elements, the first pair of protruding elements and the second pair of protruding elements being configured to contact a first pair of openings and a second pair of openings on the outer wall of the fluid transfer component.

37. The robotic system of claim 36, wherein the two oppositely facing plates are configured to be spaced apart from each other to form a gap therebetween.

38. The robotic system of claim 12 and claims 13 to 37 when dependent on claim 12, wherein the compression mechanism is further configured to ensure that the predetermined compression threshold between the container septum and the fluid transfer connector septum is maintained after the fluid transfer is completed at least until the fluid transfer conduit moves away from the fluid transfer connector septum.

39. A robotic system according to any one of claims 1 to 38, further comprising a fluid transfer connector extending between a connector proximal end of a fluid transfer unit configured to be connected to the fluid transfer assembly and a connector distal end including the fluid transfer connector diaphragm, the fluid transfer connector being configured to establish fluid communication between the fluid transfer unit and the container for the fluid transfer.

40. The robotic system of claim 39, wherein the fluid transfer connector comprises: a connector body extending from the connector proximal end toward the body distal end; and The fluid transfer connector septum includes a septum protrusion extending from the body distal end toward the connector distal end.

41. The robotic system of claim 40, the fluid transfer connector septum comprising a septum proximal end positioned toward the connector body and a septum distal end constituting the connector distal end.

42. The robotic system according to any one of claims 39 to 41, wherein the fluid transfer connector comprises a main body member and a sleeve that are capable of shifting relative to each other between an extended position and a folded position, wherein the extended position is a normal position and the fluid transfer connector establishes the fluid communication in the folded position.

43. The robotic system of claim 42, wherein the manipulator is configured to displace the fluid transfer connector into the telescoped position after securing the contact between the fluid transfer connector septum and the container septum.

44. A robotic system according to claim 42 or 43 when dependent on claim 3, wherein the manipulator is configured to shift the fluid transfer connector into the nested position after reaching the predetermined compression threshold thereby securing the contact between the fluid transfer connector diaphragm and the container diaphragm.

45. The robotic system of any one of claims 42 to 44, wherein the fluid transfer connector comprises a locking mechanism configured to shift between a locked state in which the locking mechanism prevents the fluid transfer connector from shifting into its telescoping position and an unlocked state in which the locking mechanism allows the fluid transfer connector to shift into its telescoping position.

46. ​​The robotic system of claim 45, wherein the manipulator is configured to shift the locking mechanism into its unlocked state after securing the contact between the fluid transfer connector septum and the container septum.

47. A method for transferring fluid between a container accessible via a container septum and a fluid transfer assembly accessible via a fluid transfer connector septum, operated by a robotic system, the method comprising: contacting the container septum of the container with the fluid transfer connector septum of the fluid transfer assembly; pressing at least one of the container septum and the fluid transfer connector septum onto the other of the container septum and the fluid transfer connector septum and securing the contact between the container septum and the fluid transfer connector septum; transferring fluid through the container septum and the fluid transfer connector septum; as well as Secured contact between the container septum and the fluid transfer connector septum is maintained during at least a portion of the fluid transfer.

48. The method of claim 47, wherein said securing said contact between said container septum and said fluid transfer connector septum comprises pressing at least one of said container septum and said fluid transfer connector septum against the other of said container septum and said fluid transfer connector septum at least until a predetermined compression threshold between said container septum and a fluid transfer connector syringe septum is reached.

49. The method according to any one of claims 47 and 48, further comprising operating, by a controller, a manipulator of the robotic system to: engaging the manipulator with a portion of at least one of the container and the syringe assembly; and The container septum and the fluid transfer connector septum are coaxially positioned.

50. The method of claim 49, wherein pressing at least one of the container septum and the fluid transfer connector septum against the other of the container septum and the fluid transfer connector septum comprises moving a fluid transfer conduit associated with the fluid transfer assembly and the fluid transfer connector septum at least partially toward each other.

51. The method of any one of claims 47 to 50, wherein pressing at least one of the container septum and the fluid transfer connector septum against the other of the container septum and the fluid transfer connector septum comprises advancing the manipulator toward the container.

52. The method of any one of claims 47 to 51, wherein pressing at least one of the container septum and the fluid transfer connector septum against the other of the container septum and the fluid transfer connector septum comprises advancing the container toward the manipulator.

53. The method of any one of claims 47 to 52, wherein securing the contact between the container septum and the fluid transfer connector septum comprises making the contact a tight seal.

54. The method of any one of claims 47 to 53, further comprising operating a manipulator of the robotic system via a controller to engage an engagement arm of the manipulator at a portion of the fluid transfer assembly distal from the fluid transfer connector diaphragm.

55. The method according to any one of claims 47 to 54, further comprising: A fluid transfer connector is provided, the fluid transfer connector comprising: The main components, and a sleeve coaxially arranged with the body member, the sleeve and the body member being movable relative to each other, the fluid transfer connector septum being mounted at a distal end of the sleeve; providing a clamping arm configured to clamp at least a portion of the fluid transfer assembly; controlling the clamp arm to coaxially position the clamp arm at a predetermined axial distance from the container while the clamp arm clamps the fluid transfer assembly; and The clamp arm is advanced toward the container to cause telescopic relative movement of the body member and the sleeve toward each other.

56. A robotic system operable to transfer fluid between a container accessible via a container septum and a fluid transfer assembly accessible via a fluid transfer connector, the fluid transfer connector having a body member and a sleeve including a fluid transfer connector septum, the sleeve and body member being configured to move relative to each other upon activation of a locking mechanism, the robotic system comprising: Controller; and a manipulator controllable by the controller and configured to manipulate the fluid transfer assembly, the manipulator configured to grip the fluid transfer assembly and activate the locking mechanism, The controller is configured to operate the manipulator to move the sleeve and the body member relative to each other and transfer fluid between the fluid transfer assembly and the container when the locking mechanism is activated.

57. The robotic system of claim 56, wherein the controller is configured to operate the manipulator to bring the fluid transfer connector septum and the container septum into contact with each other.

58. The robotic system of claim 57, wherein the controller is configured to operate the manipulator to secure the contact between the container septum and the fluid transfer connector septum during at least a portion of the fluid transfer.

59. The robotic system of any one of claims 56 to 58, wherein the manipulator is configured to activate the locking mechanism by activating an actuator accessible through an outer wall of the fluid transfer connector.

60. The robotic system of any one of claims 56 to 59, wherein the manipulator comprises a gripping arm configured to grip a gripping portion of the fluid transfer component.

61. The robotic system of claim 60, wherein the clamp arm is configured to hold the fluid transfer assembly at least partially along a vertical axis.

62. The robotic system of any one of claims 56 to 61, wherein the manipulator is configured to be controllably movable to allow grasping of the fluid transfer component from a fluid transfer component recirculation conveyor configured to store one or more fluid transfer components.

63. The robotic system of any one of claims 56 to 62, wherein the manipulator arm is configured to be controllably movable relative to a container holder configured to hold the container such that the manipulator is configured to align and contact the fluid transfer connector diaphragm with the container diaphragm.

64. A robotic system according to claim 60 or any one of claims 61 to 63 when dependent on claim 60, wherein the manipulator includes an engagement arm, the engagement arm being configured to engage the fluid transfer component at a engagement portion, the engagement arm being configured to be axially movable relative to the clamping arm.

65. The robotic system of claim 64, wherein the engagement arm and the clamping arm are coupled such that the engagement arm and the clamping arm are operable to controllably displace axially together or relative to each other.

66. A robotic system according to any one of claims 64 and 65, wherein the controller unit is configured to cause relative movement between the clamping arm clamping the main body member and the engaging arm engaging the sleeve when a predetermined compression threshold between the container diaphragm and the fluid transfer connector diaphragm is reached, so as to cause the fluid transfer conduit associated with the main body member to move at least partially toward the fluid transfer connector diaphragm.

67. The robotic system of any one of claims 64 to 66, wherein the manipulator is configured to resist relative movement between the clamping arm and the engagement arm when an axial force below a predetermined compression threshold is applied to cause the relative movement.

68. The robotic system according to any one of claims 64 to 67, wherein the engagement arm and the clamping arm are coupled via a resistance member that resists the relative movement between the clamping arm and the engagement arm toward each other.

69. The robotic system of claim 68, wherein the resistance member is configured to move the engagement arm and the clamping arm away from each other after the fluid transfer is completed.

70. A robotic system according to any one of claims 64 to 69, wherein the engagement arm is configured to abut against a radial stop at the sleeve when the fluid transfer connector diaphragm contacts the container diaphragm, and the manipulator is configured to cause relative movement between the clamping arm and the engagement arm to occur only after a predetermined compression threshold force is applied, thereby pressing the fluid transfer connector diaphragm to the container diaphragm so that the contact between the fluid transfer connector diaphragm and the container diaphragm reaches a predetermined compression threshold before the fluid transfer conduit associated with the main body member and the fluid transfer connector diaphragm move at least partially toward each other.

71. The robotic system of any one of claims 64 to 70, further comprising a container holder configured to hold the container along a container longitudinal axis.

72. The robotic system of claim 71, wherein the container holder comprises a vial holder configured to support at least one vial and / or an IV bag holder configured to support at least one IV bag.

73. The robotic system of any one of claims 70 and 72, wherein the manipulator is configured to move toward the container holder.

74. The robotic system of any one of claims 70 to 73, wherein the container holder is configured to move towards the manipulator.

75. The robotic system of any one of claims 64 to 74, wherein the controller is further configured to rotate the gripper arm and the engagement arm together about a rotation axis.

76. The robotic system according to any one of claims 64 to 75, wherein the controller is configured to control the engagement arm and the gripping arm such that: The clamping arm clamps the body member, aligns the fluid transfer assembly with the container, and brings the fluid transfer connector septum into contact with the container septum; the engagement arm engages the sleeve and presses the fluid transfer connector septum against the container septum to secure contact between the fluid transfer connector septum and the container septum; and / or The clamping arms cause telescopic movement of the body member and the sleeve toward one another, which performs at least partial movement of a fluid transfer conduit associated with the body member and the fluid transfer connector septum toward one another to facilitate the fluid transfer.

77. The robotic system of claim 76, wherein the clamping arm is further configured to apply a radial force on an outer wall of the fluid transfer component, and the controller is configured to control the clamping arm to selectively apply the radial force to press a fluid transfer connector actuator of the fluid transfer component.

78. The robotic system according to any one of claims 64 to 77, wherein the fluid transfer assembly comprises a syringe, wherein the robotic system further comprises a plunger arm configured to operate a plunger of the syringe, and wherein the controller is configured to control the plunger arm to: a plunger flange portion that clamps the plunger; and The plunger flange is axially displaced to transfer the fluid between the syringe and the container.

79. The robotic system of any one of claims 64 to 78, wherein the controller is configured to control the engagement arm and the gripping arm such that: After the fluid is transferred, the clamping arm moves the body member away from the sleeve; and The engagement arm and the clamping arm are pulled apart from the container for disconnecting the fluid transfer connector septum from the container septum.

80. The robotic system of claim 79, wherein the controller is configured to operate the clamp arm to move the body member away from the sleeve after fluid transfer.

81. The robotic system of claim 80 when dependent upon claim 77, wherein said controller is configured to operate said clamping arm to cease applying said radial force after said body member moves away from said sleeve.

82. The robotic system of claim 81 , wherein the controller is configured to operate the gripper arm to perform the following operations simultaneously or sequentially: clamping the body member, aligning the fluid transfer assembly with the container, and contacting the fluid transfer connector septum with the container septum; and The radial force is selectively applied to depress the fluid transfer connector actuator of the fluid transfer assembly.

83. The robotic system of any one of claims 64 to 82, wherein the controller is configured to control the engagement arm and the gripping arm such that: Any one of the engagement arm and the clamping arm clamps the body member, aligns the fluid transfer assembly with the container, and brings the fluid transfer connector septum into contact with the container septum; Any one of the engagement arm and the clamping arm presses the fluid transfer connector septum against the container septum to secure contact between the fluid transfer connector septum and the container septum; and / or Any one of the engagement arm and the clamping arm causes the relative movement between the body member and the sleeve.

84. The robotic system of any one of claims 64 to 83, wherein the engagement arm and the gripping arm are arranged to contact the fluid transfer component at the fluid transfer connector.

85. The robotic system of any one of claims 64 to 84, wherein the engagement arm is formed with a pressing surface configured to press on a radial stopper of the fluid transfer component to perform tightening of the contact between the container diaphragm and the fluid transfer connector diaphragm.

86. The robotic system of claim 85, wherein the pressing surface of the engagement arm comprises an arcuate portion sized to surround the fluid transfer component and form a radial gap with an outer wall of the fluid transfer component.

87. The robotic system of claim 86, wherein the pressing surface of the engagement arm is configured to cooperate with an outer surface of the fluid transfer component such that no radial gap exists between the outer wall of the fluid transfer component and the pressing surface.

88. The robotic system of any one of claims 64 to 87, wherein the clamping arm comprises at least one protruding element configured to exert a radial force on an outer wall of the fluid transfer component when the fluid transfer component is manipulated by the robotic system.

89. The robotic system of claim 88, wherein the protruding element of the clamping arm comprises a plate formed with an arcuate groove.

90. The robotic system of claim 89, wherein the clamping arm comprises two oppositely facing plates, the two oppositely facing plates comprising a first pair of protruding elements and a second pair of protruding elements, the first pair of protruding elements and the second pair of protruding elements being configured to contact a first pair of openings and a second pair of openings on the outer wall of the fluid transfer component.

91. The robotic system of claim 90, wherein the two oppositely facing plates are configured to be spaced apart from each other to form a gap therebetween.

92. The robotic system according to any one of claims 56 to 91, further comprising a fluid transfer connector, the fluid transfer connector comprising: a body member capable of being coupled to a fluid transfer unit of the fluid transfer assembly at a unit coupling portion; a sleeve coaxially arranged relative to the body member; a fluid transfer connector septum mounted at a distal end of the sleeve, the sleeve and the body member being configured to move relative to each other between an extended position being a normal position and a telescoped position, in which the fluid transfer connector is configured to establish fluid communication between the fluid transfer unit and the container for the fluid transfer; and A locking mechanism configured to switch between a locked state and an unlocked state to selectively allow and prevent relative movement of the sleeve and the main body member, wherein the locking mechanism is configured to allow the relative movement between the sleeve and the main body member from the extended position to the folded position when an actuator accessible through the outer wall of the fluid transfer connector is activated.

93. The robotic system of claim 92, wherein the manipulator is configured to grip the fluid transfer assembly and switch the locking mechanism from the locked state to the unlocked state.

94. The robotic system of claim 93, wherein the manipulator is configured to secure contact between the container diaphragm and the fluid transfer connector diaphragm, the manipulator being further configured to, after securing the contact between the fluid transfer connector diaphragm and the container diaphragm, switch the locking mechanism into the unlocked state and shift the fluid transfer connector into the nested position.

95. A method for transferring fluid between a container accessible via a container septum and a fluid transfer assembly accessible via a fluid transfer connector, by operation of a robotic system, the method comprising: controlling a manipulator of the robotic system to grip the fluid transfer assembly and activate a locking mechanism associated with establishing fluid communication between the fluid transfer assembly and the container; operating the manipulator upon activation of the locking mechanism to move the sleeve and body member of the fluid transfer connector relative to each other to establish the fluid communication; as well as Fluid is transferred between the fluid transfer assembly and the container.

96. The method of claim 95, wherein controlling the manipulator to activate the locking mechanism comprises activating an actuator of the locking mechanism.

97. The method of any one of claims 95 and 96, further comprising operating the robotic system to control the manipulator to secure contact between the container septum and a fluid transfer connector septum of the fluid transfer connector.

98. The method of claim 97, wherein controlling the manipulator to activate the locking mechanism comprises activating the locking mechanism after said securing the contact between the container septum and the fluid transfer connector septum.

99. A robotic system operable to transfer fluid between a container accessible via a container septum and a fluid transfer assembly accessible via a fluid transfer connector, the fluid transfer connector having a body member and a sleeve including a fluid transfer connector septum, the sleeve and body member being configured to move relative to each other, the system comprising: a container holder configured to support the container and positioned at least partially coaxially with the fluid transfer assembly; an engagement arm configured to engage one of the body member and the sleeve; and A clamping arm is configured to clamp the other of the body member and the sleeve, the clamping arm and the engagement arm being movable relative to each other.

100. The robotic system of claim 99, wherein the engagement arm and the clamping arm are mechanically connected to a main drive assembly, the main drive assembly being configured to simultaneously move the engagement arm and the clamping arm together, while simultaneously bringing at least one of the clamping arm and the engagement arm to an outer surface of the fluid transfer assembly to press against the outer surface of the fluid transfer assembly.

101. The robotic system according to any one of claims 99 and 100, wherein the engagement arm is connected to the clamping arm via an auxiliary drive assembly, and the auxiliary drive assembly is configured to cause the relative movement between the clamping arm and the engagement arm.

102. The robotic system of any one of claims 99 to 101, wherein at least one of the clamping arm and the engagement arm comprises a pressing surface configured to press axially against a radial stop formed on an outer surface of the fluid transfer component to secure the fluid transfer connector diaphragm in contact with the container diaphragm.

103. The robotic system of claim 102, wherein the pressing surface is positioned at a gap from an outer wall of the fluid transfer assembly.

104. A robotic system according to any one of claims 99 to 103, wherein the clamping arm is formed with an arcuate portion, which is configured to clamp the outer surface of the fluid transfer component; and is formed with at least one fork-shaped member, which is configured to contact an actuator provided in the fluid transfer component and is operable to selectively prevent and promote the relative movement between the main body member and the sleeve.

105. The robotic system according to any one of claims 99 to 104, wherein the engagement arm is connected to the clamping arm via a resistance member, and the resistance member is configured to apply an axial force on the engagement arm to press the engagement arm against the outer surface of the fluid transfer component.

106. The robotic system of claim 105, wherein said resistance member is configured to resist said relative movement of said engagement arm and said clamping arm toward each other.

107. The robotic system of claim 106, wherein the resistance member is configured to displace the clamping arm and the engagement arm away from each other when the fluid transfer is complete.

108. The robotic system according to any one of claims 99 to 107, wherein the gripping arm and the engaging arm form part of a manipulator.

109. The robotic system according to any one of claims 99 to 108, further comprising a fluid transfer connector having a main body component and a sleeve comprising a fluid transfer connector diaphragm, the sleeve and the main body component being configured to move relative to each other, wherein the engagement arm is configured to engage the sleeve and the clamping arm is configured to clamp the main body component.

110. The robotic system of claim 109, wherein the sleeve includes a radial stop protruding radially from the sleeve, the radial stop including a first stop surface facing the main member and an opposite second stop surface, wherein the engagement arm is configured to engage the first stop surface.

111. A method for transferring fluid between a container accessible via a container septum and a fluid transfer assembly accessible via a fluid transfer connector, by operation of a robotic system, the method comprising: operating an engagement arm of the robotic system to engage a sleeve of the fluid transfer connector; operating a gripping arm of the robotic system to grip a body member of the fluid transfer connector; moving at least one of the engagement arm and the clamping arm toward the other of the engagement arm and the clamping arm to establish fluid communication between the fluid transfer assembly and the container; as well as The fluid transfer is performed between the fluid transfer assembly and the container.

112. The method of claim 111, further comprising moving at least one of the engagement arm and the clamping arm away from the other of the engagement arm and the clamping arm after the fluid transfer is complete.

113. A robotic system operable to transfer fluid at least partially along an injection axis between a container accessible via a container septum and a fluid transfer assembly accessible via a fluid transfer connector septum, the robotic system comprising: Controller; and A manipulator, the manipulator being controllable by the controller, the manipulator comprising: a clamping arm configured to clamp a clamping portion of the fluid transfer assembly; and an engagement arm configured to engage the fluid transfer assembly at an engagement portion, at least one of the engagement arm and the clamping arm being displaceable along the injection axis relative to the other of the engagement arm and the clamping arm, the engagement arm and the clamping arm being configured to displace together during at least a portion of the movement of the manipulator.

114. The robotic system of claim 113, wherein the controller is configured to operate the clamping arm to bring the fluid transfer connector diaphragm of the fluid transfer connector into contact with the container diaphragm, and to operate the engagement arm to secure contact between the container diaphragm and the fluid transfer connector diaphragm during at least a portion of the fluid transfer.

115. The robotic system of any one of claims 113 and 114, wherein the manipulator is configured to mechanically couple the engagement arm with the gripping arm.

116. The robotic system according to any one of claims 113 to 115, wherein the manipulator including the engagement arm and the gripping arm is formed as an integral structure.

117. The robotic system of any one of claims 113 to 116, wherein the manipulator has a central longitudinal axis and the injection axis is positioned away from the central longitudinal axis.

118. The robotic system according to any one of claims 113 to 117, wherein the engagement arm is coupled to the clamping arm via a resistance member configured to resist the relative movement of the engagement arm and the clamping arm toward each other.

119. The robotic system of claim 118, wherein the resistance member is configured to displace the clamping arm and the engagement arm away from each other when the fluid transfer is complete.

120. The robotic system according to any one of claims 113 to 119, further comprising a fluid transfer connector having a main body component and a sleeve comprising a fluid transfer connector diaphragm, wherein the sleeve and the main body component are configured to move relative to each other, wherein the engagement arm is configured to engage the sleeve and the clamping arm is configured to clamp the main body component.

121. The robotic system of claim 120, wherein the sleeve comprises a radial stop protruding radially from the sleeve, the radial stop comprising a first stop surface facing the main member and an opposite second stop surface, wherein the engagement arm is configured to engage the first stop surface.

122. A method for transferring fluid at least partially along an injection axis between a container accessible via a container septum and a fluid transfer assembly accessible via a fluid transfer connector, the method comprising: operating an engagement arm of a manipulator of the robotic system to engage an engagement portion of the fluid transfer assembly; operating a clamping arm of the manipulator to clamp a clamping portion of the fluid transfer assembly; moving the engagement arm and the gripping arm together with the container along the fluid transfer assembly; moving at least one of the engagement arm and the clamping arm toward the other of the engagement arm and the clamping arm along the injection axis to establish fluid communication between the fluid transfer assembly and the container; as well as The fluid transfer is performed between the fluid transfer assembly and the container.

123. The method of claim 122, further comprising moving at least one of the engagement arm and the clamping arm away from the other of the engagement arm and the clamping arm after the fluid transfer is complete.

124. A robotic system operable to transfer fluid between a container accessible via a container septum and a fluid transfer assembly accessible via a fluid transfer connector, the fluid transfer connector being configured to establish fluid communication between the container and the fluid transfer assembly for the fluid transfer, the fluid transfer connector comprising a body member and a sleeve displaceable relative to each other between an extended position being a normal position and a telescoped position in which the fluid transfer connector establishes the fluid communication, the fluid transfer connector comprising a fluid transfer connector septum positioned at the sleeve, the robotic system comprising: Controller; a manipulator controllable by the controller and configured to manipulate at least one of the container and the fluid transfer assembly to bring the fluid transfer connector septum and the container septum into contact with each other and to selectively displace the fluid transfer connector from the extended position into a telescoping position thereof; and A contact securing mechanism is configured to prevent the manipulator from displacing the fluid transfer connector from the extended position into its telescoping position until a predetermined compression threshold between the container septum and the fluid transfer connector septum is reached.

125. The robotic system of claim 124, wherein the manipulator is configured to push at least one of the fluid transfer connector diaphragm and the container diaphragm against the other of the fluid transfer connector diaphragm and the container diaphragm via a compressive force having a variable magnitude.

126. The robotic system of claim 125, wherein the contact securing mechanism is configured to prevent the manipulator from shifting the fluid transfer connector from the extended position into its collapsed position at least until the compressive force is less than the predetermined compression threshold.

127. The robotic system of claim 125 or 126, wherein the contact fastening mechanism is configured to allow the manipulator to shift the fluid transfer connector from the extended position to its collapsed position at least when the compressive force is equal to or greater than the predetermined compression threshold.

128. The robotic system of any one of claims 125 to 127, wherein the contact fastening mechanism is configured to allow the manipulator to shift the fluid transfer connector into its nested position upon detecting an event indicating that the compressive force is equal to or greater than the predetermined compression threshold.

129. The robotic system according to any one of claims 124 to 128, wherein the contact fastening mechanism comprises a mechanical element.

130. The robotic system of any one of claims 124 to 129, wherein the touch fastening mechanism comprises a resistance member configured to resist displacement of the fluid transfer connector into its telescoping position by the manipulator.

131. The robotic system of claim 130, wherein the manipulator comprises an engagement arm configured to engage the sleeve and a clamping arm configured to clamp the main body member, the engagement arm and the clamping arm being configured to move relative to each other to shift the fluid transfer connector between the extended position and the folded position, wherein the engagement arm and the clamping arm are coupled to each other via the resistance member.

132. The robotic system of claim 131, wherein the engagement arm and the clamping arm are configured to move toward each other to displace the fluid transfer connector into the telescoping position when the resisting member begins to deform.

133. The robotic system of claim 132, wherein said resistance member is configured to prevent said deformation until a minimum threshold force is exerted on said resistance member.

134. A robotic system according to any one of claims 132 and 133 when dependent on claim 128, wherein the event comprises the initiation of the deformation.

135. The robotic system according to any one of claims 132 to 134, further comprising a sensor configured to detect the start of deformation and generate a signal indicative of the start of deformation.

136. The robotic system of any one of claims 130 to 135, wherein the resistance member is configured to cause the manipulator to shift the fluid transfer connector into its extended position after the fluid transfer is completed.

137. A robotic system according to any one of claims 124 to 136, further comprising a fluid transfer connector, wherein the fluid transfer connector is configured to establish fluid communication between the container and the fluid transfer component, the fluid transfer connector having a main body component and a sleeve including a fluid transfer connector diaphragm, the sleeve and the main body component being capable of shifting relative to each other between an extended position and a folded position, the extended position being a normal position, and the fluid transfer connector establishing the fluid communication at the folded position.

138. A method for transferring fluid between a container accessible via a container septum and a fluid transfer assembly accessible via a fluid transfer connector including a fluid transfer connector septum, the method being operated by a robotic system, the method comprising: operating a manipulator of the robotic system to manipulate at least one of the container and the fluid transfer assembly to bring the fluid transfer connector septum and the container septum into contact with each other; operating the manipulator to manipulate the fluid transfer assembly to press the fluid transfer connector septum against the container septum, at least until a predetermined compression threshold between the container septum and the fluid transfer connector septum is reached; operating the manipulator to displace the fluid transfer connector from its extended position, which is a normal position, into its telescoping position after reaching the predetermined compression threshold, wherein fluid communication between the container and the fluid transfer assembly is established; The fluid transfer is performed between the fluid transfer assembly and the container.

139. The method of claim 138, further comprising operating a contact securing mechanism to prevent the manipulator from shifting the fluid transfer connector from the extended position into its collapsed position, at least until the predetermined compression threshold is reached.

140. A robotic system operable to transfer fluid between a container accessible via a container septum and a fluid transfer component accessible via a fluid transfer connector, the robotic system comprising: Controller; a manipulator operable by the controller and configured to manipulate at least one of the container and the fluid transfer assembly to establish fluid communication between the container and the fluid transfer assembly; A sensor is configured to monitor operation of the manipulator and transmit a signal indicative of the monitoring.

141. The robotic system of claim 140, wherein said manipulator comprises: a clamping arm configured to clamp a clamping portion of the fluid transfer connector; and an engagement arm configured to engage an engagement portion of the fluid transfer connector, the engagement arm and the clamping arm configured to move relative to each other to selectively establish the fluid communication, wherein the sensor is configured to monitor the relative movement of the engagement arm and the clamping arm.

142. The robotic system of claim 140, wherein the sensor is configured to monitor a relative position of at least one of the engagement arm and the clamping arm relative to the other of the engagement arm and the clamping arm.

143. The robotic system according to any one of claims 141 and 142, wherein the engagement arm is coupled to the clamping arm via a resistance member configured to resist the relative movement between the engagement arm and the clamping arm toward each other.

144. The robotic system of claim 143, wherein the sensor is configured to monitor the resistance member.

145. The robotic system according to any one of claims 143 and 144, wherein the resistance member is configured to deform upon the relative movement between the engagement arm and the clamping arm.

146. The robotic system of claim 145, wherein said sensor is configured to monitor said deformation of said resistive member.

147. The robotic system of any one of claims 145 and 146, wherein the resistance member is configured to prevent initiation of the deformation at least until a force equal to or greater than a predetermined threshold is applied to the resistance member.

148. The robotic system of claim 147, wherein said sensor is configured to monitor said force.

149. The robotic system of any one of claims 140 to 148, further comprising a motor configured to move the manipulator to perform the operation of the manipulator, the motor configured to consume variable power for moving the manipulator, wherein the sensor is configured to monitor the power consumption.

150. The robotic system according to any one of claims 140 to 149, further comprising a fluid transfer connector configured to establish the fluid connection between the container and the fluid transfer component, the fluid transfer connector comprising a main body member and a sleeve that can be shifted relative to each other between an extended position and a folded position, the extended position being a normal position, and the fluid transfer connector establishes the fluid connection at the folded position, wherein the manipulator is configured to shift the fluid transfer connector between its extended position and the folded position.

151. The robotic system of claim 150, wherein the fluid transfer connector comprises a fluid transfer conduit associated with the main body member and a fluid transfer connector diaphragm associated with the sleeve, the fluid transfer connector being configured to establish the fluid connection between the container and the fluid transfer assembly when the fluid connection portion of the fluid transfer conduit is positioned at a reference position, wherein the controller is configured to receive the signal indicative of the monitoring and determine, based at least thereon, whether the fluid connection portion is positioned at the reference position.

152. A robotic system according to claim 151 when dependent on claim 142, wherein the main body member includes the clamping portion and the sleeve includes the engaging portion, wherein the controller is configured to make the determination based on the relative position of at least one of the engaging arm and the clamping arm relative to the other of the engaging arm and the clamping arm.

153. A robotic system according to claim 151 when dependent on claim 146, wherein the body member includes the clamping portion and the sleeve includes the engagement portion, and wherein the controller is configured to make the determination based on the deformation of the resisting member.

154. A robotic system according to claim 151 when dependent on claim 148, wherein said body member includes said clamping portion and said sleeve includes said engagement portion, wherein said controller is configured to make said determination based on said monitoring of said force.

155. A robotic system according to claim 151 when dependent on claim 149, wherein said body member includes said clamping portion and said sleeve includes said engagement portion, wherein said controller is configured to make said determination based on said monitoring of said power consumption.

156. A method for transferring fluid between a container accessible via a container septum and a fluid transfer assembly accessible via a fluid transfer connector, by operation of a robotic system, the method comprising: controlling a manipulator of the robotic system to manipulate at least one of the container and the fluid transfer assembly to establish fluid communication between the container and the fluid transfer assembly; monitoring said operation of said manipulator via sensors of said robotic system; as well as A signal indicative of the monitoring is transmitted by the sensor.

157. The method of claim 156, further comprising: clamping a clamping portion of the fluid transfer assembly with a clamping arm of the manipulator; engaging the engagement portion of the fluid transfer assembly via an engagement arm of the manipulator; moving the engagement arm and the clamping arm relative to each other to selectively establish the fluid communication; The relative movement of the engagement arm and the clamping arm is monitored by the sensor.

158. The method of claim 157, wherein monitoring the relative movement of the engagement arm and the clamping arm comprises monitoring a relative position of at least one of the engagement arm and the clamping arm relative to the other of the engagement arm and the clamping arm.

159. A method according to any one of claims 157 and 158, wherein monitoring the relative movement of the engagement arm and the clamping arm includes monitoring a resistance member of the robotic system configured to resist the relative movement between the engagement arm and the clamping arm toward each other.

160. The method of claim 159, wherein monitoring the resistance member comprises monitoring deformation of the resistance member.

161. The method of any one of claims 159 and 160, wherein monitoring the resistance member comprises monitoring a force applied to the resistance member.

162. The method of any one of claims 156 to 161, wherein monitoring the operation of the manipulator comprises monitoring power consumption of a motor configured to move the manipulator to perform the operation.

163. A method according to any one of claims 156 to 162, wherein monitoring the operation of the manipulator includes monitoring the relative movement between a sleeve and a main body member of a fluid transfer connector of the robotic system, and determining at least based on the monitoring whether a fluid communication portion of a fluid transfer conduit associated with the fluid transfer connector is positioned at the reference position associated with establishment of the fluid communication.

164. A robotic system operable to transfer fluid between a container accessible via a container septum and a fluid transfer component accessible via a fluid transfer connector, the robotic system comprising: a manipulator configured to manipulate at least one of the container and the fluid transfer assembly to establish fluid communication between the container and the fluid transfer assembly; a motor configured to move the manipulator to establish the fluid communication, the motor configured to consume variable power for moving the manipulator; and A controller is configured to monitor the power consumption and control the motor based at least thereon.

165. The robotic system of claim 164, wherein the motor comprises a motor shaft operable to cause the movement of the manipulator and an encoder operable to detect a position of the motor shaft, wherein the controller is configured to control the motor based on a combination of the power consumption and the position of the motor shaft.

166. The robot system according to any one of claims 164 and 165, wherein the controller is configured to predetermine at least one of an upper range and a lower range of power consumption, and generate an alarm when the power consumption is detected to deviate from the predetermined range.

167. The robotic system of any one of claims 164 to 166, wherein the power consumption is measurable by the magnitude of the current applied to the motor.

168. The robotic system according to any one of claims 164 to 167, further comprising a fluid transfer connector, the fluid transfer connector being configured to establish the fluid connection between the container and the fluid transfer component, the fluid transfer connector comprising a main body member and a sleeve that can be shifted relative to each other between an extended position and a folded position, the extended position being a normal position, and the fluid transfer connector establishes the fluid connection at the folded position, wherein the manipulator is configured to shift the fluid transfer connector between its extended position and the folded position.

169. The robotic system of claim 168, wherein the fluid transfer connector comprises a fluid transfer conduit associated with the main body member and a fluid transfer connector diaphragm associated with the sleeve, the fluid transfer connector being configured to establish the fluid connection between the container and the fluid transfer assembly when a fluid connection portion of the fluid transfer conduit is positioned at a reference position, wherein the controller is configured to monitor the position of the fluid connection portion and control the motor based at least on this.

170. A method for transferring fluid between a container accessible via a container septum and a fluid transfer assembly accessible via a fluid transfer connector, by operation of a robotic system, the method comprising: controlling a manipulator of the robotic system to manipulate at least one of the container and the fluid transfer assembly to establish fluid communication between the container and the fluid transfer assembly; operating a motor of the robotic system to move the manipulator to establish the fluid communication, wherein operating the motor includes consuming variable power; monitoring the power consumption by a controller of the robotic system; and The motor is controlled based at least on the monitoring.

171. The method of claim 170, further comprising: operating a motor shaft of the motor to cause the movement of the manipulator; as well as Detecting the position of the motor shaft by an encoder of the motor; Wherein said controlling the motor based at least on said monitoring comprises controlling the motor based on a combination of said power consumption and said position of said motor shaft.

172. A robot system according to any one of claims 170 and 171, wherein monitoring the power consumption includes predetermining at least one of an upper range and a lower range of power consumption, and the method also includes generating an alarm when it is detected that the power consumption deviates from the predetermined range.

173. A robotic system operable to transfer fluid between a container accessible via a container septum and a fluid transfer assembly accessible via a fluid transfer connector, the fluid transfer connector being configured to establish fluid communication between the container and the fluid transfer assembly for the fluid transfer, the fluid transfer connector comprising a body member and a sleeve displaceable relative to each other between an extended position being a normal position and a telescoped position in which the fluid transfer connector establishes the fluid communication, the fluid transfer connector comprising a fluid transfer connector septum positioned at a distal end of the sleeve and a fluid transfer conduit extending from a proximal end of the body member toward the fluid transfer connector septum, the robotic system comprising: Controller; and A manipulator, the manipulator being controllable by the controller, the manipulator being configured to: applying a variable positioning force to manipulate the fluid transfer assembly through a positioning stage during which the manipulator positions the fluid transfer assembly and / or the container so that the fluid transfer connector septum and the container septum contact each other; as well as A variable penetration force is applied to manipulate the fluid transfer assembly and / or the container through a penetration phase during which at least the tip of the fluid transfer conduit at least partially penetrates at least one of the container septum and the fluid transfer connector septum, wherein a minimum value of the variable penetration force is greater than a maximum value of the variable positioning force.

174. The robotic system of claim 173, wherein the positioning phase begins with the initiation of the manipulator moving the fluid transfer assembly and / or the container and ends with the manipulator bringing the fluid transfer connector septum and the container septum into contact with each other, and the penetration phase begins with the initiation of the tip of the fluid transfer conduit at least partially penetrating at least one of the container septum and the fluid transfer connector septum and ends with the fluid transfer connector being displaced into its nested position.

175. The robotic system of any one of claims 173 and 174, wherein the manipulator is further controllable by the controller to apply a variable telescoping force to manipulate the fluid transfer assembly through a telescoping phase, during which the sleeve and the body member are displaced relative to each other to reduce the distance between the fluid transfer connector diaphragm and the body member, wherein the manipulator is further controllable by the controller to continuously increase the variable telescoping force during at least a portion of the telescoping phase.

176. The robotic system of claim 175, wherein the telescoping phase begins with the initiation of relative movement of the sleeve and the body member toward each other and ends with the displacement of the fluid transfer connector into its telescoping position.

177. The robotic system of claim 176 when dependent upon claim 174, wherein the telescoping phase at least partially overlaps the penetrating phase.

178. The robotic system of claim 177, wherein the manipulator is further controllable by the controller to continuously increase the variable intussusception force during at least a portion of the intussusception phase prior to the initiation of the penetration phase.

179. The robotic system of any one of claims 175 to 178, wherein an initial value of the variable overlay force is greater than the maximum value of the variable positioning force.

180. The robotic system of any one of claims 173 to 179, wherein the manipulator is further capable of being controlled by the controller to apply a variable tightening force to manipulate at least one of the fluid transfer assembly and the container through a contact tightening phase, during which the manipulator tightens the contact between the fluid transfer connector diaphragm and the container diaphragm.

181. The robotic system of claim 180, wherein the contact fastening phase begins with the manipulator bringing the fluid transfer connector diaphragm and the container diaphragm into contact with each other and ends with the completion of the fluid transfer.

182. The robotic system of claim 181 when dependent upon claim 174, wherein the contact fastening phase at least partially overlaps the penetration phase.

183. A robotic system according to any one of claims 181 and 182 when dependent on claim 176, wherein the contact fastening phase at least partially overlaps the folding phase.

184. The robotic system of claim 183, wherein said manipulator is further controllable by said controller to increase said variable tightening force at least prior to said initiation of said telescoping phase.

185. The robotic system of any one of claims 183 and 184, wherein an initial value of the variable nesting force is greater than an initial value of the variable tightening force.

186. The robotic system of any one of claims 173 to 185, further comprising the fluid transfer connector.

187. A method for transferring fluid between a container accessible via a container septum and a fluid transfer assembly accessible via a fluid transfer connector, the fluid transfer connector being configured to establish fluid communication between the container and the fluid transfer assembly for the fluid transfer, the fluid transfer connector comprising a main body member and a sleeve capable of being displaced relative to each other between an extended position and a telescoped position, the extended position being a normal position, the fluid transfer connector establishing the fluid communication in the telescoped position, the fluid transfer connector comprising a fluid transfer connector septum positioned at a distal end of the sleeve and a fluid transfer conduit extending from a proximal end of the main body member toward the fluid transfer connector septum, the method comprising, by operation of a robotic system: Operating the robotic system to control a manipulator of the robotic system, comprising: applying a variable positioning force to manipulate the fluid transfer assembly through a positioning stage during which the manipulator positions the fluid transfer assembly and / or the container so that the fluid transfer connector septum and the container septum contact each other; and A variable penetration force is applied to manipulate the fluid transfer assembly and / or the container through a penetration phase during which at least the tip of the fluid transfer conduit at least partially penetrates at least one of the container septum and the fluid transfer connector septum, wherein a minimum value of the variable penetration force is greater than a maximum value of the variable positioning force.

188. A method according to claim 187, wherein the positioning phase begins with the initiation of the manipulator moving the fluid transfer component and / or the container and ends with the manipulator bringing the fluid transfer connector diaphragm and the container diaphragm into contact with each other, and the penetration phase begins with the initiation of the tip of the fluid transfer conduit at least partially penetrating at least one of the container diaphragm and the fluid transfer connector diaphragm and ends with the fluid transfer connector being shifted into its nested position.

189. A method according to any one of claims 187 and 189, wherein the method further includes controlling the manipulator to apply a variable telescoping force to manipulate the fluid transfer assembly through a telescoping stage, during which the sleeve and the main body member are displaced relative to each other to reduce the distance between the fluid transfer connector diaphragm and the main body member, wherein the method further includes continuously increasing the variable telescoping force during at least a portion of the telescoping stage.

190. The method of claim 189, wherein the telescoping phase begins with the initiation of relative movement of the sleeve and the body member toward each other and ends with the displacement of the fluid transfer connector into its telescoping position.

191. A method according to claim 190 when dependent on claim 188, wherein the overlapping stage at least partially overlaps with the penetration stage.

192. The method of claim 191, wherein the method further comprises continuously increasing the variable intussusception force during at least a portion of the intussusception phase before the penetration phase begins.

193. A method according to any one of claims 189 to 192, wherein the initial value of the variable overlapping force is greater than the maximum value of the variable positioning force.

194. A method according to any one of claims 187 to 193, wherein the method further comprises controlling the manipulator to apply a variable tightening force to manipulate at least one of the fluid transfer component and the container through a contact tightening stage, during which the manipulator tightens the contact between the fluid transfer connector diaphragm and the container diaphragm.

195. The method of claim 194, wherein the contact fastening phase begins when the manipulator brings the fluid transfer connector septum and the container septum into contact with each other and ends with the completion of the fluid transfer.

196. A method according to claim 195 when dependent on claim 188, wherein the contact fastening stage at least partially overlaps with the penetration stage.

197. A method according to any one of claims 195 and 196 when dependent on claim 190, wherein the contact fastening stage at least partially overlaps the folding stage.

198. The method of claim 197, wherein the method further comprises increasing the variable tightening force at least prior to the initiation of the telescoping phase.

199. A method according to any one of claims 197 and 198, wherein an initial value of the variable overlapping force is greater than an initial value of the variable fastening force.

200. A robotic system operable to transfer fluid between a container accessible via a container septum and a fluid transfer assembly accessible via a fluid transfer connector, the fluid transfer connector being configured to establish fluid communication between the container and the fluid transfer assembly for the fluid transfer, the fluid transfer connector comprising a body member and a sleeve displaceable relative to each other between an extended position being a normal position and a telescoped position in which the fluid transfer connector establishes the fluid communication, the fluid transfer connector comprising a fluid transfer connector septum positioned at a distal end of the sleeve, the robotic system comprising: Controller; and a manipulator controllable by the controller, the manipulator configured to apply a variable telescoping force to manipulate the fluid transfer assembly through a telescoping phase during which the sleeve and the body member are displaced relative to each other to reduce a distance between the fluid transfer connector diaphragm and the body member, The manipulator is further controllable by the controller and is configured to continuously increase the variable telescoping force during at least a portion of the telescoping phase.

201. The robotic system of claim 200, wherein the manipulator is further controllable by the controller and is configured to continuously increase the variable telescoping force during at least a majority of the telescoping phase.

202. The robotic system of any one of claims 200 and 201, wherein the telescoping phase begins with the initiation of relative movement of the sleeve and the body member toward each other and ends with the displacement of the fluid transfer connector into its telescoping position.

203. A robotic system according to any one of claims 200 to 202, wherein the manipulator is also capable of being controlled by the controller and is configured to apply a variable penetration force to manipulate the fluid transfer component and / or the container through a penetration phase, during which at least the tip of the fluid transfer conduit at least partially penetrates at least one of the container septum and the fluid transfer connector septum.

204. The robotic system of claim 203, wherein the penetration phase begins with the initiation of the tip of the fluid transfer conduit to at least partially penetrate at least one of the container septum and the fluid transfer connector septum, and ends with the fluid transfer connector being displaced into its nested position.

205. The robotic system of claim 204, wherein the telescoping phase at least partially overlaps the penetrating phase.

206. The robotic system of claim 205, wherein said manipulator is further controllable by said controller and configured to increase said variable telescoping force at least prior to said initiation of said penetration phase.

207. The robotic system of any one of claims 203 to 206, wherein an initial value of the variable penetration force is greater than an initial value of the variable overlap force.

208. The robotic system of any one of claims 200 to 207, wherein the manipulator is further controllable by the controller and is configured to apply a variable positioning force to manipulate the fluid transfer component through a positioning phase, during which the manipulator positions the fluid transfer component and / or the container so that the fluid transfer connector diaphragm and the container diaphragm contact each other.

209. The robotic system of claim 208, wherein the positioning phase begins with the manipulator initiating movement of the fluid transfer assembly and / or the container and ends with the manipulator bringing the fluid transfer connector diaphragm and the container diaphragm into contact with each other.

210. The robotic system of any one of claims 208 and 209, wherein a minimum value of the variable telescoping force is greater than a maximum value of the variable positioning force.

211. A robotic system according to any one of claims 208 to 210 when dependent on claim 203, wherein the minimum value of the variable penetration force is greater than the maximum value of the variable positioning force.

212. A robotic system according to any one of claims 200 to 211, wherein the manipulator is also capable of being controlled by the controller and is configured to apply a variable tightening force to manipulate the fluid transfer component and at least one of the containers through a contact tightening stage, during which the manipulator tightens the contact between the fluid transfer connector diaphragm and the container diaphragm.

213. The robotic system of claim 212, wherein the contact fastening phase begins with the manipulator bringing the fluid transfer connector diaphragm and the container diaphragm into contact with each other and ends with the completion of the fluid transfer.

214. The robotic system of any one of claims 212 and 213, wherein the contact fastening phase at least partially overlaps the nesting phase.

215. The robotic system of claim 214, wherein said manipulator is further controllable by said controller and configured to increase said variable tightening force at least prior to said initiation of said telescoping phase.

216. The robotic system of any one of claims 214 and 215, wherein an initial value of the variable overlapping force is greater than an initial value of the variable tightening force.

217. The robotic system of any one of claims 200 to 216, further comprising the fluid transfer connector.

218. A method for transferring fluid between a container accessible via a container septum and a fluid transfer assembly accessible via a fluid transfer connector, the fluid transfer connector being configured to establish fluid communication between the container and the fluid transfer assembly for the fluid transfer, the fluid transfer connector comprising a main body member and a sleeve capable of being displaced relative to each other between an extended position and a telescoped position, the extended position being a normal position, the fluid transfer connector establishing the fluid communication in the telescoped position, the fluid transfer connector comprising a fluid transfer connector septum positioned at a distal end of the sleeve and a fluid transfer conduit extending from a proximal end of the main body member toward the fluid transfer connector septum, the method comprising, by operation of a robotic system: Operating the robotic system to control a manipulator of the robotic system, comprising: applying a variable telescoping force to manipulate the fluid transfer assembly through a telescoping stage, During the telescoping stage, the sleeve and the body member are displaced relative to each other to reduce a distance between the fluid transfer connector septum and the body member; and The variable telescoping force is continuously increased during at least a portion of the telescoping phase.

219. The method of claim 218, wherein the method comprises continuously increasing the variable telescoping force during at least a majority of the telescoping phase.

220. The method of any one of claims 218 and 219, wherein the telescoping phase begins with the initiation of relative movement of the sleeve and the body member toward each other and ends with the displacement of the fluid transfer connector into its telescoping position.

221. A method according to any one of claims 218 to 220, wherein the method further comprises applying a variable penetration force to manipulate the fluid transfer assembly and / or the container through a penetration phase, during which at least the tip of the fluid transfer conduit at least partially penetrates at least one of the container septum and the fluid transfer connector septum.

222. A method according to claim 221, wherein the penetration phase begins with the initiation of the tip of the fluid transfer conduit to at least partially penetrate at least one of the container septum and the fluid transfer connector septum, and ends with the fluid transfer connector being shifted into its nested position.

223. A method according to claim 222, wherein the overlapping stage at least partially overlaps with the penetrating stage.

224. The method of claim 223, wherein the method further comprises increasing the variable overlay force at least prior to the initiation of the penetration phase.

225. The method of any one of claims 221 to 224, wherein an initial value of the variable penetration force is greater than an initial value of the variable overlay force.

226. A method according to any one of claims 218 to 225, wherein the method further comprises applying a variable positioning force to manipulate the fluid transfer assembly through a positioning stage, during which the manipulator positions the fluid transfer assembly and / or the container so that the fluid transfer connector diaphragm and the container diaphragm contact each other.

227. A method according to claim 226, wherein the positioning phase begins with the manipulator starting to move the fluid transfer component and / or the container, and ends with the manipulator bringing the fluid transfer connector diaphragm and the container diaphragm into contact with each other.

228. A method according to any one of claims 226 and 227, wherein the minimum value of the variable overlapping force is greater than the maximum value of the variable positioning force.

229. A method according to any one of claims 226 to 228 when dependent on claim 221, wherein the minimum value of the variable penetration force is greater than the maximum value of the variable positioning force.

230. A method according to any one of claims 218 to 229, wherein the method further comprises applying a variable tightening force to manipulate at least one of the fluid transfer assembly and the container through a contact tightening stage, during which the manipulator tightens the contact between the fluid transfer connector diaphragm and the container diaphragm.

231. A method according to claim 230, wherein the contact tightening stage begins when the manipulator brings the fluid transfer connector diaphragm and the container diaphragm into contact with each other, and ends with the completion of the transfer of the fluid.

232. A method according to any one of claims 230 and 231, wherein the contact fastening stage at least partially overlaps the overlapping stage.

233. A method according to claim 232, wherein the method includes increasing the variable tightening force at least before the start of the folding phase.

234. A method according to any one of claims 232 and 233, wherein an initial value of the variable overlapping force is greater than an initial value of the variable fastening force.

235. A robotic system operable to transfer fluid between a container accessible via a container septum and a fluid transfer assembly accessible via a fluid transfer connector, the fluid transfer connector being configured to establish fluid communication between the container and the fluid transfer assembly for the fluid transfer, the fluid transfer connector comprising a body member and a sleeve displaceable relative to each other between an extended position being a normal position and a telescoped position in which the fluid transfer connector establishes the fluid communication, the fluid transfer connector comprising a fluid transfer connector septum positioned at a distal end of the sleeve, the robotic system comprising: Controller; and a manipulator controllable by the controller and configured to: applying a variable tightening force to manipulate at least one of the fluid transfer assembly and the container through a contact tightening stage during which the manipulator tightens the contact between the fluid transfer connector septum and the container septum; as well as A variable telescoping force is applied to manipulate the fluid transfer assembly through a telescoping stage during which the sleeve and the body member are displaced relative to each other to reduce the distance between the fluid transfer connector diaphragm and the body member, wherein an initial value of the variable telescoping force is greater than an initial value of the variable tightening force.

236. The robotic system of claim 235, wherein the contact fastening phase begins with the manipulator bringing the fluid transfer connector diaphragm and the container diaphragm into contact with each other and ends with the completion of the fluid transfer, and the nesting phase begins with the initiation of relative movement of the sleeve and the body member toward each other and ends with the fluid transfer connector being shifted into its nested position.

237. The robotic system of claim 236, wherein the contact fastening phase at least partially overlaps the nesting phase.

238. The robotic system of claim 237, wherein said manipulator is further controllable by said controller and configured to increase said variable tightening force at least prior to said initiation of said telescoping phase.

239. The robotic system of any one of claims 235 to 238, wherein the manipulator is further controllable by the controller and is configured to apply a variable positioning force to manipulate the fluid transfer component through a positioning phase, during which the manipulator positions the fluid transfer component and / or the container so that the fluid transfer connector diaphragm and the container diaphragm contact each other.

240. The robotic system of claim 239, wherein the positioning phase begins with the initiation of movement of the fluid transfer assembly and / or the container by the manipulator and ends with the manipulator bringing the fluid transfer connector diaphragm and the container diaphragm into contact with each other.

241. The robotic system of any one of claims 239 and 240, wherein a minimum value of the variable telescoping force is greater than a maximum value of the variable positioning force.

242. The robotic system of any one of claims 235 to 241, wherein the manipulator is further capable of being controlled by the controller and is configured to apply a variable penetration force to manipulate the fluid transfer assembly and / or the container through a penetration phase, during which at least the tip of the fluid transfer conduit at least partially penetrates at least one of the container septum and the fluid transfer connector septum.

243. The robotic system of claim 242, wherein the penetration phase begins with the initiation of the tip of the fluid transfer conduit to at least partially penetrate at least one of the container septum and the fluid transfer connector septum, and ends with the fluid transfer connector being displaced into its nested position.

244. The robotic system of claim 243, wherein the telescoping phase at least partially overlaps the penetrating phase.

245. The robotic system of any one of claims 243 and 244, wherein the contact fastening phase at least partially overlaps the penetration phase.

246. The robotic system of claim 245, wherein said manipulator is further controllable by said controller and configured to increase said variable telescoping force at least prior to said initiation of said penetration phase.

247. The robotic system of any one of claims 242 to 246, wherein an initial value of the variable penetration force is greater than an initial value of the variable overlap force.

248. The robotic system of any one of claims 235 to 247, further comprising the fluid transfer connector.

249. A method for transferring fluid between a container accessible via a container septum and a fluid transfer assembly accessible via a fluid transfer connector, the fluid transfer connector being configured to establish fluid communication between the container and the fluid transfer assembly for the fluid transfer, the fluid transfer connector comprising a body member and a sleeve capable of being displaced relative to each other between an extended position and a telescoped position, the extended position being a normal position, the fluid transfer connector establishing the fluid communication in the telescoped position, the fluid transfer connector comprising a fluid transfer connector septum positioned at a distal end of the sleeve and a fluid transfer conduit extending from a proximal end of the body member toward the fluid transfer connector septum, the method comprising, by operation of a robotic system: A manipulator operating a robotic system to control said robotic system comprises: applying a variable tightening force to manipulate at least one of the fluid transfer assembly and the container through a contact tightening stage during which the manipulator tightens the contact between the fluid transfer connector septum and the container septum; and applying a variable telescoping force to manipulate the fluid transfer assembly through a telescoping stage, During the telescoping stage, the sleeve and the body member are displaced relative to each other to reduce a distance between the fluid transfer connector diaphragm and the body member, wherein an initial value of the variable telescoping force is greater than an initial value of the variable tightening force.

250. A method according to claim 249, wherein the contact tightening phase begins with the manipulator bringing the fluid transfer connector diaphragm and the container diaphragm into contact with each other and ends with the completion of the fluid transfer, and the stacking phase begins with the start of relative movement of the sleeve and the main body toward each other and ends with the fluid transfer connector shifting into its stacked position.

251. A method according to claim 250, wherein the contact fastening stage at least partially overlaps with the overlapping stage.

252. The robotic system of claim 251, wherein said method further comprises increasing said variable tightening force at least prior to said initiation of said telescoping phase.

253. A method according to any one of claims 249 to 252, wherein the method further comprises applying a variable positioning force to manipulate the fluid transfer assembly through a positioning stage, during which the manipulator positions the fluid transfer assembly and / or the container so that the fluid transfer connector diaphragm and the container diaphragm contact each other.

254. A method according to claim 253, wherein the positioning phase begins with the manipulator starting to move the fluid transfer component and / or the container, and ends with the manipulator bringing the fluid transfer connector diaphragm and the container diaphragm into contact with each other.

255. A method according to any one of claims 253 and 254, wherein the minimum value of the variable overlapping force is greater than the maximum value of the variable positioning force.

256. A method according to any one of claims 249 to 255, wherein the method further comprises applying a variable penetration force to manipulate the fluid transfer assembly and / or the container through a penetration phase, during which at least the tip of the fluid transfer conduit at least partially penetrates at least one of the container septum and the fluid transfer connector septum.

257. A method according to claim 256, wherein the penetration phase begins with the initiation of the tip of the fluid transfer conduit to at least partially penetrate at least one of the container septum and the fluid transfer connector septum, and ends with the fluid transfer connector being shifted into its folded position.

258. A method according to claim 257, wherein the overlapping stage at least partially overlaps with the penetrating stage.

259. A method according to any one of claims 257 and 258, wherein the contact fastening stage at least partially overlaps with the penetration stage.

260. The method of claim 259, wherein the method further comprises increasing the variable overlay force at least prior to the initiation of the penetration phase.

261. The method of any one of claims 256 to 260, wherein an initial value of the variable penetration force is greater than an initial value of the variable overlay force.

262. A robotic system operable to transfer fluid between a container accessible via a container septum and a fluid transfer assembly accessible via a fluid transfer connector, the fluid transfer connector being configured to establish fluid communication between the container and the fluid transfer assembly for the fluid transfer, the fluid transfer connector comprising a body member and a sleeve displaceable relative to each other between an extended position being a normal position and a telescoped position in which the fluid transfer connector establishes the fluid communication, the fluid transfer connector comprising a fluid transfer connector septum positioned at a distal end of the sleeve, the robotic system comprising: Controller; and a manipulator controllable by the controller and configured to: applying a variable positioning force to manipulate the fluid transfer assembly through a positioning stage during which the manipulator positions the fluid transfer assembly and / or the container so that the fluid transfer connector septum and the container septum contact each other; as well as A variable telescoping force is applied to manipulate the fluid transfer assembly through a telescoping stage during which the sleeve and the body member are displaced relative to each other to reduce the distance between the fluid transfer connector diaphragm and the body member, wherein an initial value of the variable telescoping force is greater than a maximum value of the variable positioning force.

263. The robotic system of claim 262, wherein the positioning phase begins with the initiation of movement of the fluid transfer assembly and / or the container by the manipulator and ends with the manipulator bringing the fluid transfer connector diaphragm and the container diaphragm into contact with each other, and the telescoping phase begins with the initiation of relative movement of the sleeve and the body member toward each other and ends with the displacement of the fluid transfer connector into its telescoping position.

264. The robotic system of claim 263, wherein a minimum value of the variable telescoping force is greater than a maximum value of the variable positioning force.

265. The robotic system of any one of claims 262 to 264, wherein the manipulator is further controllable by the controller and is configured to apply a variable tightening force to manipulate at least one of the fluid transfer assembly and the container through a contact tightening phase, during which the manipulator tightens the contact between the fluid transfer connector diaphragm and the container diaphragm.

266. The robotic system of claim 265, wherein the contact fastening phase begins with the manipulator bringing the fluid transfer connector diaphragm and the container diaphragm into contact with each other and ends with the completion of the fluid transfer.

267. The robotic system of any one of claims 265 and 266, wherein the contact fastening phase at least partially overlaps the nesting phase.

268. The robotic system of claim 267, wherein said manipulator is further controllable by said controller and configured to increase said variable tightening force at least prior to said initiation of said telescoping phase.

269. The robotic system of any one of claims 267 and 268, wherein an initial value of the variable overlapping force is greater than an initial value of the variable tightening force.

270. The robotic system of any one of claims 262 to 269, wherein the manipulator is further capable of being controlled by the controller and is configured to apply a variable penetration force to manipulate the fluid transfer assembly and / or the container through a penetration phase, during which at least the tip of the fluid transfer conduit at least partially penetrates at least one of the container septum and the fluid transfer connector septum.

271. The robotic system of claim 270, wherein the penetration phase begins with initiation of the tip of the fluid transfer conduit to at least partially penetrate at least one of the container septum and the fluid transfer connector septum, and ends with displacement of the fluid transfer connector into its nested position.

272. The robotic system of claim 271, wherein the telescoping phase at least partially overlaps the penetrating phase.

273. The robotic system of claim 272, wherein said manipulator is further controllable by said controller and configured to increase said variable telescoping force at least prior to said initiation of said penetration phase.

274. The robotic system of any one of claims 270 to 273, wherein an initial value of the variable penetration force is greater than an initial value of the variable overlap force.

275. The robotic system of any one of claims 270 to 274, wherein a minimum value of the variable penetration force is greater than a maximum value of the variable positioning force.

276. The robotic system of any one of claims 262 to 275, further comprising the fluid transfer connector.

277. A method for transferring fluid between a container accessible via a container septum and a fluid transfer assembly accessible via a fluid transfer connector, the fluid transfer connector being configured to establish fluid communication between the container and the fluid transfer assembly for the fluid transfer, the fluid transfer connector comprising a body member and a sleeve capable of being displaced relative to each other between an extended position and a telescoped position, the extended position being a normal position, the fluid transfer connector establishing the fluid communication in the telescoped position, the fluid transfer connector comprising a fluid transfer connector septum positioned at a distal end of the sleeve and a fluid transfer conduit extending from a proximal end of the body member toward the fluid transfer connector septum, the method comprising, by operation of a robotic system: A manipulator operating a robotic system to control said robotic system comprises: applying a variable positioning force to manipulate the fluid transfer assembly through a positioning stage during which the manipulator positions the fluid transfer assembly and / or the container so that the fluid transfer connector septum and the container septum contact each other; and A variable telescoping force is applied to manipulate the fluid transfer assembly through a telescoping stage during which the sleeve and the body member are displaced relative to each other to reduce the distance between the fluid transfer connector diaphragm and the body member, wherein an initial value of the variable telescoping force is greater than a maximum value of the variable positioning force.

278. The robotic system of claim 277, wherein the positioning phase begins with the initiation of movement of the fluid transfer assembly and / or the container by the manipulator and ends with the manipulator bringing the fluid transfer connector diaphragm and the container diaphragm into contact with each other, and the telescoping phase begins with the initiation of relative movement of the sleeve and the body member toward each other and ends with the displacement of the fluid transfer connector into its telescoping position.

279. The robotic system of claim 278, wherein a minimum value of said variable telescoping force is greater than a maximum value of said variable positioning force.

280. The robotic system of any one of claims 277 to 279, wherein the method further comprises applying a variable tightening force to manipulate at least one of the fluid transfer assembly and the container through a contact tightening phase, during which the manipulator tightens the contact between the fluid transfer connector diaphragm and the container diaphragm.

281. The robotic system of claim 280, wherein the contact fastening phase begins with the manipulator bringing the fluid transfer connector diaphragm and the container diaphragm into contact with each other and ends with the completion of the fluid transfer.

282. The robotic system of any one of claims 280 and 281, wherein the contact fastening phase at least partially overlaps the nesting phase.

283. The robotic system of claim 282, wherein said method further comprises increasing said variable tightening force at least prior to said initiation of said telescoping phase.

284. The robotic system of any one of claims 282 and 283, wherein an initial value of the variable overlapping force is greater than an initial value of the variable tightening force.

285. The robotic system of any one of claims 282 to 284, wherein the method further comprises applying a variable penetration force to manipulate the fluid transfer assembly and / or the container through a penetration phase, during which at least the tip of the fluid transfer conduit at least partially penetrates at least one of the container septum and the fluid transfer connector septum.

286. The robotic system of claim 285, wherein the penetration phase begins with the initiation of the tip of the fluid transfer conduit to at least partially penetrate at least one of the container septum and the fluid transfer connector septum, and ends with the fluid transfer connector being displaced into its nested position.

287. The robotic system of claim 286, wherein the telescoping phase at least partially overlaps the penetrating phase.

288. The robotic system of claim 287, wherein said method further comprises increasing said variable telescoping force at least prior to said initiation of said penetration phase.

289. The robotic system of any one of claims 285 to 288, wherein an initial value of the variable penetration force is greater than an initial value of the variable overlap force.

290. The robotic system of any one of claims 285 to 289, wherein a minimum value of the variable penetration force is greater than a maximum value of the variable positioning force.

291. A robotic system operable to transfer fluid between a container and a fluid transfer assembly, the robotic system comprising: Controller; and A manipulator, the manipulator being controllable by the controller, the manipulator comprising: a clamping arm configured to clamp a clamping portion of the fluid transfer assembly; and A support arm is configured to support a support portion of the fluid transfer assembly at least before the clamping arm clamps the clamping portion.

292. The robotic system of claim 291, wherein the robotic system is operable to transfer fluid at least partially along an injection axis, and the support arm is configured to be stationary relative to the injection axis.

293. The robotic system of claim 291 or 292, wherein the clamping arm is configured to be displaceable relative to the support arm, and the support arm is configured to be stationary relative to the clamping arm.

294. The robotic system of any one of claims 291 to 293, wherein the manipulator further comprises a plunger arm configured to engage a plunger flange portion of a fluid transfer unit of the fluid transfer assembly.

295. The robotic system of any one of claims 291 to 294, wherein the manipulator further comprises an engagement arm configured to engage an engagement portion of the fluid transfer component.

296. The robotic system of claim 295, wherein the engagement arm is configured to be displaceable relative to the support arm, and the support arm is configured to be stationary relative to the engagement arm.

297. The robotic system of any one of claims 291 to 296, wherein the manipulator comprises a body and the support arm comprises a protrusion protruding from the body.

298. A robotic system operable to transfer fluid between a container and a fluid transfer assembly including a plunger flange portion, the robotic system comprising: Controller; and A manipulator capable of being controlled by the controller, the manipulator comprising a plunger support, the plunger support comprising at least a first plunger retaining element and a second plunger retaining element, the first plunger retaining element being configured to accommodate a first plunger flange portion sized to have a first flange size, and the second plunger retaining element being configured to accommodate a second plunger flange portion sized to have a second flange size different from the first flange size.

299. A robot system according to claim 298, wherein the first plunger retaining element includes a first recess configured to receive the first plunger flange portion therein, the first recess forming a first receiving space having a first recess size corresponding to the first flange size, and the second plunger retaining element includes a second recess configured to receive the second plunger flange portion therein, the second recess forming a second receiving space having a second recess size corresponding to the second flange size and different from the first recess size.

300. A robot system according to claim 298 or 299, wherein the plunger support also includes a third plunger retaining element, which is configured to accommodate a third plunger flange portion whose size is set to have a third flange size different from the first flange size and the second flange size, and the third plunger retaining element includes a third recessed portion configured to receive the third plunger flange portion therein, and the third recessed portion is formed with a third receiving space having a third recessed portion size corresponding to the third flange size and different from the first recessed portion size and the second recessed portion size.

301. A fluid transfer connector, comprising: a body member capable of being coupled to a fluid transfer unit at a unit coupling portion, the body member being shaped to define a body lumen; a fluid transfer conduit extending axially from the unit coupling portion into the body lumen, the fluid transfer conduit being configured to establish fluid communication with the fluid transfer unit when the fluid transfer unit is coupled to the unit coupling portion; a sleeve coaxially arranged relative to the body member; a fluid transfer connector septum mounted at a distal end of the sleeve, The sleeve and the body member are configured to move relative to each other between an extended position and a telescoping position; and A locking mechanism configured to switch between a locked state and an unlocked state to selectively allow and prevent the relative movement of the sleeve and the main body member, wherein the locking mechanism is configured to allow the relative movement between the sleeve and the main body member from the extended position to the folded position when an actuator accessible through the outer wall of the fluid transfer connector is activated.

302. A fluid transfer connector according to claim 301, wherein the actuator is capable of being actuated by applying a radial force thereon.

303. A fluid transfer connector according to any one of claims 301 and 302, wherein the actuator includes an internal portion at least partially disposed within one of the sleeve and the body member, and an actuating portion accessible via an opening formed in the other of the sleeve and the body member, and Wherein applying a radial force on the actuation portion causes actuation of the locking mechanism from at least the locked state to the unlocked state to facilitate movement of the main body member relative to the sleeve from at least the extended position to the telescoped position.

304. A fluid transfer connector according to any one of claims 301 to 303, wherein the outer wall of the syringe connector includes a protective surface, and the protective surface is configured to prevent manual access to the actuator.

305. A fluid transfer connector according to claim 304 when dependent on claim 303, wherein the protective surface includes one or more protective elements surrounding the opening.

306. A fluid transfer connector according to any one of claims 301 to 305, wherein an inner surface of the fluid transfer connector is configured for axial, slidable movement of the actuator along it to facilitate the movement between the extended position and the folded position.

307. The fluid transfer connector of claim 306, wherein the actuator is configured to: capable of being pressed by a radial force so as to switch from the locked state to the unlocked state at the extended position; and for subsequent slidable axial movement along the inner surface to transition from the extended position to the telescoped position.

308. A fluid transfer connector according to any one of claims 301 to 307, wherein the fluid transfer connector diaphragm includes a through bore extending from a proximal surface of the diaphragm to a distal surface of the diaphragm and sized to receive the fluid transfer conduit.

309. A fluid transfer connector according to any one of claims 301 to 308, wherein the fluid transfer connector diaphragm is formed as an integral unit.

310. A fluid transfer connector according to any one of claims 301 to 309, wherein the outer wall of the fluid transfer connector includes a circumferential wall of the sleeve and terminates at a distal edge of the circumferential wall, the distal edge of the circumferential wall is axially spaced from a mounting portion of the sleeve to form a gap therebetween, and the sleeve mounting portion is configured to mount the fluid transfer connector diaphragm thereon.

311. A fluid transfer connector according to claim 310, wherein the peripheral wall is connected to the mounting portion via one or more beams.

312. A fluid transfer connector according to claim 311, wherein the fluid transfer connector has a longitudinal axis and the one or more beams include two oppositely facing beams, so that the diaphragm mounting portion extends between the two oppositely facing beams along a plane perpendicular to the longitudinal axis.

313. A fluid transfer connector, comprising: a body member capable of being coupled to a fluid transfer unit at a unit coupling portion, the body member being shaped to define a body lumen; a fluid transfer conduit extending axially from the unit coupling portion into the body lumen, the fluid transfer unit being configured to establish fluid communication with the fluid transfer unit when the fluid transfer unit is coupled to the unit coupling portion; a sleeve coaxially arranged relative to the body member; a fluid transfer connector septum mounted at a distal end of the sleeve, The sleeve and the body member are configured to move relative to each other between an extended position and a telescoping position; and A locking mechanism configured to switch between a locked state and an unlocked state to selectively allow and prevent the relative movement of the sleeve and the main body member, wherein the locking mechanism is configured to allow the relative movement between the sleeve and the main body member from the extended position to the collapsed position when an actuator is activated, wherein the actuator is capable of actuation regardless of an axial force applied to the fluid transfer connector diaphragm.

314. A fluid transfer connector according to claim 313, wherein the actuator is capable of actuating regardless of the axial force exerted by the container septum on the fluid transfer connector septum.

315. A fluid transfer connector according to any one of claims 313 and 314, wherein the actuator is accessible through an outer wall of the syringe connector.

316. A fluid transfer connector according to claim 315, wherein the actuator is capable of being actuated by applying a radial force thereon.

317. A fluid transfer connector according to any one of claims 315 and 316, wherein the actuator includes an internal portion at least partially disposed within one of the sleeve and the main body component, and an actuating portion accessible via an opening formed on the other of the sleeve and the main body component, and wherein applying a radial force on the actuating portion causes actuation of the locking mechanism from at least the locked state to the unlocked state to facilitate the movement of the main body component relative to the sleeve from at least the extended position to the folded position.

318. A fluid transfer connector according to any one of claims 313 to 317, wherein an outer wall of the syringe connector includes a protective surface, and the protective surface is configured to prevent manual access to the actuator.

319. A fluid transfer connector according to claim 318, wherein the protective surface includes one or more protective elements surrounding the opening.

320. A fluid transfer connector according to claim 319, wherein an inner surface of the fluid transfer connector is configured for axial, slidable movement of the actuator therealong to facilitate said movement between the extended position and the folded position.

321. The fluid transfer connector of claim 320, wherein the actuator is configured to: capable of being pressed by a radial force so as to switch from the locked state to the unlocked state at the extended position; and for subsequent slidable axial movement along the inner surface to transition from the extended position to the telescoped position.

322. A fluid transfer connector according to any one of claims 313 to 321, wherein the fluid transfer connector diaphragm includes a through bore extending from a proximal surface of the diaphragm to a distal surface of the diaphragm and sized to receive the fluid transfer conduit.

323. A fluid transfer connector according to any one of claims 313 to 322, wherein the fluid transfer connector diaphragm is formed as an integral unit.

324. A fluid transfer connector according to any one of claims 313 to 323, wherein the outer wall of the fluid transfer connector includes a circumferential wall of the sleeve and terminates at a distal edge of the circumferential wall, the distal edge of the circumferential wall is axially spaced from a mounting portion of the sleeve to form a gap therebetween, and the sleeve mounting portion is configured to mount the fluid transfer connector diaphragm thereon.

325. A fluid transfer connector according to claim 324, wherein the peripheral wall is connected to the mounting portion via one or more beams.

326. A fluid transfer connector according to claim 325, wherein the fluid transfer connector has a longitudinal axis and the one or more beams include two oppositely facing beams, so that the diaphragm mounting portion extends between the two oppositely facing beams along a plane perpendicular to the longitudinal axis.

327. A fluid transfer connector according to any one of claims 315 to 326, wherein the locking mechanism is configured to prevent manual access to the actuator.

328. A fluid transfer connector, comprising: a body member coupleable to a fluid transfer unit at a unit coupling portion, the body member being shaped to define a body lumen including a longitudinal axis of the fluid transfer connector; a fluid transfer conduit extending axially from the unit coupling portion into the body lumen, the fluid transfer unit being configured to establish fluid communication with the fluid transfer unit when the fluid transfer unit is coupled to the unit coupling portion; a sleeve coaxially disposed relative to the body member and including a fluid transfer connector septum mounted at a distal end of the sleeve, the sleeve and body member being configured to move relative to each other between an extended position and a telescoping position; and A locking mechanism, which is configured to switch between a locked state and an unlocked state to selectively allow and prevent the relative movement of the sleeve and the main body component, wherein the locking mechanism in its locked state is configured to prevent the relative movement between the sleeve and the main body component from the extended position to the nested position by applying an axial force on at least one of the main body component and the sleeve in a direction parallel to the longitudinal axis.

329. A fluid transfer connector according to claim 328, wherein the locking mechanism is configured to switch from the locked state to the unlocked state when a radial force is applied to the locking mechanism in a direction perpendicular to the longitudinal axis, and to allow the relative movement of the sleeve and the main body member in its unlocked state.

330. A fluid transfer connector according to claim 328 or claim 329, wherein the locking mechanism includes an actuator configured to prevent the locking mechanism from switching from the locked state to its unlocked state in response to the axial force.

331. A fluid transfer connector according to claim 330 when dependent on claim 329, wherein the actuator is configured to switch the locking mechanism from the locked state to the unlocked state in response to the radial force being applied thereto.

332. A fluid transfer connector according to claim 330 or 331, wherein the actuator includes a lockable member, and one of the sleeve and the main body member includes a locking member, the locking member is configured to selectively engage the lockable member in the locked state of the locking mechanism, and the lockable member is configured to prevent its release from the locking member by the axial force.

333. A fluid transfer connector according to claim 332 when dependent on claim 329, wherein the lockable member is configured to release from the locking member in response to the radial force.

334. A fluid transfer connector, comprising: a body member capable of being coupled to a fluid transfer unit at a unit coupling portion, the body member being shaped to define a body lumen; a fluid transfer conduit extending axially from the unit coupling portion into the body lumen, the fluid transfer conduit being configured to establish fluid communication with the fluid transfer unit when the fluid transfer unit is coupled to the unit coupling portion; a sleeve coaxially arranged relative to the body member; a fluid transfer connector diaphragm mounted at a distal end of the sleeve, the sleeve and the body member being configured to move relative to each other between an extended position in which the fluid transfer connector diaphragm is at an extended distance from the cell coupling portion and an intermediate position in which the fluid transfer connector diaphragm is at an intermediate distance from the cell coupling portion that is less than the extended distance and less than a second distance from the cell coupling portion; and A locking mechanism is configured to switch between a locked state and an unlocked state to selectively allow and prevent relative movement of the sleeve and the main body member at the extended position and the intermediate position.

335. A fluid transfer connector according to claim 334, wherein the sleeve and the main body are configured to move relative to each other between at least one of the extended position and the intermediate position and a collapsed position, in which the fluid transfer connector diaphragm is at a collapsed distance from the unit connection portion that is less than the intermediate distance.

336. A fluid transfer connector according to claim 335, wherein the sleeve and the body member are configured to move axially relative to each other to transition from at least one of the extended position and the intermediate position to the collapsed position.

337. According to any one of claims 334 to 336, the locking mechanism is configured to selectively allow the movement of the sleeve relative to the main body from at least one of the extended position and the intermediate position when an actuator accessible through the outer wall of the fluid transfer connector is activated.

338. A fluid transfer connector according to claim 337, wherein the actuator is capable of being actuated by applying a radial force thereon.

339. A fluid transfer connector according to any one of claims 337 and 338, wherein the actuator includes an internal portion at least partially disposed within one of the sleeve and the main body member, and an actuating portion accessible via an opening formed on the other of the sleeve and the main body member, and wherein application of a radial force on the actuating portion causes actuation of the locking mechanism from at least the locked state to the unlocked state to facilitate the movement of the main body member relative to the sleeve from at least one of the extended position and the intermediate position.

340. A fluid transfer connector according to claim 339, wherein an outer wall of the syringe connector includes a protective surface, and the protective surface is configured to prevent manual access to the actuator.

341. A fluid transfer connector according to claim 340, wherein the protective surface includes one or more protective elements surrounding the opening.

342. A fluid transfer connector according to claim 341, wherein the inner surface of the fluid transfer connector is configured for axial, slidable movement of the actuator along it to facilitate the movement between the extended position and the folded position.

343. The fluid transfer connector of claim 342, wherein the actuator is configured to: capable of being pressed by a radial force so as to switch from the locked state to the unlocked state at at least one of the extended position and the intermediate position; and for subsequent slidable axial movement along the inner surface to transition between the extended position and the intermediate position.

344. A fluid transfer connector according to any one of claims 337 to 343, wherein the fluid transfer connector diaphragm includes a through bore extending from a proximal surface of the diaphragm to a distal surface of the diaphragm and sized to receive the fluid transfer conduit.

345. A fluid transfer connector according to any one of claims 337 to 344, wherein the fluid transfer connector diaphragm is formed as an integral unit.

346. A fluid transfer connector according to any one of claims 337 to 345, wherein the outer wall of the fluid transfer connector includes a circumferential wall of the sleeve and terminates at a distal edge of the circumferential wall, the distal edge of the circumferential wall is axially spaced from a mounting portion of the sleeve to form a gap therebetween, and the sleeve mounting portion is configured to mount the fluid transfer connector diaphragm thereon.

347. A fluid transfer connector according to claim 346, wherein the peripheral wall is connected to the mounting portion via one or more beams.

348. A fluid transfer connector according to claim 347, wherein the fluid transfer connector has a longitudinal axis and the one or more beams include two oppositely facing beams, so that the diaphragm mounting portion extends between the two oppositely facing beams along a plane perpendicular to the longitudinal axis.

349. A fluid transfer connector according to any one of claims 337 to 348, wherein the locking mechanism is configured to prevent manual access to the actuator.

350. A fluid transfer connector, comprising: a body member capable of being coupled to a fluid transfer unit at a unit coupling portion, the body member being shaped to define a body lumen; a fluid transfer conduit extending axially from the unit coupling portion into the body lumen, the fluid transfer conduit being configured to establish fluid communication with the fluid transfer unit when the fluid transfer unit is connected to the unit coupling portion; a sleeve coaxially arranged relative to the body member; a fluid transfer connector septum mounted at a distal end of the sleeve; The sleeve and the body member are configured to move relative to each other between an intermediate position in which the fluid transfer connector diaphragm is at an intermediate distance from the cell coupling portion and a telescoping position in which the fluid transfer connector diaphragm is at a telescoping distance from the cell coupling portion that is less than the intermediate distance; and A locking mechanism is configured to switch between a locked state and an unlocked state to selectively allow and prevent relative movement of the sleeve and the main body member in an intermediate state, and the locking mechanism is configured to selectively allow the relative movement of the sleeve and the main body member to at least transition from the intermediate position to the nested position when the actuator is activated.

351. A fluid transfer connector according to claim 350, wherein the sleeve and the main body are configured to move relative to each other between at least one of the intermediate position and the folded position and an extended position, in which the fluid transfer connector diaphragm is at an extended distance from the unit connection portion that is greater than the intermediate distance.

352. A fluid transfer connector according to any one of claims 350 and 351, wherein the locking mechanism includes the actuator, and the actuator includes an actuation portion accessible through an outer wall of the fluid transfer connector.

353. A fluid transfer connector according to claim 352, wherein the actuator is capable of being actuated by applying a radial force thereon.

354. A fluid transfer connector according to any one of claims 350 to 353, wherein the actuator includes an internal portion at least partially disposed within one of the sleeve and the main body component, and an actuating portion accessible via an opening formed on the other of the sleeve and the main body component, and wherein applying a radial force on the actuating portion causes actuation of the locking mechanism from at least the locked state to the unlocked state to facilitate the movement of the main body component relative to the sleeve from at least the extended position to the folded position.

355. A fluid transfer connector according to claim 354, wherein an outer wall of the syringe connector includes a protective surface, and the protective surface is configured to prevent manual access to the actuator.

356. A fluid transfer connector according to claim 355, wherein the protective surface includes one or more protective elements surrounding the opening.

357. A fluid transfer connector according to claim 356, wherein the inner surface of the fluid transfer connector is configured for axial, slidable movement of the actuator therealong to facilitate said movement between the extended position and the folded position.

358. The fluid transfer connector of claim 357, wherein the projection is configured to: capable of being pressed by a radial force so as to switch from the locked state to the unlocked state at the intermediate position; and for subsequent slidable axial movement along the inner surface to transition between the intermediate position and the telescoped position.

359. A fluid transfer connector according to any one of claims 350 to 358, wherein the fluid transfer connector diaphragm includes a through bore extending from a proximal surface of the diaphragm to a distal surface of the diaphragm and sized to receive the fluid transfer conduit.

360. A fluid transfer connector according to any one of claims 350 to 359, wherein the fluid transfer connector diaphragm is formed as an integral unit.

361. A fluid transfer connector according to any one of claims 350 to 360, wherein the outer wall of the fluid transfer connector includes a circumferential wall of the sleeve and terminates at a distal edge of the circumferential wall, the distal edge of the circumferential wall is axially spaced from a mounting portion of the sleeve to form a gap therebetween, and the sleeve mounting portion is configured to mount the fluid transfer connector diaphragm thereon.

362. A fluid transfer connector according to claim 361, wherein the peripheral wall is connected to the mounting portion via one or more beams.

363. A fluid transfer connector according to claim 362, wherein the fluid transfer connector has a longitudinal axis and the one or more beams include two oppositely facing beams, so that the diaphragm mounting portion extends between the two oppositely facing beams along a plane perpendicular to the longitudinal axis.

364. A fluid transfer connector according to any one of claims 350 to 363, wherein the locking mechanism is configured to prevent manual access to the actuator.

365. A fluid transfer connector according to claim 351 or any one of claims 352 to 364 when dependent on claim 351, wherein the locking mechanism is configured to selectively allow the movement of the sleeve relative to the body member upon activation of the actuator to perform any one or more of the following transitions: transitioning from the extended position to the intermediate position; transitioning from the intermediate position to the telescoped position; and Transition from the telescoped position back to the intermediate position or the extended position.

366. A fluid transfer connector, comprising: a sleeve having a sleeve distal end; and A fluid transfer connector septum is installed at the distal end of the sleeve and has a septum protruding portion axially protruding from the sleeve, the septum protruding portion being formed in a stepped shape.

367. A fluid transfer connector according to claim 366, wherein the diaphragm protrusion includes a diaphragm proximal portion and a diaphragm distal portion, the diaphragm proximal portion having a first circumferential wall including a first circumference, and the diaphragm distal portion having a second circumferential wall including a second circumference, and the second circumference is smaller than the first circumference.

368. A fluid transfer connector according to claim 367, wherein the second circumferential wall is inclined so that the second circumference is recessed toward the distal surface of the diaphragm.

369. The fluid transfer connector of any one of claims 366 to 368, wherein the sleeve is formed to define a sleeve lumen, wherein the fluid transfer connector diaphragm includes a subsurface portion of the diaphragm housed within the sleeve lumen.

370. A fluid transfer connector according to claim 369, wherein the fluid transfer connector has a longitudinal axis and the subsurface portion of the diaphragm includes a recessed portion formed to receive a protrusion extending medially from the sleeve toward the longitudinal axis.

371. A fluid transfer connector according to any one of claims 366 to 370, wherein the diaphragm protrusion has a length extending axially from the distal end of the sleeve to the distal surface of the diaphragm, the length being at least 20 mm.

372. A fluid transfer connector according to any one of claims 366 to 371, wherein the diaphragm protrusion has a length extending axially from the distal end of the sleeve to the distal surface of the diaphragm, the length being at least 30 mm.

373. A fluid transfer connector according to any one of claims 366 to 372, wherein the diaphragm protrusion has a length extending axially from the distal end of the sleeve to the distal surface of the diaphragm, the length being in the range of at least 15 mm to 30 mm.

374. A fluid transfer connector extending between a connector proximal end and a connector distal end and configured to connect to a fluid transfer unit at the connector proximal end, the fluid transfer connector comprising: a connector body extending from the connector proximal end; and A septum extends from the connector body and has a septum protruding portion protruding from the connector body toward the connector distal end, the septum protruding portion being formed in a stepped shape.

375. A fluid transfer connector according to claim 374, wherein the diaphragm protrusion includes a diaphragm proximal portion and a diaphragm distal portion, the diaphragm proximal portion having a first circumferential wall including a first circumference, and the diaphragm distal portion having a second circumferential wall including a second circumference, and the second circumference is smaller than the first circumference.

376. A fluid transfer connector according to claim 375, wherein the second circumferential wall is inclined so that the second circumference is recessed toward the distal end of the connector.

377. A fluid transfer connector according to any one of claims 374 to 376, wherein the diaphragm includes a subsurface portion of the diaphragm housed within the interior of the connector body.

378. A robotic system operable to transfer fluid between a container and a fluid transfer assembly accessible via a fluid transfer unit and a fluid transfer connector, the fluid transfer connector configured to facilitate connection of the fluid transfer assembly to the container for the fluid transfer, the robotic system comprising: Controller; and A manipulator controllable by the controller and configured to hold and manipulate the fluid transfer assembly, the manipulator being configured to hold the fluid transfer assembly at the fluid transfer connector.

379. The robotic system of claim 378, wherein the manipulator comprises a clamping arm having at least one clamping element configured to clamp a clamping portion of the fluid transfer connector.

380. The robotic system of claim 378 or 379, wherein the manipulator comprises an engagement arm configured to engage an engagement portion of the fluid transfer connector.

381. The robotic system of any one of claims 378 to 380, wherein the manipulator is configured to manipulate the fluid transfer assembly while maintaining the fluid transfer unit unretained by the manipulator.

382. The robotic system of any one of claims 378 to 381, wherein the manipulator is configured to manipulate the fluid transfer assembly while holding the fluid transfer assembly at a portion remote from the fluid transfer unit.

383. The robotic system of any one of claims 378 to 382, ​​wherein the manipulator is configured to manipulate the fluid transfer component to secure contact between a fluid transfer connector diaphragm of the fluid transfer connector and a container diaphragm of the container while maintaining the fluid transfer component at the fluid transfer connector.

384. The robotic system according to any one of claims 378 to 383, further comprising a fluid transfer connector configured to be connected to a fluid transfer unit of the fluid transfer assembly and to facilitate connection of the fluid transfer unit with the container for the fluid transfer.

385. The robotic system of claim 384 when dependent upon claim 379, wherein the fluid transfer connector comprises a clamping portion configured to be clamped by the clamping arm of the manipulator.

386. The robotic system of claim 385, wherein the clamping portion comprises at least one clampable element configured to be clamped by the clamp element of the clamping arm.

387. The robotic system of claim 386, wherein the at least one clampable element comprises a protrusion, and the clamp element comprises a corresponding recess configured to at least partially receive the protrusion therein.

388. The robotic system of claim 386, wherein the gripper element comprises a protrusion and the grippable element comprises a corresponding recess configured to at least partially receive the protrusion therein.

389. The robotic system of any one of claims 384 to 388, wherein the fluid transfer connector comprises a fluid transfer connector diaphragm, and the manipulator is configured to secure contact between the fluid transfer connector diaphragm and a container diaphragm of the container.

390. A method for transferring fluid between a container accessible via a container septum and a fluid transfer assembly accessible via a fluid transfer connector, by operation of a robotic system, the method comprising operating the robotic system by controlling a manipulator of the robotic system to hold the fluid transfer connector and manipulate the fluid transfer assembly to perform the fluid transfer.

391. A robotic system operable to transfer fluid between a fluid transfer assembly and a first container and between the fluid transfer assembly and a second container, the robotic system comprising: a first container holder configured to hold the first container and a second container holder configured to hold the second container, the first container holder being spaced apart from the second container holder by an arcuate path; Controller; and A rotatable manipulator is rotatable about its rotation axis and includes a clamping arm configured to clamp the fluid transfer component, and the controller is configured to rotate the rotatable manipulator to move the clamping arm along the arcuate path between a first position and a second position while clamping the fluid transfer component, the first position being aligned with the first container holder and the second position being aligned with the second container holder.

392. The robotic system of claim 391, wherein said gripping arm moves from said first position to said second position only along said arcuate path.

393. The robotic system of claim 391 or 392, wherein the gripping arm moves from the first position to the second position along the arcuate path in a single and continuous motion.

394. A robot system according to any one of claims 391 to 393, wherein the first container holder is configured to hold the first container at a first distance from the rotation axis in a first direction perpendicular to the rotation axis, and the second container holder is configured to hold the second container at a second distance from the rotation axis in a second direction perpendicular to the rotation axis, the first distance being equal to the second distance.

395. The robotic system of claim 394, wherein the first direction and the second direction define an arc path angle therebetween, the arc path angle corresponding to an arc length of the arc path between the first position and the second position.

396. The robotic system of any one of claims 391 to 395, wherein the manipulator is configured to move at least a portion of the fluid transfer assembly in a direction parallel to the rotation axis when the fluid transfer assembly is in at least one of the first position and the second position.

397. A robotic system according to any one of claims 391 to 396, wherein the manipulator is configured to establish a first fluid connection between the fluid transfer assembly and the first container when the first container is held by the first container holder, and to establish a second fluid connection between the fluid transfer assembly and the second container when the second container is held by the second container holder.

398. The robotic system of any one of claims 391 to 397, wherein each of the first container and the second container is accessible via a corresponding container diaphragm, and the fluid transfer assembly comprises a clamping portion and a fluid transfer conduit configured to transfer fluid through the container diaphragm.

399. The robotic system of any one of claims 391 to 398, wherein the first and second containers comprise any of vials and IV bags.

400. The robotic system of any one of claims 391 to 399, wherein the axis of rotation is a longitudinal axis of the manipulator.

401. A robotic system operable to transfer fluid between a container and a fluid transfer assembly, the fluid transfer assembly comprising: A syringe having a plunger flange and a fluid transfer conduit extending at least partially along an injection axis for transferring the fluid upon displacement of the plunger flange, the robotic system comprising: Controller; and A manipulator, the manipulator being controllable by the controller, the manipulator comprising: a plunger arm configured to engage the plunger flange; and A clamp arm is configured to clamp a clamp portion of the fluid transfer assembly, the plunger arm being displaceable relative to the clamp arm along the injection axis and configured to displace with the clamp arm during at least a portion of the movement of the manipulator.

402. The robotic system of claim 401, wherein the controller is configured to operate the manipulator to: The clamp arm is moved to align the fluid transfer assembly with the container, and the plunger arm is moved along the injection axis to displace the plunger flange for transferring the fluid between the container and the syringe.

403. The robotic system of claim 401 or 402, wherein the manipulator is constructed to mechanically couple the plunger arm with the clamp arm.

404. The robotic system of any one of claims 401 to 403, wherein the manipulator including the plunger arm and the clamping arm is formed as an integral structure.

405. The robotic system of any one of claims 401 to 404, wherein the controller is configured to control the plunger arm such that: The plunger arm clamps the plunger flange; and The plunger arm axially displaces the plunger flange to transfer the fluid between the syringe and the container.

406. The robotic system of any one of claims 401 to 405, wherein the manipulator has a central longitudinal axis and the injection axis is positioned away from the central longitudinal axis.

Images