Fluid transfer station in a robotic pharmaceutical preparation system

Abstract

A robotic system and method for transferring fluid between a container accessible through a container septum and a fluid transfer assembly accessible through a fluid transfer connector septum is provided. 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 septum and the fluid transfer connector septum during at least a portion of the transfer of the fluid.

Description

[Technical field]

[0001] CROSS-REFERENCE TO RELATED APPLICATIONS This application claims the benefit of and priority to U.S. Provisional Patent Application No. 63 / 269,004, filed March 8, 2022, No. 63 / 382,014, filed November 2, 2022, and No. 63 / 429,340, filed December 1, 2022, each of which is incorporated by reference in its entirety herein.

[0002] The present application relates generally to robotic drug preparation systems, and more particularly to fluid transfer stations within robotic drug preparation systems. [Background technology]

[0003] Automatic or semi-automatic preparation systems are known for preparing drugs designated for administration to a patient. These systems include fluid transfer stations for transferring fluids between a syringe and a vial or between a syringe and an intravenous (IV) bag. In closed fluid transfer systems deployed for the preparation of dangerous drugs, measures are taken to prevent leakage of the dangerous drug from the syringe, vial or IV bag. Thus, the syringe, vial and IV bag are each attached to a connector (also called an "adapter" or "spike adapter") that comprises a septum, so that the transfer of fluids is carried out through the syringe septum and the vial septum or through the syringe septum and the IV bag septum. In the prior art, these connectors comprise rings or casings to ensure the alignment of the syringe septum and the vial septum or the syringe septum and the IV bag septum. These casings further comprise fixing (i.e. fastening) means for fixedly connecting the septums to each other, such as by screws or snaps or extensions extending along the sides of the septums. Summary of the Invention

[0004] The disclosed subject matter generally relates to a robotic drug preparation system, and more specifically to a fluid transfer station in a robotic drug preparation system. The robotic drug preparation system and the fluid transfer station are configured to perform operations related to the transfer of medication between different fluid transfer devices, including containers, fluid transfer assemblies, connectors, conduits, pumps, syringes, vials, intravenous bags, adapters, needles, and the like. 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 the transfer of fluids, and the like. It should be understood that the examples described herein (see drawings and elsewhere) are described with reference to only a few of the components of the fluid transfer devices that are included within the scope of the present subject matter for the sake of brevity and clarity of the present specification. Various examples similar to those described herein having different components of the fluid transfer devices and different robotic stations, including different combinations of components of the fluid transfer devices and robotic stations, should be considered within the scope of the present specification.

[0005] For example, the container is described herein with reference to a vial and / or an intravenous bag, it is understood that the container may 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 may constitute a container assembly having the container together with a container connector (or adapter) for establishing fluid communication of the container with other components of the fluid transfer device. For example, the container may be a vial with a vial adapter, or an intravenous bag with a spike adapter. The container may be accessible through a container septum, which may be a septum of a container lid or may be part of a connector. In some examples, the container may be a syringe, a fluid transfer pipe, a conduit, or the like.

[0006] 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 can include similar components for transferring medication. In some examples, the fluid transfer assembly can include a pump mechanism and a fluid transfer pipe configured to be connected to a container for transfer of medication. In some examples, the fluid transfer assembly can include a fluid transfer connector (or adapter) for establishing fluid communication between a fluid transfer unit (fluid transfer pipe, conduit, pump, syringe, etc.) and the container. In some examples, the fluid transfer assembly may not include a fluid transfer connector, and the fluid transfer connector can form part of a robotic system that operates the fluid transfer assembly. In some examples, the fluid transfer assembly can include a vial or an intravenous bag for transfer of fluids to and from other containers.

[0007] Furthermore, in all examples described herein, the transfer of fluid is described as being performed by a needle penetrating the container septum and entering the container. It is understood herein that in some examples, the transfer of fluid can be performed without the needle penetrating the container septum, or optionally even the septum of a fluid transfer connector (associated with a fluid transfer assembly). In some examples, the transfer of fluid can be performed through a fluid transfer conduit by controlled pressure of the fluid, 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 completely penetrate both septums, completely penetrate one septum and partially penetrate the other septum, partially penetrate one septum and not penetrate the other septum at all, or not penetrate any septum at all.

[0008] A robotic system according to the subject matter of the present disclosure is configured to handle and manipulate the container and fluid transfer assembly according to all of its different examples as described above to perform fluid transfer. For example, in all of the examples described herein, the robotic system is described as having a manipulator configured to manipulate the fluid transfer assembly (more specifically, the syringe assembly), but it is understood that the robotic system (and manipulator) is configured herein to handle and manipulate either or both of the container and fluid transfer assembly according to all of the examples described above. Also, in all of the examples described herein, the manipulator is described as a robotic arm, but it is understood that the manipulator may be a platform, robot station, etc. having holders for holding components of the fluid transfer device and moving them relative to each other to perform fluid transfer.

[0009] The following terms and their derivatives used throughout this application can be better understood in light of the following explanation.

[0010] A robotic system may comprise an automated or partially automated system comprising a manipulator that is at least partially controlled by a controller unit (also referred to as a controller or control unit).

[0011] The manipulator may comprise a robotic arm, a platform, a robotic station, or a combination thereof configured to manipulate the container and / or the fluid transfer assembly.

[0012] The controller or controller unit may comprise a computer controller configured to perform operations according to an instruction set stored on a memory readable by the controller, which may be executed by a central processing unit (CPU), one or more processors, processor units, microprocessors, etc. In another embodiment, the controller or controller unit comprises one or more control circuits. In some examples, the control unit may comprise one or more mechanism controllers. The controller unit may comprise any means for controlling elements in the robotic medicine preparation system, and may comprise at least one of a controller, a synchronization unit, and a processor.

[0013] A robotic medicine preparation system comprises a robotic system operable to perform any activity associated with preparing a designated medication for administration to a patient. It is noted that the term "robotic system" as used herein may include a robotic medicine preparation system.

[0014] The pharmaceutical preparation system may optionally comprise one or more dilution stations, i.e., a reconstitution station where any type of diluent is added to a drug in solid and / or liquid form, and / or optionally one or more filling stations, i.e., a compounding station where an at least partially or completely prepared drug is transferred into a container.

[0015] The terms "pharmaceutical product" and "drug" are used interchangeably.

[0016] The needle may comprise a cannula or any other device configured to penetrate a container and transfer fluid therethrough. The needle may include a bevel at its distal tip, or an opening in a side, or any other configuration.

[0017] A septum may generally refer to a membrane configured to close access to a portion of the device to which it belongs. In general, a septum on a container or container connector (also referred to as a container septum) may seal the container. A septum on a fluid transfer assembly (also referred to as a fluid transfer connector septum) may prevent or resist access to a fluid transfer conduit (e.g., a needle according to the embodiments described herein with reference to the drawings). Typically, a septum is made of an elastic, pierceable material. Such a material may be a polymer with elastic properties, such as rubber.

[0018] A longitudinal axis Lx1 extends centrally along the length of the fluid transfer assembly (FIG. 3B) and defines the injection axis.

[0019] A central longitudinal axis Lx2 extends centrally along the length of a container (vial) placed in the container-holding module (used interchangeably herein with container holder) 208. During fluid transfer, axis Lx2 may be aligned with axis Lx1, as shown in FIG. 3B.

[0020] A central longitudinal axis Lx3 extends centrally along the central length of a container (intravenous bag or IV bag) disposed in the container assembly retaining module 214. During fluid transfer as shown in FIG. 15A, axis Lx3 may align with axis Lx1.

[0021] The vertical axis x1 is substantially parallel to the longitudinal axis Lx1. The axial movement and the axial displacement are generally performed parallel to the vertical axis x1 (FIG. 3A).

[0022] The horizontal axis x2 is orthogonal to the vertical axis x1 and extends generally parallel to the length of the table of the fluid transfer station (eg, table 220 in FIG. 3A).

[0023] The horizontal axis x3 is an axis perpendicular to the vertical axis x1 and the horizontal axis x2 (FIG. 3A).

[0024] The axis of rotation r1 is parallel to the vertical axis x1, and rotation about it is indicated by the arrow r2 in FIG. 3A.

[0025] A front view generally refers to a view taken from a front plane extending along a vertical axis x1 and a horizontal axis x2, such as the view shown in Figure 3A. A side view generally refers to a view taken from a side extending along a vertical axis x1 and a horizontal axis x3, such as the view shown in Figure 4B. The cross-sectional views shown herein are primarily longitudinal cross-sections.

[0026] According to a first aspect of the subject matter of the present disclosure, for example, a robotic system operable to transfer fluid between a container accessible through a container septum and a fluid transfer assembly accessible through a fluid transfer connector septum is provided, the robotic system including 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 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 transfer of fluid.

[0027] In some examples, the vessel may comprise a vessel assembly including the vessel and the vessel connector, and in such examples, the vessel septum may comprise part of the vessel connector. In some examples, the vessel connector may comprise part of a robotic system. In some examples, the vessel septum comprises part of the vessel and the vessel connector is not present.

[0028] In some examples, the fluid transfer assembly can include a fluid transfer connector. In some examples, the fluid transfer connector can form part of a robotic system. In some examples, the fluid transfer assembly can include a fluid transfer unit. The fluid transfer unit can be a tube, pipe, container, etc. The fluid transfer unit is connected to a pump mechanism operable to pump fluid into and out of the fluid transfer unit. The fluid transfer unit in some examples can be a syringe plunger or a syringe operable by a pump mechanism. In this specification, the examples shown in the drawings and described with reference thereto are described with reference to a fluid transfer assembly that is a syringe assembly, i.e., includes a syringe operable by a plunger, and a fluid transfer connector that is a syringe connector. For the sake of brevity of this specification, all other examples of fluid transfer assemblies (tubing sets, tubes, pipes, pump mechanisms, etc.) and the operation of the robotic system therewith have not been described in detail and should be considered as encompassed by the scope of this specification.

[0029] It is understood herein that securing the contact between the container septum and the syringe septum (fluid transfer connector septum) may include at least one or more of: (i) compressing the container septum and the syringe septum to an extent that at least one of the container septum and the syringe septum is elastically deformed; and (ii) compressing the container septum and the syringe septum with at least a predetermined compression threshold force and then maintaining or increasing that force during the transfer of fluid. Deformation of at least one of the septums is intended to mean that when securing the contact between the septums, the total distance between the non-contacting surfaces of the septums is less than the sum of the heights of the septums. For example, the container septum includes a first surface facing the syringe septum, an opposing second surface, and a side extending therebetween that defines the height of the container septum 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 extending therebetween that defines a height of the syringe septum between the first and second surfaces. When the first surface of the container septum and the first surface of the syringe septum are brought into contact with one another and the contact is secured by a 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 septums. In other words, at least one of the septum sides bulges radially outward.

[0030] The force of pressing the two partitions together to fix the contact between them is at least sufficient to prevent leakage of liquid through the contact points between the partitions even in the absence of elements radially surrounding the contact points. In other words, fixing the contact is intended to mean that the partitions are pressed together with a force to at least maintain the contact between them secure and leak-proof, even in the absence of elements (locks, snaps, connecting elements, etc.) in either the connector, the container, or the robotic system to maintain the contact between the partitions as leak-proof by radially surrounding the contact. The magnitude of force minimally required, i.e. at least sufficient, to prevent the partitions from separating from each other or to allow leakage of fluid through the contact points is maintained by the manipulator during the transfer of the fluid. In some non-limiting examples, the minimum force required to secure the contact can be at least in the range of 5-100 Newtons, sub-ranges and variables thereof, and / or in some non-limiting examples, at least in the range of 25-100 Newtons, sub-ranges and variables thereof, in some non-limiting examples, the force can be in the range of 10-50 Newtons, sub-ranges and variables thereof, in some non-limiting examples, the force can be in the range of 25-75 Newtons, sub-ranges and variables thereof, in some non-limiting examples, the force can be in the range of 30-50 Newtons, sub-ranges and variables thereof, and in some non-limiting examples, the force can be in the range of 30-40 Newtons, sub-ranges and variables thereof.

[0031] It should be understood that, as used herein, securing contact between partitions is intended to mean significantly more than simply contacting the partitions with one another and / or holding the partitions in contact with the aid of external elements such as snaps, locks, connecting elements, etc.

[0032] In some examples, the controller is further configured to control the manipulator to bring the container septum into contact with the fluid transfer connector septum and perform securing of 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 during at least a portion of the fluid transfer.

[0033] 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 begins, where reaching the predetermined compression threshold is associated with securing the contact.

[0034] In some examples, the biasing 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 transfer of fluid.

[0035] 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 vessel septum of the vessel, bring the fluid transfer connector septum and the vessel septum into contact with one another, press at least one of the fluid transfer connector septum and the vessel septum against the other of the fluid transfer connector septum and the vessel septum to effect securement of contact therebetween, and / or effect at least partial penetration of at least one of the fluid transfer connector septum and the vessel septum by a fluid transfer conduit associated with the fluid transfer connector of the fluid transfer assembly to enable transfer of fluid, the pressing mechanism being configured to ensure that a predetermined compression threshold between the vessel septum and the fluid transfer connector septum is reached prior to the at least partial penetration. In some examples, the fluid transfer conduit can comprise a needle.

[0036] In some examples, the manipulator comprises a gripping arm configured to grip a gripping portion of at least one of the fluid transfer assembly and the container. In some examples, 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. In some examples, the gripping arm is configured to be controllably movable to allow gripping of the fluid transfer assembly from a fluid transfer assembly recirculating conveyor configured to store one or more fluid transfer assemblies and / or gripping of the container from a container recirculating conveyor configured to store one or more containers. In some examples, the gripping arm is configured to be controllably movable relative to a container holder configured to hold the container, and the gripping arm is configured to align the fluid transfer connector septum with the container septum and to contact the fluid transfer connector septum when the gripping arm holds the fluid transfer assembly.

[0037] In some examples, the manipulator includes an engagement arm configured to engage the fluid transfer assembly at the engagement portion when the gripping arm grips the fluid transfer assembly, the engagement arm configured to be axially movable relative to the gripping arm, hi some examples, the engagement arm and the gripping arm are coupled such that the engagement arm and the gripping arm are operable to be controllably displaced axially together or axially relative to each other.

[0038] In some examples, the engagement arm is configured to engage a sleeve of a fluid transfer connector of the fluid transfer assembly, the sleeve being fixedly coupled to the fluid transfer connector septum, the gripping arm is configured to grip a body member of the fluid transfer connector fixedly coupled to a fluid transfer conduit of the fluid transfer connector, and the controller is configured to cause relative movement between the gripping arm and the engagement arm when a predetermined compression threshold between the container septum and the fluid transfer connector septum is reached to move the fluid transfer conduit and the fluid transfer connector septum at least partially toward each other.

[0039] In some examples, the manipulator is configured to resist relative movement between the gripping 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 a predetermined compression threshold.

[0040] In some examples, the engagement arm and the gripping arm are coupled via a resistance member that opposes relative movement of the gripping arm and the engagement arm towards one another. In some examples, the resistance member can include a spring configured to be selectively compressed by movement of the engagement arm and the gripping arm towards one another. In some examples, the resistance member can include an elastic member configured to be selectively stretched by movement of the engagement arm and the gripping arm towards one another. In some examples, the resistance member can include a deformable member configured to be selectively deformed by movement of the engagement arm and the gripping arm towards one another. In some examples, the resistance member can include a spring, a band, an elastic arrangement, a linear drive arrangement, or the like.

[0041] In some examples, the resistance member is configured to move the engagement arm and the gripper arm away from each other after fluid transfer is completed. In some examples, the engagement arm is configured to abut a radial stop of the engagement portion when the fluid transfer connector septum contacts the vessel septum, and the manipulator is configured to cause relative movement between the gripper arm and the engagement arm only after a predetermined compression threshold force is applied, thereby pressing the fluid transfer connector septum against the vessel septum such that contact therebetween reaches a predetermined compression threshold before the fluid transfer conduit and the fluid transfer connector septum move at least partially towards each other.

[0042] In some examples, the robotic system further includes a container holding module or container holder configured to hold the container along the container longitudinal axis.

[0043] In some examples, the container holder includes a vial holder configured to support at least one vial and / or an intravenous bag holder configured to support at least one intravenous bag.

[0044] In some examples, the manipulator is configured to move towards the vessel holder. In some examples, the vessel holder is configured to move towards the manipulator.

[0045] In some examples, the controller is further configured to rotate the gripping arm and the engagement arm together about the axis of rotation. In some examples, the controller is configured to control the engagement arm and the gripping arm such that the gripping arm grips a body member of the fluid transfer connector, which is fixedly coupled 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, which is fixedly coupled to the fluid transfer connector septum, and presses the fluid transfer connector septum against the container septum to effectuate a securing of contact therebetween, and / or the gripping arm causes a foldable movement of the body member and the sleeve toward one another, which effectuates at least partial movement of the fluid transfer conduit and the fluid transfer connector septum toward one another to facilitate the transfer of fluid.

[0046] In some examples, the gripping arms are further configured to apply a radial force to an outer wall of the fluid transfer assembly, and the controller is configured to control the gripping arms to selectively apply the radial force to press against a fluid transfer connector actuator of the fluid transfer assembly.

[0047] In some examples, the fluid transfer assembly includes a syringe, and the robotic system further includes a plunger arm configured to operate a plunger of the syringe, and the controller is configured to control the plunger arm to grasp a plunger flange portion of the plunger and axially displace the plunger flange to transfer fluid between the syringe and the container.

[0048] In some examples, the controller is configured to control the engagement arm and the gripping arm so that, following fluid transfer, the gripping arm moves the body member away from the sleeve and the engagement arm and the gripping arm are moved away from the container to separate the septum.

[0049] In some examples, the controller is configured to operate the gripper arms to move the body member away from the sleeve after fluid transfer.

[0050] In some examples, the controller is configured to operate the gripping arms to cease application of the radial force after the body member is moved away from the sleeve, In some examples, the controller is configured to simultaneously or sequentially operate the gripping arms to grip the body member, align the fluid transfer assembly with the vessel, contact the fluid transfer connector septum with the vessel septum, and selectively apply a radial force to press against a fluid transfer connector actuator of the fluid transfer assembly.

[0051] In some examples, the controller is configured to control the engagement arm and the gripping arm such that one of the engagement arm and the gripping arm grips the fluid transfer assembly, aligns the fluid transfer assembly with the container, contacts the fluid transfer connector septum with the container septum, and the one of the engagement arm and the gripping arm presses the fluid transfer connector septum against the container septum to ensure contact therebetween.

[0052] In some examples, the engagement arm and the gripping arm are positioned to contact the fluid transfer assembly at the fluid transfer connector. In some examples, the engagement arm is formed with a pressing surface configured to press against a radial stop of the fluid transfer assembly to secure 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 dimensioned to surround the fluid transfer assembly and form a radial gap with an outer wall of the fluid transfer assembly.

[0053] In some examples, the pressing surface of the engagement arm is configured to mate with an outer surface of the fluid transfer assembly such that no radial gap exists between the outer wall of the fluid transfer assembly and the pressing surface.

[0054] In some examples, the gripping arm includes at least one protruding element configured to apply a radial force to an outer wall of the fluid transfer assembly when the fluid transfer assembly is manipulated by the robotic system.

[0055] In some examples, the projecting element of the gripping arm includes a plate having an arcuate groove formed therein.

[0056] In some examples, the gripping arm includes two opposing plates including first and second pairs of protruding elements configured to access first and second pairs of openings on the outer wall of the fluid transfer assembly.

[0057] In some examples, the two opposing plates are configured to be spaced apart from one another to form a gap therebetween. In some examples, the pressing 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 transfer of fluid is completed, at least until the fluid transfer conduit is moved away from the fluid transfer connector septum. In some examples, the robotic system comprises a fluid transfer connector according to any of the examples thereof described herein.

[0058] According to one example, there is provided a method performed by the robotic system of the first aspect, the method including a process for transferring fluid between a container accessible through a container septum and a fluid transfer assembly accessible through a fluid transfer connector septum, the method including: by operation of the robotic system, contacting a container septum of the container with a 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 to secure 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 transfer of fluid.

[0059] According to a second aspect of the subject matter of the present disclosure, there is provided a robotic system operable to transfer fluid between a container accessible through a container septum and a fluid transfer assembly, the fluid transfer assembly being accessible through a 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 one another upon activation of a locking mechanism, 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 grasp the fluid transfer assembly and activate the locking mechanism, the controller being configured to operate the manipulator upon activation of the locking mechanism to move the sleeve and the body member relative to one another to transfer fluid between the fluid transfer assembly and the container.

[0060] In some examples, the robotic system according to the second aspect can be configured to perform some or all of the operations associated with 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 associated therewith. In some examples, the robotic system according to the second aspect can be configured to perform some or all of the operations associated with the locking mechanism and relative movement of the engagement arm and gripper arm (or sleeve and body member), as described above for the robotic system according to the first aspect, and can include some or all of the components associated therewith.

[0061] Furthermore, the robotic system according to the second aspect may include some or all of the features relating to the manipulators, gripping arms, engagement arms and resistance members as described for the robotic system according to the first aspect.

[0062] In some examples, the robotic system includes a fluid transfer connector according to any of the examples described herein.

[0063] According to one example, there is provided a method performed by the robotic system of the second aspect, the method including a process for transferring fluid between a container accessible through a container septum and a fluid transfer assembly accessible through a fluid transfer connector, the method including controlling, by operation of the robotic system, a manipulator of the robotic system to grasp the fluid transfer assembly and actuate a locking mechanism associated with establishing fluid communication between the fluid transfer assembly and the container, and upon actuating the locking mechanism to establish fluid communication, operating the manipulator to move a sleeve and a body member of the fluid transfer connector relative to one another, and transferring fluid between the fluid transfer assembly and the container.

[0064] According to a third aspect of the subject matter of the present disclosure, there is provided a robotic system operable to transfer fluid between a container accessible through a container septum and a fluid transfer assembly accessible through a fluid transfer connector having a sleeve including a body member and a fluid transfer connector septum, the sleeve and the body member configured to move relative to one another, the system comprising a container holder configured to support the container and 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 gripping arm configured to grip the other of the body member and the sleeve, the gripping arm and the engagement arm being movable relative to one another.

[0065] In some examples, the engagement arm and the gripping arm are mechanically coupled to a primary drive assembly configured to simultaneously move the engagement arm and the gripping arm together while pressing at least one of the gripping arm and the engagement arm against an outer surface of the fluid transfer assembly.

[0066] In some examples, the engagement arm is connected to the gripping arm via a secondary drive assembly configured to cause relative movement between the gripping arm and the engagement arm.

[0067] In some examples, the robotic system according to the third aspect can be configured to perform some or all of the operations associated with 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 associated therewith. In some examples, the robotic system according to the third aspect can be configured to perform some or all of the operations associated with the locking mechanism and relative movement of the engagement arm and gripper arm (or sleeve and 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 associated therewith.

[0068] Furthermore, the robotic system according to the third aspect may include some or all of the features relating to the manipulators, gripping arms, engagement arms and resistance members as described for the robotic systems according to the first and second aspects.

[0069] In some examples, the robotic system includes a fluid transfer connector according to any of the examples described herein.

[0070] According to one example, there is provided a method performed by the robotic system of the third aspect, the method including a process for transferring fluid between a container accessible through a container septum and a fluid transfer assembly accessible through a fluid transfer connector, the method including, by operation of the robotic system, 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 gripping arm towards the other to establish fluid communication between the fluid transfer assembly and the container, and performing a transfer of fluid between the fluid transfer assembly and the container.

[0071] According to a fourth aspect of the subject matter of the present disclosure, there is provided a robotic system operable to transfer fluid at least partially along an injection axis between a container accessible through a container septum and a fluid transfer assembly accessible through a fluid transfer connector, the robotic system comprising: a controller; and a manipulator controllable by the controller, the manipulator comprising a gripping arm configured to grip a gripping 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 gripping arm being displaceable along the injection axis relative to the other of the engagement arm and gripping arm, and the engagement arm and gripping arm being configured to displace together during at least a portion of a movement of the manipulator.

[0072] In some examples, the robotic system according to the fourth aspect can be configured to perform some or all of the operations associated with 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 associated therewith. In some examples, the robotic system according to the fourth aspect can be configured to perform some or all of the operations associated with the locking mechanism and the relative movement of the engagement arm and gripper arm (or sleeve and 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 associated therewith.

[0073] Further, the robotic system according to the fourth aspect may include some or all of the features relating to the manipulators, gripping arms, engagement arms and resistance members as described for the robotic systems according to the first, second and third aspects.

[0074] In some examples, the robotic system includes a fluid transfer connector according to any of the examples described herein.

[0075] According to one example, there is provided a method performed by the robotic system of the fourth aspect, the method including a process for transferring fluid at least partially along an injection axis between a container accessible through a container septum and a fluid transfer assembly accessible through a fluid transfer connector, the method including, by operation of the robotic system, operating an engagement arm of a manipulator of the robotic system to engage an engagement portion of the fluid transfer assembly, operating a gripping arm of the manipulator to grip a gripping portion of the fluid transfer assembly, moving the engagement arm and gripping arm together along the fluid transfer assembly with the container, moving at least one of the engagement arm and gripping arm along the injection axis toward the other of the engagement arm and gripping arm to establish fluid communication between the fluid transfer assembly and the container, and performing the transfer of fluid between the fluid transfer assembly and the container.

[0076] According to a fifth aspect of the subject matter of the present disclosure, there is provided a robotic system operable to transfer fluid between a container accessible through a container septum and a fluid transfer assembly accessible through a fluid transfer connector configured to establish fluid communication between the container and the fluid transfer assembly for transfer of fluid, 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 folded position in which the fluid transfer connector establishes fluid communication, the fluid transfer connector comprising a fluid transfer connector septum disposed in 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 folded position, and a contact fixation mechanism configured to prevent the manipulator from displacing the fluid transfer connector from the extended position to its folded position until a predetermined compression threshold between the container septum and the fluid transfer connector septum is reached.

[0077] In some examples, the manipulator is configured to press at least one of the fluid transfer connector septum and the vessel septum against the other of the fluid transfer connector septum and the vessel septum with a compressive force having a variable magnitude.

[0078] In some examples, the contact fixation mechanism is configured to prevent the manipulator from displacing the fluid transfer connector from the extended position to its collapsed position at least until the compressive force is below a predetermined compression threshold.

[0079] In some examples, the contact fixation mechanism is configured to allow the manipulator to displace the fluid transfer connector from the extended position to its collapsed position at least when the compressive force is equal to or greater than a predetermined compression threshold.

[0080] In some examples, the contact fixation mechanism is configured to enable the manipulator to displace the fluid transfer connector to its collapsed position following detection of an event indicating that the compressive force is equal to or greater than a predetermined compressive threshold.

[0081] In some examples, the contact securing mechanism comprises a mechanical element.

[0082] In some examples, the contact fixation mechanism comprises a resistance member configured to resist displacement of the fluid transfer connector by the manipulator to its collapsed position.

[0083] In some examples, the manipulator comprises an engagement arm configured to engage the sleeve and a gripping arm configured to grip the body member, the engagement arm and the gripping arm configured to move relative to one another to displace the fluid transfer connector between an extended position and a collapsed position, and the engagement arm and the gripping arm are coupled to one another via a resistance member.

[0084] In some examples, the engagement arm and the gripping arm are configured to move towards each other upon initiation of deformation of the resistance member to displace the fluid transfer connector to the collapsed position. In some examples, the resistance member is configured to prevent deformation until a minimum threshold force is applied thereon. In some examples, the event includes initiation of deformation.

[0085] In some examples, the robotic system further comprises a sensor configured to detect initiation of the deformation and generate a signal indicative thereof, hi some examples, the resistance member is configured to cause the manipulator to displace the fluid transfer connector to its extended position after completion of the transfer of fluid.

[0086] In some examples, the robotic system according to the fifth aspect can be configured to perform some or all of the operations associated with 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 associated therewith. In some examples, the robotic system according to the fifth aspect can be configured to perform some or all of the operations associated with the locking mechanism and relative movement of the engagement arm and gripper arm (or sleeve and 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 associated therewith.

[0087] Further, the robot system according to the fifth aspect may include some or all of the features relating to the manipulators, gripping arms, engagement arms, sensors and resistance members as described for the robot systems according to the first, second, third and fourth aspects.

[0088] In some examples, the robotic system includes a fluid transfer connector according to any of the examples described herein.

[0089] In some examples, the robotic system according to the above embodiment may include some or all of the features related to the contact fixation mechanism as described for the robotic system according to the fifth embodiment.

[0090] According to an example, a method is provided that is performed by a robotic system of a fifth aspect, the method comprising a process for transferring fluid between a container accessible through a container septum and a fluid transfer assembly accessible through a fluid transfer connector comprising a fluid transfer connector septum, the method including: operating a manipulator of the robotic system for manipulating at least one of the container and the fluid transfer assembly by operation of the robotic system 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, to its folded position, where fluid communication between the container and the fluid transfer assembly is established, after the predetermined compression threshold is reached, and performing a transfer of fluid between the fluid transfer assembly and the container.

[0091] According to a sixth aspect of the subject matter of the present disclosure, there is provided a robotic system operable to transfer fluid between a container accessible through a container septum and a fluid transfer assembly accessible through 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 between the container and the fluid transfer assembly; and a sensor configured to monitor operation of the manipulator and transmit a signal indicative of the monitoring.

[0092] In some examples, the manipulator comprises a gripping arm configured to grip a gripping 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 gripping arm configured to move relative to one another to selectively establish fluid communication, and the sensor is configured to monitor the relative movement of the engagement arm and the gripping arm. In some examples, the sensor is configured to monitor the relative position of at least one of the engagement arm and the gripping arm relative to the other of the engagement arm and the gripping arm.

[0093] In some examples, the engagement arm is coupled to the gripping arm via a resistance member configured to resist relative movement between the engagement arm and the gripping arm towards one another. In some examples, the sensor is configured to monitor the resistance member. In some examples, the resistance member is configured to deform upon relative movement between the engagement arm and the gripping arm. In some examples, the sensor is configured to monitor deformation of the resistance member. In some examples, the resistance member is configured to prevent initiation of deformation until a force equal to or greater than a predetermined threshold is applied thereon. In some examples, the sensor is configured to monitor the force.

[0094] In some examples, the robotic system further includes a motor configured to move the manipulator to perform the manipulator movements, the motor configured to consume variable power to move the manipulator, and the sensor configured to monitor the power consumption.

[0095] In some examples, the robotic system according to the sixth aspect can be configured to perform some or all of the operations associated with securing contact between the fluid transfer connector septum and the container septum, and can include some or all of the components associated therewith, as described above for the robotic systems according to the previous aspects. In some examples, the robotic system according to the sixth aspect can be configured to perform some or all of the operations associated with the locking mechanism and relative movement of the engagement arm and gripper arm (or sleeve and body member), and can include some or all of the components associated therewith, as described above for the robotic systems according to the previous aspects.

[0096] Furthermore, the robot system according to the sixth aspect may include some or all of the features relating to the manipulator, gripping arm, engagement arm, sensor, contact fixing mechanism, and resistance member as described for the robot system according to the above aspects.

[0097] In some examples, the robotic system includes a fluid transfer connector according to any of the examples described herein.

[0098] In some examples, the robotic system according to the above embodiment may include some or all of the sensor-related features as described for the robotic system according to the sixth embodiment.

[0099] According to one example, there is provided a method performed by the robotic system of a sixth aspect, the method including a process for transferring fluid between a container accessible through a container septum and a fluid transfer assembly accessible through a fluid transfer connector, the method including controlling, by operation of the robotic system, a manipulator of the robotic system to manipulate at least one of the container and the fluid transfer assembly to establish fluid communication therebetween, monitoring, by a sensor of the robotic system, operation of the manipulator, and transmitting, by the sensor, a signal indicative of the monitoring.

[0100] According to a seventh aspect of the subject matter of the present disclosure, there is provided a robotic system operable to transfer fluid between a container accessible through a container septum and a fluid transfer assembly accessible through 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 to move the manipulator; and a controller configured to monitor the power consumption and control the motor based at least thereon.

[0101] In some examples, the motor comprises a motor shaft operable to cause movement of the manipulator and an encoder operable to detect a position of the motor shaft, and the controller is configured to control the motor based on a combination of power consumption and the position of the motor shaft.

[0102] In some examples, the controller is configured to predetermine at least one of an upper and lower limit for power consumption and generate an alert upon detecting that the power consumption falls outside the predetermine range, hi some examples, the power consumption can be measured by the magnitude of the current applied to the motor.

[0103] In some examples, the robotic system according to the seventh aspect can be configured to perform some or all of the operations associated with securing contact between the fluid transfer connector septum and the container septum, as described above for the robotic systems according to the previous aspects, and can include some or all of the components associated therewith. In some examples, the robotic system according to the seventh aspect can be configured to perform some or all of the operations associated with the locking mechanism and relative movement of the engagement arm and gripper arm (or sleeve and body member), as described above for the robotic systems according to the previous aspects, and can include some or all of the components associated therewith.

[0104] Furthermore, the robot system according to the seventh aspect may include some or all of the features relating to the manipulator, gripping arm, engagement arm, sensor, contact fixing mechanism, and resistance member as described for the robot system according to the above aspects.

[0105] In some examples, the robotic system includes a fluid transfer connector according to any of the examples described herein.

[0106] In some examples, the robotic system according to the above aspect may include some or all of the features related to controlling the motors that move the manipulator based on power consumption by the motors, as described for the robotic system according to the seventh aspect.

[0107] According to one example, there is provided a method performed by the robotic system of a seventh aspect, the method including a process for transferring fluid between a container accessible through a container septum and a fluid transfer assembly accessible through a fluid transfer connector, the method including: controlling, by operation of the robotic system, a manipulator of the robotic system to manipulate at least one of the container and the fluid transfer assembly to establish fluid communication therebetween; operating a motor of the robotic system to move the manipulator to establish fluid communication, where 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.

[0108] According to an eighth aspect of the subject matter of the present disclosure, there is provided a robotic system operable to transfer fluid between a container accessible through a container septum and a fluid transfer assembly accessible through a fluid transfer connector configured to establish fluid communication between the container and the fluid transfer assembly for fluid transfer, the fluid transfer connector comprising a body member and a sleeve displaceable relative to one another between an extended position, which is a normal position, and a collapsed position, in which the fluid transfer connector establishes fluid communication, the fluid transfer connector comprising a fluid transfer connector septum disposed at a distal end of the sleeve, and a fluid transfer conduit extending from a proximal end of the body member towards the fluid transfer connector septum. The robotic system comprises a controller and a manipulator controllable by the controller, the manipulator applying a variable positioning force to manipulate the fluid transfer assembly through a positioning phase, during which the fluid transfer assembly and / or the container is positioned so that the fluid transfer connector septum and the container septum are in contact with each other, and applying a variable penetration force to manipulate the fluid transfer assembly and / or the container through a penetration phase, during which at least a tip of the fluid transfer conduit at least partially penetrates at least one of the container septum and the fluid transfer connector septum, and wherein a minimum value of the variable penetration force is greater than a maximum value of the variable positioning force.

[0109] In some examples, the manipulator is further controllable by the controller to apply a variable folding force to manipulate the fluid transfer assembly through a folding stage, during which the sleeve and body member are displaced relative to one another to reduce the distance between the fluid transfer connector bulkhead and the body member, and the manipulator is further controllable by the controller to continuously increase the variable folding force during at least a portion of the folding stage.

[0110] In some examples, the manipulator is further controllable by the controller to continuously increase the variable folding force during at least a portion of the folding phase prior to initiation of the penetration phase.

[0111] In some examples, the manipulator is further controllable by the controller to apply a variable clamping force to manipulate at least one of the fluid transfer assembly and the container through a contact clamping phase, during which the manipulator fixes contact between the fluid transfer connector septum and the container septum.

[0112] According to a ninth aspect of the subject matter of the present disclosure, there is provided a robotic system operable to transfer fluid between a container accessible through a container septum and a fluid transfer assembly accessible through a fluid transfer connector configured to establish fluid communication between the container and the fluid transfer assembly for transfer of the fluid, 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 folded position in which the fluid transfer connector establishes fluid communication, the fluid transfer connector comprising a fluid transfer connector septum located 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 folding force to manipulate the fluid transfer assembly through a folding stage, the manipulator further controllable by the controller such that during the folding 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 to continuously increase the variable folding force during at least a portion of the folding stage.

[0113] In some examples, the manipulator is further controllable by the controller to apply a variable penetration force to manipulate the fluid transfer assembly and / or the container through a penetration step, during which at least the tip of the fluid transfer conduit penetrates at least partially through at least one of the container septum and the fluid transfer connector septum.

[0114] In some examples, the manipulator is further controllable by the controller to apply a variable positioning force to manipulate the fluid transfer assembly through a positioning step, 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.

[0115] In some examples, the manipulator is further controllable by the controller to apply a variable clamping force to manipulate at least one of the fluid transfer assembly and the container through a contact clamping phase, during which the manipulator fixes contact between the fluid transfer connector septum and the container septum.

[0116] According to a tenth aspect of the subject matter of the present disclosure, there is provided a robotic system operable to transfer fluid between a container accessible through a container septum and a fluid transfer assembly accessible through a fluid transfer connector configured to establish fluid communication between the container and the fluid transfer assembly for fluid transfer, the fluid transfer connector comprising a body member and a sleeve displaceable relative to one another between an extended position, which is a normal position, and a folded position, in which the fluid transfer connector establishes fluid communication, the fluid transfer connector comprising a fluid transfer connector septum disposed at a distal end of the sleeve and a sleeve extending from a proximal end of the body member toward the fluid transfer connector septum. and a fluid transfer conduit, the robotic system comprising: a controller; and a manipulator controllable by the controller, the manipulator applying a variable clamping force to manipulate at least one of the fluid transfer assembly and the container through a contact clamping stage, during which the manipulator clamps contact between the fluid transfer connector septum and the container septum, and applying a variable folding force to manipulate the fluid transfer assembly through a folding stage in which the sleeve and the body member are displaced relative to one another to reduce the distance between the fluid transfer connector septum and the body member, the initial value of the variable folding force being greater than the initial value of the variable clamping force.

[0117] In some examples, the manipulator is further controllable by the controller to apply a variable penetration force to manipulate the fluid transfer assembly and / or the container through a penetration step, 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.

[0118] In some examples, the manipulator is further controllable by the controller to apply a variable positioning force to manipulate the fluid transfer assembly through a positioning step, 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.

[0119] According to an eleventh aspect of the subject matter of the present disclosure, there is provided a robotic system operable to transfer fluid between a container accessible through a container septum and a fluid transfer assembly accessible through a fluid transfer connector configured to establish fluid communication between the container and the fluid transfer assembly for fluid transfer, the fluid transfer connector comprising a body member and a sleeve displaceable relative to one another between an extended position, which is a normal position, and a folded position, in which the fluid transfer connector establishes fluid communication, the fluid transfer connector comprising a fluid transfer connector septum positioned at a distal end of the sleeve and a fluid transfer connector septum extending from a proximal end of the body member towards the fluid transfer connector septum. and a conduit, the robotic system comprising a controller and a manipulator controllable by the controller, the manipulator applying a variable positioning force to manipulate the fluid transfer assembly through a positioning stage, positioning the fluid transfer assembly and / or the container during the positioning stage to bring the fluid transfer connector septum and the container septum into contact with each other, and applying a variable folding force to manipulate the fluid transfer assembly through a folding stage, displacing the sleeve and the body member relative to each other during the folding stage to reduce the distance between the fluid transfer connector septum and the body member, an initial value of the variable folding force being greater than a maximum value of the variable positioning force.

[0120] In some examples, the manipulator is further controllable by the controller to apply a variable penetration force to manipulate the fluid transfer assembly and / or the container through a penetration step, 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.

[0121] In some examples, the manipulator is further controllable by the controller to apply a variable clamping force to manipulate at least one of the fluid transfer assembly and the container through a contact clamping phase, during which the manipulator fixes contact between the fluid transfer connector septum and the container septum.

[0122] The robotic systems according to the eighth, ninth, tenth and eleventh aspects all include at least some of the following features. The positioning step begins with the manipulator starting to move 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. The contact and fixation phase begins with the manipulator bringing the fluid transfer connector septum and the container septum into contact with each other and ends with the completion of the fluid transfer. The folding step begins with the initiation of relative movement of the sleeve and the body member towards each other and ends with the displacement of the fluid transfer connector into its folded position. The piercing step begins with the initiation of penetration of the tip of the fluid transfer conduit at least partially through at least one of the container septum and the fluid transfer connector septum and ends with the displacement of the fluid transfer connector to its collapsed position. The contact fixing step at least partially overlaps with the folding step. The contact fixing step at least partially overlaps with the penetration step. The folding step at least partially overlaps with the penetration step. - The minimum value of the variable penetration force is greater than the maximum value of the variable positioning force. The variable folding force increases continuously during at least a portion of the folding phase. The variable folding force increases continuously during at least a portion of the folding phase prior to the start of the penetration phase. The initial value of the variable folding force is greater than the maximum value of the variable positioning force. The variable fixation force is increased at least prior to the start of the folding phase. The initial value of the variable folding force is greater than the initial value of the variable fixing force. The variable folding force increases continuously during at least the majority of the folding phase. -The initial value of the variable penetration force is greater than the initial value of the variable folding force. The minimum value of the variable folding force is greater than the maximum value of the variable positioning force.

[0123] According to various examples, methods are provided that are performed by the robotic systems of the eighth, ninth, tenth, and eleventh aspects.

[0124] 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 associated with securing contact between a fluid transfer connector septum and a container septum, as described above for the robotic systems according to the preceding aspects, and can include some or all of the components associated therewith. 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 associated with locking mechanisms and relative movement of the engagement and gripping arms (or sleeves and body members), as described above for the robotic systems according to the preceding aspects, and can include some or all of the components associated therewith.

[0125] Further, the robotic systems according to the eighth, ninth, tenth, and eleventh aspects may include some or all of the features relating to the manipulators, gripping arms, engagement arms, sensors, contact fixation mechanisms, and resistance members as described for the robotic systems according to the above aspects.

[0126] In some embodiments, the robotic system according to the eighth, ninth, tenth, and eleventh aspects comprises a fluid transfer connector according to any of the embodiments thereof described herein.

[0127] In some examples, the robot systems according to the above-mentioned first to seventh aspects may include some or all of the features of the robot systems according to the eighth, ninth, tenth, and eleventh aspects.

[0128] According to a twelfth aspect of the subject matter of the present disclosure, 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 gripping arm configured to grip a gripping portion of the fluid transfer assembly, and a support arm configured to support a support portion of the fluid transfer assembly at least before the gripping arm grips the gripping portion.

[0129] In some examples, the robotic system is operable to transfer fluid at least partially along the injection axis, and the support arm is configured to be stationary relative to the injection axis.

[0130] In some examples, the gripping arm is configured to be displaceable relative to the support arm, and the support arm is configured to be stationary relative to the gripping arm.

[0131] In some examples, the manipulator further comprises a plunger arm configured to engage a plunger flange portion of a fluid transfer unit of the fluid transfer assembly.

[0132] In some examples, the manipulator further comprises an engagement arm configured to engage an engagement portion of the fluid transfer assembly.

[0133] 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.

[0134] In some examples, the manipulator comprises a body and the support arm comprises a protrusion protruding from the body.

[0135] In some examples, the robot systems according to the above-mentioned first to eleventh aspects may include some or all of the features of the robot system according to the twelfth aspect.

[0136] In some examples, the robot system according to the twelfth aspect may include some or all of the features of the robot systems according to the first to eleventh aspects described above.

[0137] According to a thirteenth aspect of the subject matter of the present disclosure, a robotic system operable to transfer fluid between a container and a fluid transfer assembly having a plunger flange portion is provided, the robotic system comprising a controller and a manipulator controllable by the controller, the manipulator comprising a plunger support including at least a first plunger retaining element and a second plunger retaining element, the first plunger retaining element configured to accommodate a first plunger flange portion sized in a first flange dimension, and the second plunger retaining element configured to accommodate a second plunger flange portion sized in a second dimension different from the first flange dimension.

[0138] In some examples, the first plunger retaining element 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 dimension corresponding to the first flange dimension, 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 dimension corresponding to the second flange dimension and different from the first recess dimension.

[0139] In some examples, the plunger support further includes a third plunger retaining element configured to accommodate a third plunger flange portion sized with a third flange dimension different from the first and second flange dimensions, the third plunger retaining element including a third recess configured to receive the third plunger flange portion therein, the third recess being formed with a third receiving space having a third recess dimension corresponding to the third flange dimension and different from the first and second recess dimensions.

[0140] In some examples, the robot systems according to the above-mentioned first to twelfth aspects may include some or all of the features of the robot system according to the thirteenth aspect.

[0141] In some examples, the robot system according to the thirteenth aspect may include some or all of the features of the robot systems according to the first to twelfth aspects described above.

[0142] According to a fourteenth aspect of the subject matter of the present disclosure, 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 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 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 a fluid transfer connector septum attached to a distal end of the sleeve, the sleeve and the body member being adapted to be coupled to one another between an extended position and a collapsed position. and a locking mechanism configured to switch between locked and unlocked states to selectively enable and prevent relative movement between the sleeve and the body member, the locking mechanism being configured to allow relative movement between the sleeve and the body member from an extended position to a collapsed position upon activation of an actuator accessible through an outer wall of the fluid transfer connector, the locking mechanism being configured to allow relative movement between the sleeve and the body member from an extended position to a collapsed position upon activation of an actuator accessible through an outer wall of the fluid transfer connector.

[0143] In some examples, the actuator is actuable by applying a radial force thereon.

[0144] In some examples, the actuator includes an internal portion disposed at least partially within one of the sleeve and the body member and an actuating portion accessible through an opening formed in the other of the sleeve and the body member, where application of a radial force to 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 an extended position to a collapsed position.

[0145] In some examples, an outer wall of the syringe connector comprises a protective surface configured to prevent manual access to the actuator.

[0146] In some examples, the protective surface comprises one or more protective elements surrounding the opening.

[0147] In some embodiments, the fluid transfer connector inner surface is configured for axially slidable movement of the actuator therealong to facilitate movement between the extended and collapsed positions.

[0148] In some examples, the actuator is depressible with a radial force to switch from a locked state to an unlocked state in the extended position and is configured for subsequent slidable axial movement along the inner surface to transition from the extended position to the collapsed position.

[0149] In some examples, the fluid transfer connector septum includes a through bore extending from the septum proximal face to the septum distal face and dimensioned to receive a fluid transfer conduit.

[0150] In some instances, the fluid transfer connector septum is formed as a monolith.

[0151] In some examples, the outer wall of the fluid transfer connector includes a peripheral wall of a 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, and the sleeve mounting portion is configured to mount the fluid transfer connector bulkhead thereon.

[0152] In some examples, the peripheral wall is connected to the mounting portion via one or more beams.

[0153] In some examples, the fluid transfer connector has a longitudinal axis, the one or more beams include two opposing beams, and the bulkhead mounting portion extends along a plane perpendicular to the longitudinal axis between the two opposing beams.

[0154] According to a fifteenth aspect of the subject matter of the present disclosure, 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 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 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 a fluid transfer connector septum attached to a distal end of the sleeve, the sleeve and the body member configured to move relative to one another between an extended position and a collapsed position. and a locking mechanism configured to switch between locked and unlocked states to selectively allow and prevent relative movement between the sleeve and the body member, the locking mechanism being configured to allow relative movement between the sleeve and the body member from an extended position to a collapsed position upon actuation of an actuator, the actuator being actuable regardless of an axial force applied to the fluid transfer connector septum, the locking mechanism being configured to allow relative movement between the sleeve and the body member from an extended position to a collapsed position upon actuation of the actuator, the actuator being actuable regardless of an axial force applied to the fluid transfer connector septum.

[0155] In some examples, the actuator is operable regardless of the axial force applied by the reservoir septum to the fluid transfer connector septum.

[0156] 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.

[0157] 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.

[0158] According to a sixteenth aspect of the subject matter of the present disclosure, 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 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 configured to establish fluid communication with the fluid transfer unit when the fluid transfer unit is coupled to the unit coupling portion; and a sleeve coaxially disposed relative to the body member, the fluid transfer connector comprising a fluid transfer connector septum attached to a distal end of the sleeve, the sleeve and the body member movable relative to one another between an extended position and a collapsed position. and a locking mechanism configured to switch between locked and unlocked states to selectively allow and prevent relative movement of the sleeve and the body member, the locking mechanism being configured in the locked state to prevent relative movement between the sleeve and the body member from the extended position to the collapsed position due to an axial force applied to at least one of the body member and the sleeve in a direction parallel to the longitudinal axis, wherein 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 collapsed position due to an axial force applied to at least one of the body member and the sleeve in a direction parallel to the longitudinal axis.

[0159] In some examples, the locking mechanism is configured to switch from a locked state to an unlocked state upon application of a radial force applied to the locking mechanism in a direction perpendicular to the longitudinal axis, and to allow relative movement between the sleeve and the body member in the unlocked state.

[0160] In some examples, the locking mechanism includes an actuator configured to prevent the locking mechanism from switching from a locked state to an unlocked state in response to an axial force.

[0161] In some examples, the actuator is configured to switch the locking mechanism from a locked state to an unlocked state in response to application of a radial force.

[0162] 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 configured to prevent its release from the locking member due to an axial force.

[0163] In some examples, the lockable member is configured to release from the locking member in response to a radial force.

[0164] 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.

[0165] 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.

[0166] According to a seventeenth aspect of the subject matter of the present disclosure, there is provided a fluid transfer connector comprising: a body member connectable to a fluid transfer unit at a unit coupling portion, the body member 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 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; a fluid transfer connector septum attached to a distal end of the sleeve, the sleeve and the body member configured to move relative to one another between an extended position where the fluid transfer connector septum is at an extended distance from the unit coupling portion and an intermediate position where the fluid transfer connector septum is at an intermediate distance from the unit coupling portion 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 enable and prevent relative movement of the sleeve and the body member in the extended position and the intermediate position.

[0167] In some embodiments, the sleeve and body member are configured to move relative to one another between at least one of an extended position and an intermediate position and a folded position in which the fluid transfer connector septum is at a folded distance from the unit coupling portion that is less than the intermediate distance.

[0168] In some embodiments, the sleeve and body member are configured to move axially relative to one another to transition from at least one of the extended position and the intermediate position to the collapsed position.

[0169] In some examples, the locking mechanism is configured to selectively allow movement of the sleeve relative to the body member from at least one of the extended position and the intermediate position upon actuation of an actuator accessible through an outer wall of the fluid transfer connector.

[0170] In some examples, the actuator is actuable by applying a radial force thereon.

[0171] In some examples, the actuator includes an internal portion disposed at least partially within one of the sleeve and the body member and an actuating portion accessible through an opening formed in the other of the sleeve and the body member, where application of a radial force to 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.

[0172] In some examples, an outer wall of the syringe connector comprises a protective surface configured to prevent manual access to the actuator.

[0173] In some examples, the protective surface comprises one or more protective elements surrounding the opening.

[0174] In some embodiments, the fluid transfer connector inner surface is configured for axially slidable movement of the actuator therealong to facilitate movement between the extended and collapsed positions.

[0175] In some examples, the actuator is depressible with a radial force to switch from a locked state to an unlocked state in at least one of the extended position and the intermediate position, and is configured for subsequent slidable axial movement along the inner surface to transition between the extended position and the intermediate position.

[0176] In some examples, the fluid transfer connector septum includes a through bore extending from the septum proximal face to the septum distal face and dimensioned to receive a fluid transfer conduit.

[0177] In some instances, the fluid transfer connector septum is formed as a monolith.

[0178] In some examples, the outer wall of the fluid transfer connector includes a peripheral wall of a 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, and the sleeve mounting portion is configured to mount the fluid transfer connector bulkhead thereon.

[0179] In some examples, the peripheral wall is connected to the mounting portion via one or more beams.

[0180] In some examples, the fluid transfer connector has a longitudinal axis, the one or more beams include two opposing beams, and the bulkhead mounting portion extends along a plane perpendicular to the longitudinal axis between the two opposing beams.

[0181] In some examples, the locking mechanism is configured to prevent manual access to the actuator.

[0182] 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.

[0183] 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.

[0184] According to an eighteenth aspect of the subject matter of the present disclosure, there is provided a fluid transfer connector comprising: a body member connectable to a fluid transfer unit at a unit coupling portion, the body member 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 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 disposed relative to the body member; and a fluid transfer connector septum attached to a distal end of the sleeve, the sleeve and the body member configured to move relative to one another between an intermediate position where the fluid transfer connector septum is at an intermediate distance from the unit coupling portion and a folded position where the fluid transfer connector septum is at a folded distance from the unit coupling portion less than the intermediate distance; and a locking mechanism configured to switch between a locked state and an unlocked state to selectively enable and prevent relative movement between the sleeve and the body member in the intermediate state, the locking mechanism configured to selectively enable relative movement between the sleeve and the body member upon actuation of an actuator to transition from at least the intermediate position to the folded position.

[0185] In some embodiments, the sleeve and body member are configured to move relative to one another between at least one of an intermediate position and a folded position and an extended position in which the fluid transfer connector septum is at an extended distance greater than the intermediate distance from the unit coupling portion.

[0186] 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.

[0187] 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.

[0188] According to a nineteenth aspect of the subject matter disclosed herein, there is provided a fluid transfer connector comprising a sleeve having a sleeve distal end, and a fluid transfer connector septum attached to the sleeve distal end and having a septum projection portion projecting axially from the sleeve, wherein the septum projection portion is formed in a terraced shape.

[0189] In some examples, the septum protruding portion comprises a septum proximal portion having a first circumferential wall with a first circumference and a septum distal portion having a second circumferential wall with a second circumference, the second circumference being smaller than the first circumference.

[0190] In some instances, the second circumferential wall is tapered such that the second circumference recedes toward the septum distal surface.

[0191] In some embodiments, the sleeve is shaped to define a sleeve lumen, and the fluid transfer connector septum includes a septum subsurface portion received inside the sleeve lumen.

[0192] In some examples, the connector has a longitudinal axis and the septum subsurface portion includes a recess configured to receive a protrusion extending inwardly from the sleeve toward the longitudinal axis.

[0193] In some embodiments, the septum projection portion has a length extending axially from the distal end of the sleeve to the septum distal surface, the length being at least 20 millimeters.

[0194] In some embodiments, the septum projection portion has a length extending axially from the distal end of the sleeve to the septum distal surface, the length being at least 30 millimeters.

[0195] In some embodiments, the septum projection portion has a length extending axially from the distal end of the sleeve to the septum distal surface, the length being in the range of at least 15-30 millimeters.

[0196] 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.

[0197] In some examples, the fluid transfer connectors according to the fourteenth to eighteenth aspects may include some or all of the features of the fluid transfer connector according to the nineteenth aspect.

[0198] According to a twentieth aspect of the subject matter of the present disclosure, 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 partition extending from the connector body and having a partition protruding portion protruding from the connector body toward the connector distal end, the partition protruding portion being formed in a terraced shape.

[0199] In some embodiments, the septum protruding portion comprises a septum proximal portion having a first circumferential wall with a first circumference and a septum distal portion having a second circumferential wall with a second circumference, the second circumference being smaller than the first circumference.

[0200] In some examples, the second circumferential wall is tapered such that the second circumference tapers off toward the connector distal end.

[0201] In some examples, the septum includes a septum subsurface portion that is received within the connector body.

[0202] 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.

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

[0204] According to a twenty-first aspect of the subject matter of the present disclosure, 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 configured to facilitate connection of the fluid transfer assembly to the container for 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 configured to hold the fluid transfer assembly at the fluid transfer connector.

[0205] In some examples, the manipulator comprises a gripping arm having at least one gripping element configured to grip a gripping portion of the fluid transfer connector.

[0206] In some examples, the manipulator includes an engagement arm configured to engage an engagement portion of the fluid transfer connector.

[0207] 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.

[0208] In some examples, the manipulator is configured to manipulate the fluid transfer assembly while holding the fluid transfer assembly at a distance from the fluid transfer unit.

[0209] In some examples, the manipulator is configured to manipulate the fluid transfer assembly while holding the fluid transfer assembly in the fluid transfer connector to secure contact between a fluid transfer connector septum of the fluid transfer connector and a container septum of the container.

[0210] In some examples, the robotic system further comprises a fluid transfer connector according to any one of the fourteenth to twentieth aspects.

[0211] In some examples, the robot system according to the twenty-first aspect may include some or all of the features of the robot systems according to the first to thirteenth aspects.

[0212] In some examples, the robot systems according to the first to thirteenth aspects may include some or all of the features of the robot system according to the twenty-first aspect.

[0213] According to one example, there is provided a method performed by the robotic system of the twenty-first aspect, the method including a process for transferring fluid between a container accessible through a container septum and a fluid transfer assembly accessible through a fluid transfer connector, the method including operating the robotic system to control a manipulator of the robotic system to hold the fluid transfer connector and manipulate the fluid transfer assembly to perform the transfer of fluid.

[0214] According to a twenty-second aspect of the subject matter of the present disclosure, there is provided a robotic system operable to transfer fluid between a fluid transfer assembly and a first container and between a fluid transfer assembly and a second container, the robotic system comprising a first container holder configured to hold a first container and a second container holder configured to hold a second container, the first container holder being spaced from the second container holder by an arcuate path, and further comprising a controller and a rotatable manipulator rotatable about its rotation axis and comprising a gripping arm configured to grip the fluid transfer assembly, the controller being configured to rotate the rotatable manipulator to move the gripping arm between a first position and a second position along the arcuate path while gripping 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.

[0215] In some examples, the gripping arms are moved from the first position to the second position only along an arcuate path.

[0216] In some examples, the gripping arm is moved along an arcuate path from the first position to the second position in a single continuous motion.

[0217] In some examples, the first container holder is configured to hold a first container at a first distance from the axis of rotation in a first direction perpendicular to the axis of rotation, and the second container holder is configured to hold a second container at a second distance from the axis of rotation in a second direction perpendicular to the axis of rotation, the first distance being equal to the second distance.

[0218] In some examples, the first and second directions define an arcuate path angle therebetween, which corresponds to an arc length of the arcuate path between the first position and the second position.

[0219] In some examples, the manipulator is configured to move at least a portion of the fluid transfer assembly along a direction parallel to the axis of rotation when the fluid transfer assembly is in at least one of the first and second positions.

[0220] 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.

[0221] In some examples, each of the first and second containers is accessible through a respective container septum, and the fluid transfer assembly includes a gripping portion and a fluid transfer conduit configured to transfer fluid through the container septum.

[0222] In some examples, the first and second containers include one of a vial and an IV bag.

[0223] In some examples, the axis of rotation is the longitudinal axis of the manipulator.

[0224] In some examples, the robotic system further comprises a fluid transfer connector according to any one of the fourteenth to twentieth aspects.

[0225] In some examples, the robot system according to the twenty-second aspect may include some or all of the features of the robot systems according to the first to thirteenth and twenty-first aspects.

[0226] In some examples, the robot systems according to the first to thirteenth and twenty-first aspects may include some or all of the features of the robot system according to the twenty-second aspect.

[0227] According to one example, there is provided a method performed by the robotic system of the twenty-second aspect.

[0228] According to a twenty-third aspect of the subject matter of the present disclosure, there is provided a robotic system operable to transfer fluid between a container and a fluid transfer assembly, the robotic system comprising a syringe having a plunger flange and a fluid transfer conduit extending at least partially along an injection axis and transferring fluid upon displacement of the plunger flange, 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 and a gripping arm configured to grip a gripping portion of the fluid transfer assembly, the plunger arm being displaceable relative to the gripping arm along the injection axis and configured to be displaced together with the gripping arm during at least a portion of a movement of the manipulator.

[0229] In some examples, the controller is configured to operate the manipulator to move the gripper arm to align the fluid transfer assembly with the container and to move the plunger arm along the injection axis to displace the plunger flange to transfer fluid between the container and the syringe.

[0230] In some examples, the manipulator is configured to mechanically couple the plunger arm to the gripper arm.

[0231] In some examples, the manipulator, including the plunger arm and the gripper arm, is formed as a monolithic structure.

[0232] 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.

[0233] In some instances, the manipulator has a central longitudinal axis and the injection axis is disposed away from the central longitudinal axis.

[0234] In some examples, the robotic system further comprises a fluid transfer connector according to any one of the fourteenth to twentieth aspects.

[0235] In some examples, the robot system according to the twenty-third aspect may include some or all of the features of the robot systems according to the first to thirteenth, twenty-first and twenty-second aspects.

[0236] In some examples, the robot systems according to the first to thirteenth, twenty-first and twenty-second aspects may include some or all of the features of the robot system according to the twenty-third aspect.

[0237] According to one example, there is provided a method performed by the robotic system of the twenty-third aspect.

[0238] Embodiment While more specific descriptions are provided in the detailed description, below are non-limiting examples of different embodiments of the subject matter of the present disclosure.

[0239] 1. A robotic system operable to transfer fluid between a container accessible through a container septum and a fluid transfer assembly accessible through a fluid transfer connector septum, comprising: A controller; 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 transfer of the fluid, the robotic system.

[0240] 2. The controller controls the manipulator to contacting the container septum with the fluid transfer connector septum; The robot system of embodiment 1, further configured to perform fixation of 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 during at least a portion of the fluid transfer.

[0241] 3. A robotic system as described in embodiment 1 or 2, wherein the manipulator is provided with a pressing mechanism configured to ensure that a predetermined compression threshold is reached between the container septum and the fluid transfer connector septum prior to the initiation of fluid transfer, and the reaching of the predetermined compression threshold is associated with securing the contact.

[0242] 4. The robotic system of embodiment 3, wherein the pressing 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 transfer of fluid.

[0243] 5. The controller operates the manipulator to Aligning a fluid transfer connector septum of the fluid transfer assembly with a vessel septum of the vessel; contacting the fluid transfer connector septum and the container septum with each other; Pressing at least one of the fluid transfer connector septum and the vessel septum against the other of the fluid transfer connector septum and the vessel septum to effect a fixed contact therebetween; and / or A robotic system as described in embodiment 3 or 4, wherein a fluid transfer conduit associated with the fluid transfer connector of the fluid transfer assembly performs at least partial penetration of at least one of the fluid transfer connector septum and the container septum to enable fluid transfer, and 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 the at least partial penetration.

[0244] 6. A robotic system according to any one of embodiments 1 to 5, wherein the manipulator comprises a gripping arm configured to grip at least one gripping portion of the fluid transfer assembly and the container.

[0245] 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.

[0246] 8. A robotic system as described in embodiment 6 or 7, wherein the gripping arm is configured to be controllably movable to enable gripping of a fluid transfer assembly from a fluid transfer assembly recirculating conveyor configured to store one or more fluid transfer assemblies and / or to enable gripping of a container from a container recirculating conveyor configured to store one or more containers.

[0247] 9. A robotic system as described in any one of embodiments 6 to 8, wherein the gripping arm is configured to be controllably movable relative to a container holder configured to hold a container, and the gripping 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 gripping arm holds the fluid transfer assembly.

[0248] 10. A robotic system according to any one of embodiments 6 to 9, wherein the manipulator comprises an engagement arm configured to engage the fluid transfer assembly at the engagement portion when the gripping arm grips the fluid transfer assembly, and the engagement arm is configured to be axially movable relative to the gripping arm.

[0249] 11. The robot system of embodiment 10, wherein the engagement arm and the gripping arm are operatively coupled such that the engagement arm and the gripping arm are controllably displaceable axially together or axially relative to each other.

[0250] 12. A robot system as described in 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 the fluid transfer connector of the fluid transfer assembly, the sleeve being fixedly coupled to the fluid transfer connector septum, the gripping arm is configured to grip a body member of the fluid transfer connector fixedly coupled to a fluid transfer conduit of the fluid transfer connector, and the controller is configured to cause relative movement between the gripping arm and the engagement arm when a predetermined compression threshold between the container septum and the fluid transfer connector septum is reached, thereby moving the fluid transfer conduit and the fluid transfer connector septum at least partially toward each other.

[0251] 13. The robotic system of embodiment 12, wherein the manipulator is configured to resist relative movement when an axial force less than a predetermined pushing threshold is applied to cause relative movement between the gripping arm and the engagement arm, the predetermined pushing threshold being associated with a predetermined compression threshold.

[0252] 14. A robot system as described in embodiment 13, wherein the engagement arm and the gripping arm are coupled via a resistance member that opposes relative movement of the gripping arm and the engagement arm toward each other.

[0253] 15. The robotic system of embodiment 14, wherein the resistance member is configured to move the engagement arm and the gripping arm away from each other after fluid transfer is completed.

[0254] 16. A robotic system as described in any one of embodiments 12 to 15, wherein the engagement arm is configured to abut against a radial stop of the engagement portion when the fluid transfer connector septum contacts the container septum, and the manipulator is configured to cause relative movement between the gripping arm and the engagement arm only after a predetermined pressing threshold force is applied, thereby pressing the fluid transfer connector septum against the container septum such that contact therebetween reaches a predetermined compression threshold before the fluid transfer conduit and the fluid transfer connector septum move at least partially toward each other.

[0255] 17. A robotic system according to any one of the preceding embodiments, further comprising a container holder configured to hold the container along the container longitudinal axis.

[0256] 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 intravenous bag holder configured to support at least one intravenous bag.

[0257] 19. The robotic system of embodiment 17 or 18, wherein the manipulator is configured to move towards the container holder.

[0258] 20. A robotic system according to any one of embodiments 17 to 19, wherein the container holder is configured to move towards the manipulator.

[0259] 21. A robot system according to any one of embodiments 10 to 20, wherein the controller is further configured to rotate the gripping arm and the engagement arm together about a rotation axis.

[0260] 22. The controller controls the engagement arm and the gripping arm to The gripping arms grip a body member of the fluid transfer connector fixedly coupled to a fluid transfer conduit of the fluid transfer connector to align the fluid transfer assembly with the container and bring a fluid transfer connector septum into contact with a container septum; the engagement arm engages a sleeve of a fluid transfer connector of the fluid transfer assembly, the sleeve being fixedly coupled to the fluid transfer connector septum and pressing the fluid transfer connector septum against the container septum to effect fixed contact therebetween; and / or A robot system as described in any one of embodiments 10 to 21, wherein the gripping arm is configured to foldably move the body member and the sleeve toward each other and to perform at least partial movement of the fluid transfer conduit and the fluid transfer connector bulkhead toward each other to facilitate fluid transfer.

[0261] 23. The robotic system of embodiment 22, wherein the gripping arm is further configured to apply a radial force to an outer wall of the fluid transfer assembly, and the controller is configured to control the gripping arm to selectively apply the radial force to press against a fluid transfer connector actuator of the fluid transfer assembly.

[0262] 24. The fluid transfer assembly includes a syringe, and the robotic system further includes a plunger arm configured to operate a plunger of the syringe, and the controller controls the plunger arm to: Grip the plunger flange portion of the plunger, 24. The robotic system of any one of embodiments 1 to 23, configured to axially displace a plunger flange to transfer fluid between the syringe and the container.

[0263] 25. The controller controls the engagement arm and the gripping arm to Following the transfer of fluid, the gripping arms move the body member away from the sleeve; 23. The robotic system of embodiment 22, wherein the engagement arm and the gripping arm are configured to be moved away from the container to separate the fluid transfer connector septum from the container septum.

[0264] 26. The robotic system of embodiment 25, wherein the controller is configured to operate the gripping arm to move the body member away from the sleeve after fluid transfer.

[0265] 27. A robot system as described in embodiment 26, when dependent on embodiment 23, wherein the controller is configured to operate the gripping arm to stop applying the radial force after the body member is moved away from the sleeve.

[0266] 28. The controller operates the gripping arm to Grasping the body member and aligning the fluid transfer assembly with the container and contacting the fluid transfer connector septum with the container septum; 28. The robotic system of embodiment 27, configured to simultaneously or sequentially perform operations that selectively apply radial forces to press against a fluid transfer connector actuator of a fluid transfer assembly.

[0267] 29. The controller controls the engagement arm and the gripping arm to Any one of the engagement arm and the gripping arm grips the fluid transfer assembly, aligns the fluid transfer assembly with the container, and contacts the fluid transfer connector septum with the container septum; A robot system as described in any one of embodiments 10 to 28, wherein any one of the engagement arm and the gripping arm is configured to press the fluid transfer connector septum against the container septum to secure contact therebetween.

[0268] 30. A robotic system according to any one of embodiments 10 to 29, wherein the engagement arm and the gripping arm are positioned to contact the fluid transfer assembly at the fluid transfer connector.

[0269] 31. A robot system described in any one of embodiments 10 to 30, wherein the engagement arm is formed with a pressing surface configured to be pressed against a radial stop of the fluid transfer assembly to effectuate fixing of contact between the container septum and the fluid transfer connector septum.

[0270] 32. A robotic system as described in embodiment 31, wherein the pressing surface of the engagement arm comprises an arcuate portion dimensioned to surround the fluid transfer assembly and form a radial gap with an outer wall of the fluid transfer assembly.

[0271] 33. The robotic system of embodiment 31, wherein the pressing surface of the engagement arm is configured to mate with an outer surface of the fluid transfer assembly such that there is no radial gap between the outer wall of the fluid transfer assembly and the pressing surface.

[0272] 34. A robotic system according to any one of embodiments 10 to 33, wherein the gripping arm comprises at least one protruding element configured to apply a radial force to an outer wall of the fluid transfer assembly when the fluid transfer assembly is manipulated by the robotic system.

[0273] 35. The robot system of embodiment 34, wherein the protruding element of the gripping arm comprises a plate having an arcuate groove formed therein.

[0274] 36. A robotic system as described in embodiment 34 or 35, wherein the gripping arm comprises two opposing plates having first and second pairs of protruding elements configured to access first and second pairs of openings on the outer wall of the fluid transfer assembly.

[0275] 37. The robotic system of embodiment 36, wherein the two opposing plates are configured to be spaced apart from each other to form a gap therebetween.

[0276] 38. When subject to embodiment 12, a robot system as described in embodiments 12 and 13 to 37, wherein the pressing mechanism is further configured to ensure that a predetermined compression threshold between the container septum and the fluid transfer connector septum is maintained after fluid transfer is completed, at least until the fluid transfer conduit is moved away from the fluid transfer connector septum.

[0277] 39. A robotic system as described in any one of embodiments 1 to 38, further comprising a fluid transfer connector extending between a connector proximal end configured to be connected to a fluid transfer unit of the fluid transfer assembly and a connector distal end having a fluid transfer connector septum, the fluid transfer connector configured to establish fluid communication between the fluid transfer unit and the container for transfer of fluid.

[0278] 40. The fluid transfer connector is a connector body extending from a connector proximal end toward a body distal end; 40. The robotic system of embodiment 39, wherein the fluid transfer connector septum comprises a septum protrusion portion extending from the body distal end toward the connector distal end.

[0279] 41. A robotic system as described in embodiment 40, wherein the fluid transfer connector septum comprises a septum proximal end disposed toward the connector body and a septum distal end constituting the connector distal end.

[0280] 42. A robot system described in any one of embodiments 39 to 41, wherein the fluid transfer connector comprises a body member and a sleeve that are displaceable relative to each other between an extended position, which is a normal position, and a folded position, in which the fluid transfer connector establishes fluid communication.

[0281] 43. The robotic system of embodiment 42, wherein the manipulator is configured to displace the fluid transfer connector to a folded position after securing contact between the fluid transfer connector septum and the container septum.

[0282] 44. A robot system as described in embodiment 42 or 43, when dependent on embodiment 3, wherein the manipulator is configured to displace the fluid transfer connector to a folded position after a predetermined compression threshold is reached, thereby fixing contact between the fluid transfer connector septum and the container septum.

[0283] 45. A robotic system according to any one of embodiments 42 to 44, wherein the fluid transfer connector comprises a locking mechanism configured to be displaced between a locked state in which the locking mechanism prevents displacement of the fluid transfer connector to its folded position, and an unlocked state in which the locking mechanism allows displacement of the fluid transfer connector to its folded position.

[0284] 46. ​​The robotic system of embodiment 45, wherein the manipulator is configured to displace the locking mechanism to its unlocked state after securing contact between the fluid transfer connector septum and the container septum.

[0285] 47. A method for transferring fluid between a container accessible through a container septum and a fluid transfer assembly accessible through a fluid transfer connector septum, the method comprising the steps of: contacting a vessel septum of the vessel with a 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 to secure contact therebetween; transferring a fluid through the container septum and the fluid transfer connector septum; and maintaining fixed contact between the container septum and the fluid transfer connector septum during at least a portion of the fluid transfer.

[0286] 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 until a predetermined compression threshold between the container septum and the fluid transfer connector syringe septum is reached.

[0287] 49. The controller controls the manipulator of the robot system. engaging a manipulator with a portion of at least one of the container and the syringe assembly; 49. The method of embodiment 47 or 48, further comprising operating to coaxially position the container septum and the fluid transfer connector septum.

[0288] 50. The method of embodiment 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 includes moving fluid transfer conduits associated with the fluid transfer assembly and the fluid transfer connector septum at least partially toward each other.

[0289] 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 a manipulator toward the container.

[0290] 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 towards the manipulator.

[0291] 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 tightly sealed contact.

[0292] 54. The method of any one of embodiments 47 to 53, further comprising operating a manipulator of a robotic system by a controller to engage an engagement arm of the manipulator at a portion of the fluid transfer assembly remote from the fluid transfer connector bulkhead.

[0293] 55. A body member; providing a fluid transfer connector including: a sleeve coaxially disposed on a body member, the sleeve and the body member being movable relative to one another, the fluid transfer connector septum being attached to a distal end of the sleeve; providing a gripping arm configured to grip at least a portion of the fluid transfer assembly; controlling the gripping arm to coaxially position the gripping arm at a predetermined axial distance from the container while gripping the fluid transfer assembly; 55. The method of any one of embodiments 47 to 54, further comprising advancing the gripper arms toward the container to cause foldable relative movement of the body member and the sleeve toward each other.

[0294] 56. A robotic system operable to transfer fluid between a container accessible through a container septum and a fluid transfer assembly, the fluid transfer assembly being accessible through a 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 one another upon actuation of a locking mechanism, the robotic system comprising: A controller; a manipulator controllable by the controller and configured to manipulate the fluid transfer assembly, the manipulator configured to grip the fluid transfer assembly and actuate the locking mechanism; The controller is configured, upon actuation of the locking mechanism, to operate the manipulator to move the sleeve and the body member relative to one another to transfer fluid between the fluid transfer assembly and the container.

[0295] 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.

[0296] 58. The robotic system of embodiment 57, wherein the controller is configured to operate the manipulator to fix contact between the container septum and the fluid transfer connector septum during at least a portion of the transfer of fluid.

[0297] 59. A robotic system according to any one of embodiments 56 to 58, wherein the manipulator is configured to activate the locking mechanism by actuating an actuator accessible through an outer wall of the fluid transfer connector.

[0298] 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.

[0299] 61. The robotic system of embodiment 60, wherein the gripping arm is configured to hold the fluid transfer assembly at least partially along a vertical axis.

[0300] 62. A robotic system according to any one of embodiments 56 to 61, wherein the manipulator is configured to be controllably movable to enable grasping of a fluid transfer assembly from a fluid transfer assembly recirculating conveyor configured to store one or more fluid transfer assemblies.

[0301] 63. A robotic system according to 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 a container, such that the manipulator 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.

[0302] 64. A robot system according to any one of embodiments 60 or 61 to 63, wherein the manipulator has an engagement arm configured to engage the fluid transfer assembly at the engagement portion, and the engagement arm is configured to be axially movable relative to the gripping arm, when dependent on embodiment 60.

[0303] 65. The robot system of embodiment 64, wherein the engagement arm and the gripping arm are operatively coupled such that the engagement arm and the gripping arm are controllably displaceable axially together or axially relative to each other.

[0304] 66. A robotic system as described in embodiment 64 or 65, wherein the controller unit is configured to cause relative movement between a gripping arm that grips the body member and an engagement arm that engages the sleeve to move a fluid transfer conduit associated with the body member at least partially toward the fluid transfer connector septum when a predetermined compression threshold between the container septum and the fluid transfer connector septum is reached.

[0305] 67. A robot system as described in any one of embodiments 64 to 66, wherein the manipulator is configured to resist relative movement when an axial force below a predetermined pushing threshold is applied to cause relative movement between the gripping arm and the engagement arm.

[0306] 68. A robot system described in any one of embodiments 64 to 67, wherein the engagement arm and the gripping arm are coupled via a resistance member that opposes relative movement between the gripping arm and the engagement arm toward each other.

[0307] 69. A robotic system as described in embodiment 68, wherein the resistance member is configured to move the engagement arm and the gripping arm away from each other after fluid transfer is completed.

[0308] 70. A robotic system as described in any one of embodiments 64 to 69, wherein the engagement arm is configured to abut against a radial stop on the sleeve when the fluid transfer connector septum contacts the container septum, and the manipulator is configured to cause relative movement between the gripping 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 such that contact therebetween reaches a predetermined compression threshold before the fluid transfer conduit associated with the body member and the fluid transfer connector septum move at least partially toward each other.

[0309] 71. The robotic system of any one of embodiments 64 to 70, further comprising a container holder configured to hold the container along the container longitudinal axis.

[0310] 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 intravenous bag holder configured to support at least one intravenous bag.

[0311] 73. A robot system as described in any one of embodiments 70 and 72, wherein the manipulator is configured to move toward the container holder.

[0312] 74. A robotic system according to any one of embodiments 70 to 73, wherein the container holder is configured to move towards the manipulator.

[0313] 75. A robotic system described in any one of embodiments 64 to 74, wherein the controller is further configured to rotate the gripping arm and the engagement arm together about a rotation axis.

[0314] 76. The controller controls the engagement arm and the gripping arm to: The gripping arms grip the body member and align the fluid transfer assembly with the container and bring 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 therebetween; and / or A robot system as described in any one of embodiments 64 to 75, wherein the gripping arm is configured to cause foldable movement of the body member and the sleeve toward each other and to perform at least partial movement of the body member and the fluid transfer conduit associated with the fluid transfer connector bulkhead toward each other to facilitate fluid transfer.

[0315] 77. The robotic system of embodiment 76, wherein the gripping arm is further configured to apply a radial force to an outer wall of the fluid transfer assembly, and the controller is configured to control the gripping arm to selectively apply the radial force to press against a fluid transfer connector actuator of the fluid transfer assembly.

[0316] 78. The fluid transfer assembly comprises a syringe; The robotic system further comprises a plunger arm configured to actuate a plunger of the syringe; The controller controls the plunger arm to Grip the plunger flange portion of the plunger, 78. The robot system of any one of embodiments 64 to 77, configured to axially displace a plunger flange to transfer fluid between the syringe and the container.

[0317] 79. The controller controls the engagement arm and the gripping arm to: the gripping arms move the body member away from the sleeve following the transfer of fluid; 79. The robot system of any one of embodiments 64 to 78, wherein the engagement arm and the gripping arm are configured to be moved away from the container to separate the fluid transfer connector septum from the container septum.

[0318] 80. The robot system of embodiment 79, wherein the controller is configured to operate the gripping arm to move the body member away from the sleeve after fluid transfer.

[0319] 81. A robot system as described in embodiment 80, when dependent on embodiment 77, wherein the controller is configured to operate the gripping arm to stop applying the radial force after the body member is moved away from the sleeve.

[0320] 82. The controller operates the gripping arm to Grasping the body member and aligning the fluid transfer assembly with the container and contacting the fluid transfer connector septum with the container septum; 82. The robotic system of embodiment 81, configured to simultaneously or sequentially perform operations that selectively apply radial forces to press against a fluid transfer connector actuator of a fluid transfer assembly.

[0321] 83. The controller controls the engagement arm and the gripping arm to: Any one of the engagement arm and the gripping arm grips the body member to align the fluid transfer assembly with the container and contact the fluid transfer connector septum with the container septum; Any one of the engagement arm and the gripping arm presses the fluid transfer connector septum against the container septum to secure contact therebetween; and / or A robot system described in any one of embodiments 64 to 82, wherein one of the engagement arm and the gripping arm is configured to cause relative movement between the body member and the sleeve.

[0322] 84. A robotic system according to any one of embodiments 64 to 83, wherein the engagement arm and the gripping arm are positioned to contact the fluid transfer assembly at the fluid transfer connector.

[0323] 85. A robotic system as described in any one of embodiments 64 to 84, wherein the engagement arm is formed with a pressing surface configured to be pressed against a radial stop of the fluid transfer assembly to secure contact between the container septum and the fluid transfer connector septum.

[0324] 86. A robotic system as described in embodiment 85, wherein the pressing surface of the engagement arm includes an arcuate portion dimensioned to surround the fluid transfer assembly and form a radial gap with an outer wall of the fluid transfer assembly.

[0325] 87. The robot system of embodiment 86, wherein the pressing surface of the engagement arm is configured to mate with an outer surface of the fluid transfer assembly such that there is no radial gap between the outer wall of the fluid transfer assembly and the pressing surface.

[0326] 88. A robotic system according to any one of embodiments 64 to 87, wherein the gripping arm comprises at least one protruding element configured to apply a radial force to an outer wall of the fluid transfer assembly when the fluid transfer assembly is manipulated by the robotic system.

[0327] 89. The robot system of embodiment 88, wherein the protruding element of the gripping arm includes a plate having an arcuate groove formed therein.

[0328] 90. The robotic system of embodiment 89, wherein the gripping arm comprises two opposing plates having first and second pairs of protruding elements configured to access first and second pairs of openings on the outer wall of the fluid transfer assembly.

[0329] 91. The robotic system of embodiment 90, wherein the two opposing plates are configured to be spaced apart from one another to form a gap therebetween.

[0330] 92. A fluid transfer connector is further provided, the fluid transfer connector comprising: a body member connectable to a fluid transfer unit of a fluid transfer assembly at a unit connection portion; a sleeve disposed coaxially relative to the body member; a fluid transfer connector septum attached to a distal end of the sleeve, the sleeve and the body member being configured to move relative to one another between an extended position, which is a normal position, and a collapsed position, in which the fluid transfer connector is configured to establish fluid communication between the fluid transfer unit and the container for fluid transfer; A robot system described in any one of embodiments 56 to 91, comprising a locking mechanism configured to switch between a locked state and an unlocked state to selectively enable and prevent relative movement between the sleeve and the body member, and configured to enable relative movement between the sleeve and the body member from an extended position to a folded position upon activation of an actuator accessible through the outer wall of the fluid transfer connector.

[0331] 93. The robotic system of embodiment 92, wherein the manipulator is configured to grasp the fluid transfer assembly and switch the locking mechanism from a locked state to an unlocked state.

[0332] 94. A robot system as described in embodiment 93, wherein the manipulator is configured to fix contact between the container septum and the fluid transfer connector septum, and the manipulator is further configured to switch the locking mechanism to an unlocked state and displace the fluid transfer connector to a folded position after fixing contact between the fluid transfer connector septum and the container septum.

[0333] 95. A method for transferring fluid between a container accessible through a container septum and a fluid transfer assembly accessible through a fluid transfer connector, comprising: controlling a manipulator of a robotic system to grasp the fluid transfer assembly and actuate 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 one another upon actuating the locking mechanism to establish fluid communication; transferring fluid between the fluid transfer assembly and the container.

[0334] 96. The method of embodiment 95, wherein controlling the manipulator to actuate the locking mechanism includes actuating an actuator of the locking mechanism.

[0335] 97. The method of embodiment 95 or 96, further comprising operating a robotic system to control the manipulator to secure contact between the container septum and the fluid transfer connector septum of the fluid transfer connector.

[0336] 98. The method of embodiment 97, wherein controlling the manipulator to actuate the locking mechanism includes actuating the locking mechanism after securing contact between the container septum and the fluid transfer connector septum.

[0337] 99. A robotic system operable to transfer fluid between a container accessible through a container septum and a fluid transfer assembly accessible through a fluid transfer connector having a sleeve including a body member and a fluid transfer connector septum, the sleeve and the body member configured to move relative to one another, the system comprising: a vessel holder configured to support a vessel and be disposed at least partially coaxially with the fluid transfer assembly; an engagement arm configured to engage one of the body member and the sleeve; a gripping arm configured to grip the other of the body member and the sleeve, the gripping arm and the engagement arm being movable relative to one another.

[0338] 100. The robotic system of embodiment 99, wherein the engagement arm and the gripping arm are mechanically coupled to a primary drive assembly configured to simultaneously move the engagement arm and the gripping arm together while pressing at least one of the gripping arm and the engagement arm against an outer surface of the fluid transfer assembly.

[0339] 101. A robot system as described in embodiment 99 or 100, wherein the engagement arm is connected to the gripping arm via a secondary drive assembly configured to cause relative movement between the gripping arm and the engagement arm.

[0340] 102. A robotic system as described in any one of embodiments 99 to 101, wherein at least one of the gripping arm and the engagement arm has a pressing surface configured to axially press against a radial stop formed on the outer surface of the fluid transfer assembly to secure contact of the fluid transfer connector septum with the container septum.

[0341] 103. The robot system of embodiment 102, wherein the pressing surface is positioned in the gap from the outer wall of the fluid transfer assembly.

[0342] 104. A robotic system described in any one of embodiments 99 to 103, wherein the gripping arm is formed with an arcuate portion configured to grip an outer surface of the fluid transfer assembly, is configured to access an actuator disposed within the fluid transfer assembly, and has at least one protrusion formed thereon operable to selectively prevent and facilitate relative movement between the body member and the sleeve.

[0343] 105. A robotic system described in any one of embodiments 99 to 104, wherein the engagement arm is coupled to the gripping arm via a resistance member configured to apply an axial force to the engagement arm to cause the engagement arm to press against the outer surface of the fluid transfer assembly.

[0344] 106. A robotic system as described in embodiment 105, wherein the resistance member is configured to resist relative movement of the engagement arm and the gripping arm toward each other.

[0345] 107. A robotic system as described in embodiment 106, wherein the resistance member is configured to displace the gripping arm and the engagement arm away from each other upon completion of fluid transfer.

[0346] 108. A robotic system according to any one of embodiments 99 to 107, wherein the gripping arm and the engagement arm form part of a manipulator.

[0347] 109. A robot system as described in any one of embodiments 99 to 108, further comprising a fluid transfer connector having a body member and a sleeve including a fluid transfer connector septum, the sleeve and the body member configured to move relative to each other, the engagement arm configured to engage the sleeve, and the gripping arm configured to grip the body member.

[0348] 110. The robot system of embodiment 109, wherein the sleeve includes a radial stop protruding radially from the sleeve, the radial stop including a first stop surface facing the body member and an opposite second stop surface, and the engagement arm is configured to engage with the first surface of the stop.

[0349] 111. A method for transferring fluid between a container accessible through a container septum and a fluid transfer assembly accessible through a fluid transfer connector, comprising: activating an engagement arm of the robotic system to engage a sleeve of the fluid transfer connector; activating a gripping arm of a robotic system to grip a body member of a fluid transfer connector; moving at least one of the engagement arm and the gripping arm toward the other of the engagement arm and the gripping arm to establish fluid communication between the fluid transfer assembly and the container; and performing a transfer of fluid between the fluid transfer assembly and the container.

[0350] 112. The method of embodiment 111, further comprising moving at least one of the engagement arm and the gripping arm away from the other of the engagement arm and the gripping arm after completion of the fluid transfer.

[0351] 113. A robotic system operable to transfer fluid at least partially along an injection axis between a container accessible through a container septum and a fluid transfer assembly accessible through a fluid transfer connector, comprising: A controller; and a manipulator controllable by the controller, the manipulator comprising: a gripping arm configured to grip a gripping portion of the fluid transfer assembly; and an engagement arm configured to engage the fluid transfer assembly at an engagement portion, wherein at least one of the engagement arm and the gripping arm is displaceable relative to the other of the engagement arm and the gripping arm along an injection axis, and the engagement arm and the gripping arm are configured to be displaced together during at least a portion of a movement of the manipulator.

[0352] 114. A robotic system as described in embodiment 113, wherein the controller is configured to operate the gripping arm to bring a fluid transfer connector septum of the fluid transfer connector into contact with the container septum, and to operate the engagement arm to secure contact between the container septum and the fluid transfer connector septum during at least a portion of the fluid transfer.

[0353] 115. A robot system described in any one of embodiments 113 and 114, wherein the manipulator is configured to mechanically couple the engagement arm to the gripping arm.

[0354] 116. A robot system described in any one of embodiments 113 to 115, wherein the manipulator including the engagement arm and the gripping arm is formed as a monolithic structure.

[0355] 117. A robot system described in any one of embodiments 113 to 116, wherein the manipulator has a central longitudinal axis and the injection axis is positioned away from the central longitudinal axis.

[0356] 118. A robot system described in any one of embodiments 113 to 117, wherein the engagement arm is coupled to the gripping arm via a resistance member configured to resist relative movement of the engagement arm and the gripping arm toward each other.

[0357] 119. A robotic system as described in embodiment 118, wherein the resistance member is configured to displace the gripping arm and the engagement arm away from each other upon completion of fluid transfer.

[0358] 120. A robot system as described in any one of embodiments 113 to 119, further comprising a fluid transfer connector having a body member and a sleeve including a fluid transfer connector septum, the sleeve and the body member configured to move relative to each other, the engagement arm configured to engage the sleeve, and the gripping arm configured to grip the body member.

[0359] 121. The robot system of embodiment 120, wherein the sleeve includes a radial stop protruding radially from the sleeve, the radial stop including a first stop surface facing the body member and an opposite second stop surface, and the engagement arm is configured to engage with the first surface of the stop.

[0360] 122. A method for transferring fluid at least partially along an injection axis between a container accessible through a container septum and a fluid transfer assembly accessible through a fluid transfer connector by operation of a robotic system, the method comprising: operating an engagement arm of a manipulator of a robotic system to engage an engagement portion of a fluid transfer assembly; activating a gripping arm of a manipulator to grip a gripping portion of a fluid transfer assembly; moving the engagement arm and the gripping arm along the fluid transfer assembly with the container; moving at least one of the engagement arm and the gripping arm along the injection axis toward the other of the engagement arm and the gripping arm to establish fluid communication between the fluid transfer assembly and the container; and performing a transfer of fluid between the fluid transfer assembly and the container.

[0361] 123. The method of embodiment 122, further comprising moving at least one of the engagement arm and the gripping arm away from the other of the engagement arm and the gripping arm after completion of the transfer of fluid.

[0362] 124. A robotic system operable to transfer fluid between a container accessible through a container septum and a fluid transfer assembly accessible through a fluid transfer connector configured to establish fluid communication between the container and the fluid transfer assembly for transfer of the fluid, the fluid transfer connector comprising a body member and a sleeve displaceable relative to one another between an extended position, which is a normal position, and a collapsed position, in which the fluid transfer connector establishes fluid communication, the fluid transfer connector comprising a fluid transfer connector septum disposed on the sleeve, the robotic system comprising: A 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 one another and to selectively displace the fluid transfer connector from an extended position to its collapsed position; a contact fixation mechanism configured to prevent the manipulator from displacing the fluid transfer connector from the extended position to its collapsed position until a predetermined compression threshold between the container septum and the fluid transfer connector septum is reached.

[0363] 125. A robotic system as described in embodiment 124, wherein the manipulator is configured to 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 with a compressive force having a variable magnitude.

[0364] 126. A robotic system as described in embodiment 125, wherein the contact fixation mechanism is configured to prevent the manipulator from displacing the fluid transfer connector from the extended position to its folded position at least until the compressive force is below a predetermined compression threshold.

[0365] 127. A robotic system as described in embodiment 125 or 126, wherein the contact fixation mechanism is configured to enable the manipulator to displace the fluid transfer connector from the extended position to its folded position at least when the compressive force is equal to or greater than a predetermined compression threshold.

[0366] 128. A robotic system according to any one of embodiments 125 to 127, wherein the contact fixation mechanism is configured to enable the manipulator to displace the fluid transfer connector to its folded position following detection of an event indicating that the compressive force is equal to or greater than a predetermined compressive threshold.

[0367] 129. A robot system according to any one of embodiments 124 to 128, wherein the contact fixation mechanism comprises a mechanical element.

[0368] 130. A robotic system according to any one of embodiments 124 to 129, wherein the contact fixation mechanism comprises a resistance member configured to resist the manipulator from displacing the fluid transfer connector to its folded position.

[0369] 131. A robot system as described in embodiment 130, wherein the manipulator comprises an engagement arm configured to engage the sleeve and a gripping arm configured to grip the body member, the engagement arm and the gripping arm configured to move relative to each other to displace the fluid transfer connector between an extended position and a folded position, and the engagement arm and the gripping arm are coupled to each other via a resistance member.

[0370] 132. A robotic system as described in embodiment 131, wherein the engagement arm and the gripping arm are configured to move toward each other in response to initiation of deformation of the resistance member to displace the fluid transfer connector to a folded position.

[0371] 133. The robotic system of embodiment 132, wherein the resistance member is configured to prevent deformation until a minimum threshold force is applied thereon.

[0372] 134. A robot system described in any one of embodiments 132 and 133, wherein, when dependent on embodiment 128, the event includes the initiation of a deformation.

[0373] 135. A robotic system described in any one of embodiments 132 to 134, further comprising a sensor configured to detect the onset of deformation and generate a signal indicative thereof.

[0374] 136. A robotic system according to any one of embodiments 130 to 135, wherein the resistance member is configured to cause the manipulator to displace the fluid transfer connector to its extended position after completion of the fluid transfer.

[0375] 137. A robot system as described in any one of embodiments 124 to 136, further comprising a fluid transfer connector configured to establish fluid communication between the container and the fluid transfer assembly, the fluid transfer connector having a body member and a sleeve including a fluid transfer connector septum, the sleeve and the body member being displaceable relative to each other between an extended position, which is a normal position, and a folded position, in which the fluid transfer connector establishes fluid communication.

[0376] 138. A method for transferring fluid between a container accessible through a container septum and a fluid transfer assembly accessible through a fluid transfer connector having a fluid transfer connector septum, the method comprising the steps of: 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 one another; 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, to its collapsed position in which fluid communication between the container and the fluid transfer assembly is established after a predetermined compression threshold is reached; and performing a transfer of fluid between the fluid transfer assembly and the container.

[0377] 139. The method of embodiment 138, further comprising operating a contact fixation mechanism to prevent the manipulator from displacing the fluid transfer connector from the extended position to its collapsed position at least until a predetermined compression threshold is reached.

[0378] 140. A robotic system operable to transfer fluid between a container accessible through a container septum and a fluid transfer assembly accessible through a fluid transfer connector, comprising: A 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 configured to monitor movement of the manipulator and to transmit a signal indicative of the monitoring.

[0379] 141. The manipulator is a gripping arm configured to grip a gripping portion of the fluid transfer connector; The robot system of embodiment 140, comprising: an engagement arm configured to engage an engagement portion of a fluid transfer connector, the engagement arm and the gripping arm configured to move relative to each other to selectively establish fluid communication, and a sensor configured to monitor the relative movement of the engagement arm and the gripping arm.

[0380] 142. A robotic system as described in embodiment 140, wherein the sensor is configured to monitor the relative position of at least one of the engagement arm and the gripping arm with respect to the other of the engagement arm and at least one of the gripping arm.

[0381] 143. A robot system as described in embodiment 141 or 142, wherein the engagement arm is coupled to the gripping arm via a resistance member configured to resist relative movement between the engagement arm and the gripping arm toward each other.

[0382] 144. A robotic system as described in embodiment 143, wherein the sensor is configured to monitor the resistance member.

[0383] 145. A robot system as described in embodiment 143 or 144, wherein the resistance member is configured to deform upon relative movement between the engagement arm and the gripping arm.

[0384] 146. A robot system as described in embodiment 145, wherein the sensor is configured to monitor deformation of the resistance member.

[0385] 147. A robot system as described in embodiment 145 or 146, wherein the resistance member is configured to prevent initiation of deformation until a force equal to or greater than a predetermined threshold is applied.

[0386] 148. A robotic system as described in embodiment 147, wherein the sensor is configured to monitor force.

[0387] 149. A robot system as described in any one of embodiments 140 to 148, further comprising a motor configured to move the manipulator to perform a manipulator operation, the motor configured to consume variable power to move the manipulator, and the sensor configured to monitor power consumption.

[0388] 150. A robot system as described in any one of embodiments 140 to 149, further comprising a fluid transfer connector configured to establish fluid communication between the container and the fluid transfer assembly, 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 folded position in which the fluid transfer connector establishes fluid communication, and the manipulator is configured to displace the fluid transfer connector between its extended position and the folded position.

[0389] 151. A robotic system as described in embodiment 150, wherein the fluid transfer connector comprises a fluid transfer conduit associated with the body member and a fluid transfer connector bulkhead associated with the sleeve, the fluid transfer connector is configured to establish 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, and the controller is configured to receive a signal indicative of the monitoring and, based at least thereon, determine whether the fluid communication portion is positioned at the reference position.

[0390] 152. A robot system as described in embodiment 151, when dependent on embodiment 142, wherein the body member comprises a gripping portion, the sleeve comprises an engagement portion, and the controller is configured to make a decision regarding at least one of the engagement arm and the gripping arm relative to the other based on the relative position of at least one of the engagement arm and the gripping arm.

[0391] 153. When dependent on embodiment 146, a robot system as described in embodiment 151, wherein the body member comprises a gripping portion, the sleeve comprises an engagement portion, and the controller is configured to make a decision based on deformation of the resistance member.

[0392] 154. A robot system as described in embodiment 151, according to embodiment 148, wherein the body member comprises a gripping portion, the sleeve comprises an engagement portion, and the controller is configured to make a decision based on monitoring of the force.

[0393] 155. A robot system as described in embodiment 151, according to embodiment 149, wherein the body member comprises a gripping portion, the sleeve comprises an engagement portion, and the controller is configured to make a decision based on monitoring of power consumption.

[0394] 156. A method for transferring fluid between a container accessible through a container septum and a fluid transfer assembly accessible through a fluid transfer connector, 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 the motion of the manipulator by sensors of the robot system; transmitting, by the sensor, a signal indicative of the monitoring.

[0395] 157. Grasping a gripping portion of a fluid transfer assembly by a gripping arm of a manipulator; engaging an engagement portion of a fluid transfer assembly with an engagement arm of a manipulator; moving the engagement arm and the gripping arm relative to one another to selectively establish fluid communication; 157. The method of embodiment 156, further comprising monitoring the relative movement between the engagement arm and the gripping arm with a sensor.

[0396] 158. The method of embodiment 157, wherein monitoring the relative movement of the engagement arm and the gripping arm includes monitoring the relative position of at least one of the engagement arm and the gripping arm with respect to the other of the engagement arm and the gripping arm.

[0397] 159. The method of embodiment 157 or 158, wherein monitoring the relative movement of the engagement arm and the gripping arm includes monitoring a resistance member of the robot system configured to resist relative movement between the engagement arm and the gripping arm toward each other.

[0398] 160. The method of embodiment 159, wherein monitoring the resistance member includes monitoring deformation of the resistance member.

[0399] 161. The method of embodiment 159 or 160, wherein monitoring the resistance member includes monitoring a force being applied to the resistance member.

[0400] 162. The method of any one of embodiments 156 to 161, wherein monitoring the operation of the manipulator includes monitoring power consumption by a motor configured to move the manipulator to perform the operation.

[0401] 163. A method according to any one of embodiments 156 to 162, wherein monitoring 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 a reference position associated with establishing fluid communication.

[0402] 164. A robotic system operable to transfer fluid between a container accessible through a container septum and a fluid transfer assembly accessible through a fluid transfer connector, 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 robotic system comprising: a motor configured to move a manipulator to establish fluid communication, the motor configured to consume variable power to move the manipulator; and a controller configured to monitor power consumption and control the motor based at least thereon.

[0403] 165. A robot system as described in embodiment 164, wherein the motor comprises a motor shaft operable to cause movement of the manipulator and an encoder operable to detect a position of the motor shaft, and the controller is configured to control the motor based on a combination of power consumption and the position of the motor shaft.

[0404] 166. A robot system as described in embodiment 164 or 165, wherein the controller is configured to predetermine at least one of an upper limit and a lower limit of power consumption and generate an alert upon detection of deviation of power consumption from the predetermined range.

[0405] 167. A robotic system according to any one of embodiments 164 to 166, wherein power consumption is measurable by the magnitude of current applied to the motor.

[0406] 168. A robot system described in any one of embodiments 164 to 167, further comprising a fluid transfer connector configured to establish fluid communication between the container and the fluid transfer assembly, 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 folded position in which the fluid transfer connector establishes fluid communication, and the manipulator is configured to displace the fluid transfer connector between its extended position and the folded position.

[0407] 169. A robotic system as described in embodiment 168, wherein the fluid transfer connector comprises a fluid transfer conduit associated with the body member and a fluid transfer connector bulkhead associated with the sleeve, the fluid transfer connector is configured to establish 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, and the controller is configured to monitor the position of the fluid communication portion and control the motor based at least thereon.

[0408] 170. A method for transferring fluid between a container accessible through a container septum and a fluid transfer assembly accessible through a fluid transfer connector, 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 a manipulator to establish fluid communication, where operating the motor includes consuming variable power; monitoring power consumption by a controller of the robotic system; and controlling the motor based at least on the monitoring.

[0409] 171. Operating a motor shaft of a motor to cause movement of a manipulator; and detecting a position of the motor shaft by an encoder of the motor; 171. The method of embodiment 170, wherein controlling the motor based at least on the monitoring includes controlling the motor based on a combination of power consumption and motor shaft position.

[0410] 172. A robotic system as described in embodiment 170 or 171, wherein monitoring power consumption includes predetermining at least one of an upper limit and a lower limit for power consumption, and the method further includes generating an alert upon detection of a deviation of power consumption from the predetermined range.

[0411] 173. A robotic system operable to transfer fluid between a container accessible through a container septum and a fluid transfer assembly accessible through a fluid transfer connector configured to establish fluid communication between the container and the fluid transfer assembly for transfer of the fluid, the fluid transfer connector comprising a body member and a sleeve displaceable relative to one another between an extended position, which is a normal position, and a collapsed position, in which the fluid transfer connector establishes 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, the manipulator comprising: applying a variable positioning force to manipulate the fluid transfer assembly through a positioning step, during which the manipulator positions the fluid transfer assembly and / or the container such that the fluid transfer connector septum and the container septum are in contact with each other; A robotic system configured to apply a variable penetration force to manipulate the fluid transfer assembly and / or the container through a penetration step, wherein during the penetration step, at least a tip of the fluid transfer conduit at least partially penetrates at least one of the container septum and the fluid transfer connector septum, and a minimum value of the variable penetration force is greater than a maximum value of the variable positioning force.

[0412] 174. A robotic system as described in embodiment 173, wherein the positioning step 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 step begins with the initiation of penetration of the tip of the fluid transfer conduit at least partially through at least one of the container septum and the fluid transfer connector septum and ends with the fluid transfer connector being displaced to its folded position.

[0413] 175. A robotic system as described in embodiment 173 or 174, wherein the manipulator is further controllable by the controller to apply a variable folding force to manipulate the fluid transfer assembly through a folding stage, during which the sleeve and body member are displaced relative to each other to reduce the distance between the fluid transfer connector bulkhead and the body member, and the manipulator is further controllable by the controller to continuously increase the variable folding force during at least a portion of the folding stage.

[0414] 176. The robot system of embodiment 175, wherein the folding stage begins with the initiation of relative movement of the sleeve and body member toward one another and ends with the fluid transfer connector being displaced to its folded position.

[0415] 177. When dependent on embodiment 174, the robot system described in embodiment 176, wherein the folding stage at least partially overlaps with the penetration stage.

[0416] 178. A robotic system as described in embodiment 177, wherein the manipulator is further controllable by the controller to continuously increase the variable folding force during at least a portion of the folding phase prior to the start of the penetration phase.

[0417] 179. A robot system according to any one of embodiments 175 to 178, wherein the initial value of the variable folding force is greater than the maximum value of the variable positioning force.

[0418] 180. A robotic system as described in any one of embodiments 173 to 179, wherein the manipulator is further controllable by the controller to apply a variable fixation force to manipulate at least one of the fluid transfer assembly and the container through a contact fixation stage, during which the manipulator fixes contact between the fluid transfer connector septum and the container septum.

[0419] 181. The robotic system of embodiment 180, wherein the contact fixation phase begins with the manipulator bringing the fluid transfer connector septum and the container septum into contact with each other and ends with completion of the fluid transfer.

[0420] 182. A robot system as described in embodiment 181, when dependent on embodiment 174, wherein the contact fixation stage at least partially overlaps with the penetration stage.

[0421] 183. A robot system as described in embodiment 181 or 182, when dependent on embodiment 176, wherein the contact fixation stage at least partially overlaps with the folding stage.

[0422] 184. A robot system as described in embodiment 183, wherein the manipulator is further controllable by the controller to increase the variable fixation force at least prior to the start of the folding phase.

[0423] 185. A robot system as described in embodiment 183 or 184, wherein the initial value of the variable folding force is greater than the initial value of the variable fixing force.

[0424] 186. The robotic system of any one of embodiments 173 to 185, further comprising a fluid transfer connector.

[0425] 187. A method of transferring fluid between a container accessible through a container septum and a fluid transfer assembly accessible through a fluid transfer connector configured to establish fluid communication between the container and the fluid transfer assembly for transfer of the fluid, the fluid transfer connector comprising a body member and a sleeve displaceable relative to one another between an extended position, which is a normal position, and a collapsed position, in which the fluid transfer connector establishes 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 method comprising: moving the fluid transfer connector septum to a position where the fluid transfer conduit is displaceable relative to one another between a normal position, an extended ... method comprising: moving the fluid transfer connector septum to a position where the fluid transfer conduit is displaceable relative to one another between a normal position, an extended position, and a collapsed position, in which the fluid transfer connector establishes fluid communication, the method comprising: operating a robotic system to control a manipulator of the robotic system, applying a variable positioning force to manipulate the fluid transfer assembly through a positioning step, during which the manipulator positions and manipulates the fluid transfer assembly and / or the container such that a fluid transfer connector septum and a container septum are in contact with one another; A method comprising operating a robotic system, the method comprising: applying a variable penetration force to manipulate the fluid transfer assembly and / or the container through a penetration step, wherein during the penetration step, at least a tip of the fluid transfer conduit at least partially penetrates at least one of a container septum and a fluid transfer connector septum, and a minimum value of the variable penetration force is greater than a maximum value of the variable positioning force.

[0426] 188. The method of embodiment 187, wherein the positioning step 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 step begins with the initiation of penetration of the tip of the fluid transfer conduit at least partially through at least one of the container septum and the fluid transfer connector septum and ends with the fluid transfer connector being displaced to its folded position.

[0427] 189. A method according to any one of embodiments 187 and 189, further comprising controlling a manipulator to apply a variable folding force and manipulate the fluid transfer assembly through a folding stage, during which the sleeve and the body member are displaced relative to each other to reduce the distance between the fluid transfer connector bulkhead and the body member, and the method further comprising continuously increasing the variable folding force during at least a portion of the folding stage.

[0428] 190. The method of embodiment 189, wherein the folding step begins with the initiation of relative movement of the sleeve and body member toward one another and ends when the fluid transfer connector is displaced to its folded position.

[0429] 191. The method according to embodiment 190, when dependent on embodiment 188, wherein the folding step at least partially overlaps with the penetrating step.

[0430] 192. The method of embodiment 191, further comprising continuously increasing the variable folding force during at least a portion of the folding step before the start of the penetration step.

[0431] 193. The method of any one of embodiments 189 to 192, wherein the initial value of the variable folding force is greater than the maximum value of the variable positioning force.

[0432] 194. The method of any one of embodiments 187 to 193, further comprising controlling a manipulator to apply a variable clamping force to manipulate at least one of the fluid transfer assembly and the container through a contact clamping stage, wherein during the contact clamping stage, the manipulator clamps contact between the fluid transfer connector septum and the container septum.

[0433] 195. The method of embodiment 194, wherein the contact fixation step begins with the manipulator bringing the fluid transfer connector septum and the container septum into contact with each other and ends with the completion of the transfer of fluid.

[0434] 196. The method according to embodiment 195, when dependent on embodiment 188, wherein the contact fixing step at least partially overlaps with the penetration step.

[0435] 197. The method according to embodiment 195 or 196, when dependent on embodiment 190, wherein the contact fixing step at least partially overlaps with the folding step.

[0436] 198. The method of embodiment 197, further comprising increasing the variable fixation force at least prior to the start of the folding step.

[0437] 199. The method of embodiment 197 or 198, wherein the initial value of the variable folding force is greater than the initial value of the variable fixing force.

[0438] 200. A robotic system operable to transfer fluid between a container accessible through a container septum and a fluid transfer assembly accessible through a fluid transfer connector configured to establish fluid communication between the container and the fluid transfer assembly for transfer of the fluid, the fluid transfer connector comprising a body member and a sleeve displaceable relative to one another between an extended position, which is a normal position, and a collapsed position, in which the fluid transfer connector establishes fluid communication, the fluid transfer connector comprising a fluid transfer connector septum disposed at a distal end of the sleeve, the robotic system comprising: A controller; a manipulator controllable by the controller configured to apply a variable folding force to manipulate the fluid transfer assembly through a folding stage, during which the sleeve and the body member are displaced relative to one another to reduce a distance between the fluid transfer connector septum and the body member; The manipulator is further controllable by a controller and configured to continuously increase the variable folding force during at least a portion of the folding phase.

[0439] 201. The robot system of embodiment 200, wherein the manipulator is further controllable by the controller and configured to continuously increase the variable folding force during at least a majority of the folding phase.

[0440] 202. The robotic system of embodiment 200 or 201, wherein the folding stage begins with the initiation of relative movement of the sleeve and the body member toward one another and ends with the fluid transfer connector being displaced to its folded position.

[0441] 203. A robotic system according to any one of embodiments 200 to 202, wherein the manipulator is further controllable by the controller and 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 a tip of the fluid transfer conduit at least partially penetrates at least one of the container septum and the fluid transfer connector septum.

[0442] 204. A robotic system as described in embodiment 203, wherein the penetration step begins with the initiation of penetration of the tip of the fluid transfer conduit at least partially through at least one of the container septum and the fluid transfer connector septum and ends with the fluid transfer connector being displaced to its folded position.

[0443] 205. The robot system of embodiment 204, wherein the folding stage at least partially overlaps with the penetration stage.

[0444] 206. A robotic system as described in embodiment 205, wherein the manipulator is further controllable by the controller and configured to increase the variable folding force at least prior to the start of the penetration phase.

[0445] 207. A robot system according to any one of embodiments 203 to 206, wherein the initial value of the variable penetration force is greater than the initial value of the variable folding force.

[0446] 208. A robotic system according to any one of embodiments 200 to 207, wherein the manipulator is further controllable by the controller and configured 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 are in contact with each other.

[0447] 209. The robotic system of embodiment 208, wherein the positioning step 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.

[0448] 210. A robot system as described in embodiment 208 or 209, wherein the minimum value of the variable folding force is greater than the maximum value of the variable positioning force.

[0449] 211. A robot system according to any one of embodiments 208 to 210, wherein, when dependent on embodiment 203, the minimum value of the variable penetration force is greater than the maximum value of the variable positioning force.

[0450] 212. A robotic system according to any one of embodiments 200 to 211, wherein the manipulator is further controllable by the controller and configured to apply a variable clamping force to manipulate at least one of the fluid transfer assembly and the container through a contact clamping phase, during which the manipulator clamps contact between the fluid transfer connector septum and the container septum.

[0451] 213. A robotic system as described in embodiment 212, wherein the contact fixation phase begins with the manipulator bringing the fluid transfer connector septum and the container septum into contact with each other and ends with completion of the fluid transfer.

[0452] 214. A robot system as described in embodiment 212 or 213, wherein the contact fixation stage at least partially overlaps with the folding stage.

[0453] 215. A robot system as described in embodiment 214, wherein the manipulator is further controllable by the controller and configured to increase the variable fixation force at least prior to the start of the folding phase.

[0454] 216. A robot system as described in embodiment 214 or 215, wherein the initial value of the variable folding force is greater than the initial value of the variable fixing force.

[0455] 217. The robotic system of any one of embodiments 200 to 216, further comprising a fluid transfer connector.

[0456] 218. A method of transferring fluid between a container accessible through a container septum and a fluid transfer assembly accessible through a fluid transfer connector configured to establish fluid communication between the container and the fluid transfer assembly for transfer of the fluid, the fluid transfer connector comprising a body member and a sleeve displaceable relative to one another between an extended position, which is a normal position, and a collapsed position, in which the fluid transfer connector establishes 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 method comprising: moving the fluid transfer connector septum to a position where the fluid transfer conduit is displaceable relative to one another between a normal position, an extended position, and a collapsed position, in which the fluid transfer connector establishes 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 method comprising: operating a robotic system to control a manipulator of the robotic system, applying a variable folding force to manipulate the fluid transfer assembly through a folding stage, during which the sleeve and the body member are displaced relative to one another to reduce a distance between the fluid transfer connector septum and the body member; and continuously increasing a variable folding force during at least a portion of the folding phase.

[0457] 219. The method of embodiment 218, comprising continuously increasing the variable folding force during at least a majority of the folding stage.

[0458] 220. The method of embodiment 218 or 219, wherein the folding step begins with the initiation of relative movement of the sleeve and body member toward one another and ends with the fluid transfer connector being displaced to its folded position.

[0459] 221. The method of any one of embodiments 218 to 220, further comprising applying a variable penetration force to manipulate the fluid transfer assembly and / or the container through the penetration step, wherein during the penetration step, 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.

[0460] 222. The method of embodiment 221, wherein the piercing step begins with the initiation of piercing of the tip of the fluid transfer conduit at least partially through at least one of the container septum and the fluid transfer connector septum, and ends with the fluid transfer connector being displaced to its folded position.

[0461] 223. The method of embodiment 222, wherein the folding step at least partially overlaps with the penetration step.

[0462] 224. The method of embodiment 223, further comprising increasing the variable folding force at least prior to the start of the penetration stage.

[0463] 225. The method of any one of embodiments 221 to 224, wherein the initial value of the variable penetration force is greater than the initial value of the variable folding force.

[0464] 226. The method of any one of embodiments 218 to 225, further comprising applying a variable positioning force to manipulate the fluid transfer assembly through a positioning step, during which the manipulator positions the fluid transfer assembly and / or the container so that the fluid transfer connector septum and the container septum are in contact with each other.

[0465] 227. The method of embodiment 226, wherein the positioning step 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.

[0466] 228. The method of embodiment 226 or 227, wherein the minimum value of the variable folding force is greater than the maximum value of the variable positioning force.

[0467] 229. A method according to any one of embodiments 226 to 228, when dependent on embodiment 221, wherein the minimum value of the variable penetration force is greater than the maximum value of the variable positioning force.

[0468] 230. The method of any one of embodiments 218 to 229, further comprising applying a variable clamping force to manipulate at least one of the fluid transfer assembly and the container through a contact clamping stage, wherein during the contact clamping stage, the manipulator clamps contact between the fluid transfer connector septum and the container septum.

[0469] 231. The method of embodiment 230, wherein the contact fixation step begins with the manipulator bringing the fluid transfer connector septum and the container septum into contact with each other and ends with the completion of the transfer of fluid.

[0470] 232. The method of embodiment 230 or 231, wherein the contact fixing step at least partially overlaps with the folding step.

[0471] 233. The method of embodiment 232, comprising increasing the variable fixation force at least prior to the start of the folding stage.

[0472] 234. The method of embodiment 232 or 233, wherein the initial value of the variable folding force is greater than the initial value of the variable fixing force.

[0473] 235. A robotic system operable to transfer fluid between a container accessible through a container septum and a fluid transfer assembly accessible through a fluid transfer connector configured to establish fluid communication between the container and the fluid transfer assembly for transfer of the fluid, the fluid transfer connector comprising a body member and a sleeve displaceable relative to one another between an extended position, which is a normal position, and a collapsed position, in which the fluid transfer connector establishes fluid communication, the fluid transfer connector comprising a fluid transfer connector septum disposed at a distal end of the sleeve, the robotic system comprising: A controller; and a manipulator controllable by the controller, the manipulator comprising: applying a variable clamping force to manipulate at least one of the fluid transfer assembly and the container through a contact clamping stage, during which the manipulator clamps contact between the fluid transfer connector septum and the container septum; A robotic system configured to apply a variable folding force to manipulate the fluid transfer assembly through a folding stage in which the sleeve and the body member are displaced relative to one another to reduce a distance between the fluid transfer connector bulkhead and the body member, wherein an initial value of the variable folding force is greater than an initial value of the variable fixing force.

[0474] 236. A robotic system as described in embodiment 235, wherein the contact fixation phase begins with the manipulator bringing the fluid transfer connector septum and the container septum into contact with each other and ends with completion of fluid transfer, and the folding phase begins with the initiation of relative movement of the sleeve and body member toward each other and ends with the fluid transfer connector being displaced to its folded position.

[0475] 237. The robot system of embodiment 236, wherein the contact fixation stage at least partially overlaps with the folding stage.

[0476] 238. A robot system as described in embodiment 237, wherein the manipulator is further controllable by the controller and configured to increase the variable fixation force at least prior to the start of the folding phase.

[0477] 239. A robotic system described in any one of embodiments 235 to 238, wherein the manipulator is further controllable by the controller and configured 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 are in contact with each other.

[0478] 240. A robotic system as described in embodiment 239, wherein the positioning step begins with the initiation of a 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.

[0479] 241. A robot system as described in embodiment 239 or 240, wherein the minimum value of the variable folding force is greater than the maximum value of the variable positioning force.

[0480] 242. A robotic system according to any one of embodiments 235 to 241, wherein the manipulator is further controllable by the controller and 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 a tip of the fluid transfer conduit at least partially penetrates at least one of the container septum and the fluid transfer connector septum.

[0481] 243. The robotic system of embodiment 242, wherein the penetration step begins with the initiation of penetration of the tip of the fluid transfer conduit at least partially through at least one of the container septum and the fluid transfer connector septum, and ends with the fluid transfer connector being displaced to its folded position.

[0482] 244. The robot system of embodiment 243, wherein the folding stage at least partially overlaps with the penetration stage.

[0483] 245. A robot system as described in embodiment 243 or 244, wherein the contact fixation stage at least partially overlaps with the penetration stage.

[0484] 246. A robot system as described in embodiment 245, wherein the manipulator is further controllable by the controller and configured to increase the variable folding force at least prior to the start of the penetration phase.

[0485] 247. A robot system according to any one of embodiments 242 to 246, wherein the initial value of the variable penetration force is greater than the initial value of the variable folding force.

[0486] 248. The robotic system of any one of embodiments 235 to 247, further comprising a fluid transfer connector.

[0487] 249. A method of transferring fluid between a container accessible through a container septum and a fluid transfer assembly accessible through a fluid transfer connector configured to establish fluid communication between the container and the fluid transfer assembly for transfer of the fluid, the fluid transfer connector comprising a body member and a sleeve displaceable relative to one another between an extended position, which is a normal position, and a collapsed position, in which the fluid transfer connector establishes 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 method comprising: moving the fluid transfer connector septum to a position where the fluid transfer conduit is displaceable relative to one another between a normal position, an extended position, and a collapsed position, in which the fluid transfer connector establishes 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 method comprising: operating a robotic system to control a manipulator of the robotic system, applying a variable clamping force to manipulate at least one of the fluid transfer assembly and the container through a contact clamping stage, during which the manipulator clamps contact between the fluid transfer connector septum and the container septum; A method comprising operating a robotic system comprising: applying a variable folding force to operate the fluid transfer assembly through a folding stage, wherein during the folding stage, the sleeve and the body member are displaced relative to one another to reduce a distance between the fluid transfer connector bulkhead and the body member, and an initial value of the variable folding force is greater than an initial value of the variable fixing force.

[0488] 250. The method of embodiment 249, wherein the contact fixation step begins with the manipulator bringing the fluid transfer connector septum and the container septum into contact with each other and ends with completion of fluid transfer, and the folding step begins with the initiation of relative movement of the sleeve and body member toward each other and ends with the fluid transfer connector being displaced to its folded position.

[0489] 251. The method of embodiment 250, wherein the contact fixing step at least partially overlaps with the folding step.

[0490] 252. The robot system of embodiment 251, wherein the method further comprises increasing the variable fixation force at least prior to the start of the folding phase.

[0491] 253. The method of any one of embodiments 249 to 252, further comprising applying a variable positioning force to manipulate the fluid transfer assembly through a positioning step, during which the manipulator positions the fluid transfer assembly and / or the container so that the fluid transfer connector septum and the container septum are in contact with each other.

[0492] 254. The method of embodiment 253, wherein the positioning step begins with the initiation of a 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.

[0493] 255. The method of embodiment 253 or 254, wherein the minimum value of the variable folding force is greater than the maximum value of the variable positioning force.

[0494] 256. The method of any one of embodiments 249 to 255, further comprising applying a variable penetration force to manipulate the fluid transfer assembly and / or the container through the penetration step, wherein during the penetration step, 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.

[0495] 257. The method of embodiment 256, wherein the piercing step begins with the initiation of piercing of the tip of the fluid transfer conduit at least partially through at least one of the container septum and the fluid transfer connector septum, and ends with the fluid transfer connector being displaced to its folded position.

[0496] 258. The method of embodiment 257, wherein the folding step at least partially overlaps with the penetrating step.

[0497] 259. The method of embodiment 257 or 258, wherein the contact fixation step at least partially overlaps with the penetration step.

[0498] 260. The method of embodiment 259, further comprising increasing the variable folding force at least prior to the start of the penetration stage.

[0499] 261. The method of any one of embodiments 256 to 260, wherein the initial value of the variable penetration force is greater than the initial value of the variable folding force.

[0500] 262. A robotic system operable to transfer fluid between a container accessible through a container septum and a fluid transfer assembly accessible through a fluid transfer connector configured to establish fluid communication between the container and the fluid transfer assembly for transfer of the fluid, the fluid transfer connector comprising a body member and a sleeve displaceable relative to one another between an extended position, which is a normal position, and a collapsed position, in which the fluid transfer connector establishes fluid communication, the fluid transfer connector comprising a fluid transfer connector septum disposed at a distal end of the sleeve, the robotic system comprising: A controller; and a manipulator controllable by the controller, the manipulator comprising: applying a variable positioning force to manipulate the fluid transfer assembly through a positioning step, during which the manipulator positions the fluid transfer assembly and / or the container such that the fluid transfer connector septum and the container septum are in contact with each other; A robotic system configured to apply a variable folding force to manipulate the fluid transfer assembly through a folding stage in which the sleeve and the body member are displaced relative to one another to reduce a distance between the fluid transfer connector bulkhead and the body member, wherein an initial value of the variable folding force is greater than a maximum value of the variable positioning force.

[0501] 263. A robotic system as described in embodiment 262, wherein the positioning step 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 folding step begins with the initiation of relative movement of the sleeve and body member toward each other and ends with the fluid transfer connector being displaced to its folded position.

[0502] 264. The robot system of embodiment 263, wherein the minimum value of the variable folding force is greater than the maximum value of the variable positioning force.

[0503] 265. A robotic system described in any one of embodiments 262 to 264, wherein the manipulator is further controllable by the controller and configured to apply a variable fixation force to manipulate at least one of the fluid transfer assembly and the container through a contact fixation phase, during which the manipulator fixes contact between the fluid transfer connector septum and the container septum.

[0504] 266. A robotic system as described in embodiment 265, wherein the contact fixation phase begins with the manipulator bringing the fluid transfer connector septum and the container septum into contact with each other and ends with completion of the fluid transfer.

[0505] 267. A robot system as described in embodiment 265 or 266, wherein the contact fixation stage at least partially overlaps with the folding stage.

[0506] 268. A robot system as described in embodiment 267, wherein the manipulator is further controllable by the controller and configured to increase the variable fixation force at least prior to the start of the folding phase.

[0507] 269. A robot system as described in embodiment 267 or 268, wherein the initial value of the variable folding force is greater than the initial value of the variable fixing force.

[0508] 270. A robotic system according to any one of embodiments 262 to 269, wherein the manipulator is further controllable by the controller and 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.

[0509] 271. The robotic system of embodiment 270, wherein the penetration step begins with the initiation of penetration of the tip of the fluid transfer conduit at least partially through at least one of the container septum and the fluid transfer connector septum, and ends with the fluid transfer connector being displaced to its folded position.

[0510] 272. The robot system of embodiment 271, wherein the folding stage at least partially overlaps with the penetration stage.

[0511] 273. The robot system of embodiment 272, wherein the manipulator is further controllable by the controller and configured to increase the variable folding force at least prior to the start of the penetration phase.

[0512] 274. A robot system according to any one of embodiments 270 to 273, wherein the initial value of the variable penetration force is greater than the initial value of the variable folding force.

[0513] 275. The robot system of any one of embodiments 270 to 274, wherein the minimum value of the variable penetration force is greater than the maximum value of the variable positioning force.

[0514] 276. The robotic system of any one of embodiments 262 to 275, further comprising a fluid transfer connector.

[0515] 277. A method of transferring fluid between a container accessible through a container septum and a fluid transfer assembly accessible through a fluid transfer connector configured to establish fluid communication between the container and the fluid transfer assembly for transfer of the fluid, the fluid transfer connector comprising a body member and a sleeve displaceable relative to one another between an extended position, which is a normal position, and a collapsed position, in which the fluid transfer connector establishes 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 method comprising: moving the fluid transfer connector septum to a position where the fluid transfer conduit is displaceable relative to one another between a normal position, an extended position, and a collapsed position, in which the fluid transfer connector establishes 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, by operation of a robotic system; operating a robotic system to control a manipulator of the robotic system, applying a variable positioning force to manipulate the fluid transfer assembly through a positioning step, during which the manipulator positions and manipulates the fluid transfer assembly and / or the container such that a fluid transfer connector septum and a container septum are in contact with one another; A method comprising operating a robotic system, the method comprising: applying a variable folding force to manipulate a fluid transfer assembly through a folding stage, during which a sleeve and a body member are displaced relative to one another to reduce a distance between a fluid transfer connector bulkhead and the body member, wherein an initial value of the variable folding force is greater than a maximum value of the variable positioning force.

[0516] 278. The robot system of embodiment 277, wherein the positioning step 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 folding step begins with the initiation of relative movement of the sleeve and body member toward each other and ends with the fluid transfer connector being displaced to its folded position.

[0517] 279. The robot system of embodiment 278, wherein the minimum value of the variable folding force is greater than the maximum value of the variable positioning force.

[0518] 280. A robotic system as described in any one of embodiments 277 to 279, wherein the method further includes applying a variable fixation force to manipulate at least one of the fluid transfer assembly and the container through a contact fixation stage, during which the manipulator fixes contact between the fluid transfer connector septum and the container septum.

[0519] 281. The robotic system of embodiment 280, wherein the contact fixation phase begins with the manipulator bringing the fluid transfer connector septum and the container septum into contact with each other and ends with completion of the fluid transfer.

[0520] 282. A robot system as described in embodiment 280 or 281, wherein the contact fixation stage at least partially overlaps with the folding stage.

[0521] 283. The robot system of embodiment 282, wherein the method further comprises increasing the variable fixation force at least prior to the start of the folding phase.

[0522] 284. A robot system as described in embodiment 282 or 283, wherein the initial value of the variable folding force is greater than the initial value of the variable fixing force.

[0523] 285. A robotic system as described in any one of embodiments 282 to 284, wherein the method further comprises applying a variable penetration force to manipulate the fluid transfer assembly and / or the container through the penetration step, 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.

[0524] 286. The robotic system of embodiment 285, wherein the penetration step begins with the initiation of penetration of the tip of the fluid transfer conduit at least partially through at least one of the container septum and the fluid transfer connector septum, and ends with the fluid transfer connector being displaced to its folded position.

[0525] 287. The robot system of embodiment 286, wherein the folding step at least partially overlaps with the penetration step.

[0526] 288. The robot system of embodiment 287, wherein the method further comprises increasing the variable folding force at least prior to the start of the penetration phase.

[0527] 289. The robot system of any one of embodiments 285 to 288, wherein the initial value of the variable penetration force is greater than the initial value of the variable folding force.

[0528] 290. The robotic system of any one of embodiments 285 to 289, wherein the minimum value of the variable penetration force is greater than the maximum value of the variable positioning force.

[0529] 291. A robotic system operable to transfer a fluid between a container and a fluid transfer assembly, comprising: A controller; and a manipulator controllable by the controller, the manipulator comprising: a gripping arm configured to grip a gripping portion of the fluid transfer assembly; a support arm configured to support a support portion of the fluid transfer assembly at least prior to the gripping arm gripping the gripping portion.

[0530] 292. The robotic system of embodiment 291, wherein the robotic system is operable to transport fluid at least partially along the injection axis, and the support arm is configured to be stationary relative to the injection axis.

[0531] 293. A robot system as described in embodiment 291 or 292, wherein the gripping arm is configured to be displaceable relative to the support arm, and the support arm is configured to be stationary relative to the gripping arm.

[0532] 294. A robotic system according to any one of embodiments 291 to 293, wherein the manipulator further comprises a plunger arm configured to engage a plunger flange portion of the fluid transfer unit of the fluid transfer assembly.

[0533] 295. The robotic system of any one of embodiments 291 to 294, wherein the manipulator further comprises an engagement arm configured to engage an engagement portion of the fluid transfer assembly.

[0534] 296. The robot system of embodiment 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.

[0535] 297. A robotic system according to any one of embodiments 291 to 296, wherein the manipulator comprises a body and the support arm comprises a protrusion protruding from the body.

[0536] 298. A robotic system operable to transfer a fluid between a container and a fluid transfer assembly having a plunger flange portion, comprising: A controller; A robotic system comprising: a manipulator controllable by a controller, the manipulator comprising a plunger support including at least a first plunger retaining element and a second plunger retaining element, the first plunger retaining element configured to accommodate a first plunger flange portion sized with a first flange dimension, and the second plunger retaining element configured to accommodate a second plunger flange portion sized with a second flange dimension different from the first flange dimension.

[0537] 299. A robot system as described in embodiment 298, wherein the first plunger retaining element has 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 dimension corresponding to the first flange dimension, and the second plunger retaining element has 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 dimension corresponding to the second flange dimension and different from the first recess dimension.

[0538] 300. The robot system of embodiment 298 or 299, wherein the plunger support further includes a third plunger retaining element configured to accommodate a third plunger flange portion sized with a third flange dimension different from the first and second flange dimensions, the third plunger retaining element having a third recess configured to receive the third plunger flange portion therein, the third recess being formed with a third receiving space corresponding to the third flange dimension and having a third recess dimension different from the first and second recess dimensions.

[0539] 301. A fluid transfer connector, a body member connectable to the fluid transfer unit at a unit connection 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 disposed coaxially relative to the body member; a fluid transfer connector septum attached to a distal end of the sleeve; the sleeve and the body member are configured to move relative to one another between an extended position and a collapsed position; A fluid transfer connector comprising a locking mechanism configured to switch between a locked state and an unlocked state to selectively enable and prevent relative movement between the sleeve and the body member, the locking mechanism configured to allow relative movement between the sleeve and the body member from an extended position to a collapsed position upon actuation of an actuator accessible through an outer wall of the fluid transfer connector.

[0540] 302. A fluid transfer connector as described in embodiment 301, wherein the actuator is actuable by applying a radial force thereto.

[0541] 303. The actuator comprises an interior portion disposed at least partially within one of the sleeve and the body member, and an actuation portion accessible through an opening formed in the other of the sleeve and the body member; A fluid transfer connector as described in embodiment 301 or 302, wherein application of a radial force to 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 an extended position to a folded position.

[0542] 304. A fluid transfer connector according to any one of embodiments 301 to 303, wherein an outer wall of the syringe connector comprises a protective surface configured to prevent manual access to the actuator.

[0543] 305. A fluid transfer connector as described in embodiment 304, when dependent on embodiment 303, wherein the protective surface comprises one or more protective elements surrounding the opening.

[0544] 306. A fluid transfer connector according to any one of embodiments 301 to 305, wherein the fluid transfer connector inner surface is configured for axially slidable movement of the actuator along it to facilitate movement between the extended position and the collapsed position.

[0545] 307. The actuator is In the extended position, the locking member is depressible by a radial force and can be switched from a locked state to an unlocked state; 307. A fluid transfer connector as described in embodiment 306, configured for subsequent slidable axial movement along the inner surface for transitioning from the extended position to the collapsed position.

[0546] 308. A fluid transfer connector according to any one of embodiments 301 to 307, wherein the fluid transfer connector septum has a through bore extending from the septum proximal surface to the septum distal surface and dimensioned to receive a fluid transfer conduit.

[0547] 309. The fluid transfer connector of any one of embodiments 301 to 308, wherein the fluid transfer connector bulkhead is formed as a monolith.

[0548] 310. A fluid transfer connector according to any one of embodiments 301 to 309, wherein the outer wall of the fluid transfer connector comprises a peripheral wall of a sleeve and terminates at a distal edge of the peripheral wall, the peripheral wall distal edge being axially spaced from the mounting portion of the sleeve to form a gap therebetween, and the sleeve mounting portion is configured to mount the fluid transfer connector bulkhead thereon.

[0549] 311. The fluid transfer connector of embodiment 310, wherein the peripheral wall is connected to the mounting portion via one or more beams.

[0550] 312. A fluid transfer connector as described in embodiment 311, wherein the fluid transfer connector has a longitudinal axis, the one or more beams include two opposing beams, and the bulkhead mounting portion extends along a plane perpendicular to the longitudinal axis between the two opposing beams.

[0551] 313. A fluid transfer connector, comprising: a body member connectable to the fluid transfer unit at a unit connection 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 disposed coaxially relative to the body member; a fluid transfer connector septum attached to a distal end of the sleeve; the sleeve and the body member are configured to move relative to one another between an extended position and a collapsed position; A fluid transfer connector comprising: a locking mechanism configured to switch between a locked state and an unlocked state to selectively enable and prevent relative movement between the sleeve and the body member, the locking mechanism being configured to enable relative movement between the sleeve and the body member from an extended position to a collapsed position upon actuation of an actuator, the actuator being actuable regardless of an axial force applied to the fluid transfer connector bulkhead.

[0552] 314. A fluid transfer connector as described in embodiment 313, wherein the actuator is actuable regardless of the axial force applied to the fluid transfer connector septum by the container septum.

[0553] 315. A fluid transfer connector as described in embodiment 313 or 314, wherein the actuator is accessible through an outer wall of the syringe connector.

[0554] 316. A fluid transfer connector as described in embodiment 315, wherein the actuator is actuable by applying a radial force thereto.

[0555] 317. A fluid transfer connector as described in embodiment 315 or 316, wherein the actuator comprises an internal portion at least partially disposed within one of the sleeve and the body member and an actuating portion accessible through an opening formed in the other of the sleeve and the body member, and application of a radial force to 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 an extended position to a collapsed position.

[0556] 318. A fluid transfer connector according to any one of embodiments 313 to 317, wherein the outer wall of the syringe connector is provided with a protective surface configured to prevent manual access to the actuator.

[0557] 319. A fluid transfer connector as described in embodiment 318, wherein the protective surface comprises one or more protective elements surrounding the opening.

[0558] 320. A fluid transfer connector as described in embodiment 319, wherein 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 collapsed position.

[0559] 321. The actuator is In the extended position, the locking member is depressible by a radial force and can be switched from a locked state to an unlocked state; 321. A fluid transfer connector as described in embodiment 320, configured for subsequent slidable axial movement along the inner surface for transitioning from the extended position to the collapsed position.

[0560] 322. A fluid transfer connector according to any one of embodiments 313 to 321, wherein the fluid transfer connector septum has a through bore extending from the septum proximal surface to the septum distal surface and dimensioned to receive a fluid transfer conduit.

[0561] 323. A fluid transfer connector according to any one of embodiments 313 to 322, wherein the fluid transfer connector bulkhead is formed as a monolith.

[0562] 324. A fluid transfer connector according to any one of embodiments 313 to 323, wherein the outer wall of the fluid transfer connector comprises a peripheral wall of a sleeve and terminates at a distal edge of the peripheral wall, the peripheral wall distal edge being axially spaced from the mounting portion of the sleeve to form a gap therebetween, and the sleeve mounting portion is configured to mount the fluid transfer connector bulkhead thereon.

[0563] 325. The fluid transfer connector of embodiment 324, wherein the peripheral wall is connected to the mounting portion via one or more beams.

[0564] 326. A fluid transfer connector as described in embodiment 325, wherein the fluid transfer connector has a longitudinal axis, the one or more beams include two opposing beams, and the bulkhead mounting portion extends along a plane perpendicular to the longitudinal axis between the two opposing beams.

[0565] 327. A fluid transfer connector according to any one of embodiments 315 to 326, wherein the locking mechanism is configured to prevent manual access to the actuator.

[0566] 328. A fluid transfer connector, comprising: a body member connectable to the fluid transfer unit at a unit connection portion, the body member being shaped to define a body lumen that includes 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, the sleeve including a fluid transfer connector septum attached to a distal end of the sleeve, the sleeve and the body member configured to move relative to one another between an extended position and a collapsed position; A fluid transfer connector comprising: a locking mechanism configured to switch between a locked state and an unlocked state to selectively allow and prevent relative movement between the sleeve and the body member, wherein the locking mechanism in the locked state is configured to prevent relative movement between the sleeve and the body member from an extended position to a collapsed position by an axial force applied to at least one of the body member and the sleeve in a direction parallel to the longitudinal axis.

[0567] 329. A fluid transfer connector as described in embodiment 328, wherein the locking mechanism is configured to switch from a locked state to an unlocked state upon application of a radial force in a direction perpendicular to the longitudinal axis, and in the unlocked state to allow relative movement between the sleeve and the body member.

[0568] 330. A fluid transfer connector as described in embodiment 328 or 329, wherein the locking mechanism comprises an actuator configured to prevent the locking mechanism from switching from a locked state to its unlocked state in response to an axial force.

[0569] 331. A fluid transfer connector as described in embodiment 330, when dependent on embodiment 329, wherein the actuator is configured to switch the locking mechanism from a locked state to an unlocked state in response to a radial force being applied thereto.

[0570] 332. A fluid transfer connector as described in embodiment 330 or 331, wherein the actuator comprises a lockable member, and one of the sleeve and the body member comprises a locking member configured to selectively engage the lockable member in a locked state of the locking mechanism, and the lockable member is configured to prevent release of the locking member from an axial force.

[0571] 333. A fluid transfer connector as described in embodiment 332, when dependent on embodiment 329, wherein the lockable member is configured to be released from the locking member in response to a radial force.

[0572] 334. A fluid transfer connector, comprising: a body member connectable to the fluid transfer unit at a unit connection 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 disposed coaxially relative to the body member; a fluid transfer connector septum attached to a distal end of the sleeve, the sleeve and the body member being configured to move relative to one another between an extended position in which the fluid transfer connector septum is at an extended distance from the unit coupling portion and an intermediate position in which the fluid transfer connector septum is at an intermediate distance from the unit coupling portion less than the extended distance and less than a second distance from the unit coupling portion; a locking mechanism configured to be switched between a locked state and an unlocked state to selectively allow and prevent relative movement between the sleeve and the body member in the extended position and the intermediate position.

[0573] 335. A fluid transfer connector as described in embodiment 334, wherein 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 folded position in which the fluid transfer connector bulkhead is at a folded distance from the unit coupling portion that is less than the intermediate distance.

[0574] 336. A fluid transfer connector as described in embodiment 335, wherein the sleeve and body member are configured to move axially relative to one another to transition from at least one of an extended position and an intermediate position to a collapsed position.

[0575] 337. A fluid transfer connector according to any one of embodiments 334 to 336, wherein the locking mechanism is configured to selectively allow movement of the sleeve relative to the body member from at least one of an extended position and an intermediate position upon actuation of an actuator accessible through an outer wall of the fluid transfer connector.

[0576] 338. A fluid transfer connector as described in embodiment 337, wherein the actuator is actuable by applying a radial force thereto.

[0577] 339. A fluid transfer connector as described in embodiment 337 or 338, wherein the actuator comprises an internal portion at least partially disposed within one of the sleeve and the body member and an actuating portion accessible through an opening formed in the other of the sleeve and the body member, and application of a radial force to 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 the extended position and the intermediate position.

[0578] 340. A fluid transfer connector as described in embodiment 339, wherein the outer wall of the syringe connector is provided with a protective surface configured to prevent manual access to the actuator.

[0579] 341. A fluid transfer connector as described in embodiment 340, wherein the protective surface comprises one or more protective elements surrounding the opening.

[0580] 342. A fluid transfer connector as described in embodiment 341, wherein 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 collapsed position.

[0581] 343. The actuator is In at least one of the extended position and the intermediate position, the locking member is depressible by a radial force and is switched from a locked state to an unlocked state; 343. A fluid transfer connector as described in embodiment 342, configured for subsequent slidable axial movement along the inner surface to transition between an extended position and an intermediate position.

[0582] 344. A fluid transfer connector according to any one of embodiments 337 to 343, wherein the fluid transfer connector septum has a through bore extending from the septum proximal surface to the septum distal surface and dimensioned to receive a fluid transfer conduit.

[0583] 345. A fluid transfer connector according to any one of embodiments 337 to 344, wherein the fluid transfer connector bulkhead is formed as a monolith.

[0584] 346. A fluid transfer connector according to any one of embodiments 337 to 345, wherein the outer wall of the fluid transfer connector comprises a peripheral wall of a sleeve and terminates at a distal edge of the peripheral wall, the peripheral wall distal edge being axially spaced from the mounting portion of the sleeve to form a gap therebetween, and the sleeve mounting portion is configured to mount the fluid transfer connector bulkhead thereon.

[0585] 347. A fluid transfer connector as described in embodiment 346, wherein the peripheral wall is connected to the mounting portion via one or more beams.

[0586] 348. A fluid transfer connector as described in embodiment 347, wherein the fluid transfer connector has a longitudinal axis, the one or more beams include two opposing beams, and the bulkhead mounting portion extends along a plane perpendicular to the longitudinal axis between the two opposing beams.

[0587] 349. A fluid transfer connector according to any one of embodiments 337 to 348, wherein the locking mechanism is configured to prevent manual access to the actuator.

[0588] 350. A body member connectable to a fluid transfer unit at a unit connection 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 disposed coaxially relative to the body member; a fluid transfer connector septum attached to a distal end of the sleeve; the sleeve and body member are configured to move relative to one another between an intermediate position in which the fluid transfer connector septum is at an intermediate distance from the unit coupling portion and a folded position in which the fluid transfer connector septum is at a folded distance from the unit coupling portion that is less than the intermediate distance; A fluid transfer connector comprising a locking mechanism configured to switch between a locked state and an unlocked state to selectively allow and prevent relative movement between the sleeve and the body member in an intermediate state, the locking mechanism being configured to selectively allow relative movement between the sleeve and the body member upon actuation of an actuator to transition from at least the intermediate position to a folded position.

[0589] 351. A fluid transfer connector as described in embodiment 350, wherein the sleeve and body member are configured to move relative to each other between at least one of an intermediate position and a folded position and an extended position in which the fluid transfer connector bulkhead is at an extended distance from the unit coupling portion that is greater than the intermediate distance.

[0590] 352. The fluid transfer connector of embodiment 350 or 351, wherein the locking mechanism comprises an actuator, the actuator including an actuating portion accessible through an outer wall of the fluid transfer connector.

[0591] 353. A fluid transfer connector as described in embodiment 352, wherein the actuator is actuable by applying a radial force thereto.

[0592] 354. A fluid transfer connector according to any one of embodiments 350 to 353, wherein the actuator comprises an internal portion disposed at least partially within one of the sleeve and the body member and an actuating portion accessible through an opening formed in the other of the sleeve and the body member, and application of a radial force to 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 an intermediate position to a folded position.

[0593] 355. A fluid transfer connector as described in embodiment 354, wherein the outer wall of the syringe connector is provided with a protective surface configured to prevent manual access to the actuator.

[0594] 356. The fluid transfer connector of embodiment 355, wherein the protective surface comprises one or more protective elements surrounding the opening.

[0595] 357. A fluid transfer connector as described in embodiment 356, wherein 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 collapsed position.

[0596] 358. The protruding part is In the intermediate position, the locking member can be pressed by a radial force and switched from a locked state to an unlocked state; 358. A fluid transfer connector as described in embodiment 357, configured for subsequent slidable axial movement along the inner surface to transition between an intermediate position and a folded position.

[0597] 359. A fluid transfer connector according to any one of embodiments 350 to 358, wherein the fluid transfer connector septum has a through bore extending from the septum proximal surface to the septum distal surface and dimensioned to receive a fluid transfer conduit.

[0598] 360. The fluid transfer connector of any one of embodiments 350 to 359, wherein the fluid transfer connector bulkhead is formed as a monolith.

[0599] 361. A fluid transfer connector according to any one of embodiments 350 to 360, wherein the outer wall of the fluid transfer connector comprises a peripheral wall of a sleeve and terminates at a distal edge of the peripheral wall, the peripheral wall distal edge being axially spaced from the mounting portion of the sleeve to form a gap therebetween, and the sleeve mounting portion is configured to mount the fluid transfer connector bulkhead thereon.

[0600] 362. A fluid transfer connector as described in embodiment 361, wherein the peripheral wall is connected to the mounting portion via one or more beams.

[0601] 363. A fluid transfer connector as described in embodiment 362, wherein the fluid transfer connector has a longitudinal axis, the one or more beams include two opposing beams, and the bulkhead mounting portion extends along a plane perpendicular to the longitudinal axis between the two opposing beams.

[0602] 364. A fluid transfer connector according to any one of embodiments 350 to 363, wherein the locking mechanism is configured to prevent manual access to the actuator.

[0603] 365. According to embodiment 351, the locking mechanism selectively allows movement of the sleeve relative to the body member upon actuation of the actuator; Extended position to intermediate position, Movement from the intermediate position to the folded position; and The fluid transfer connector of any one of embodiments 351 or 352 to 364, configured to transition from one or more of an intermediate position or a folded position back to an extended position.

[0604] 366. A sleeve having a sleeve distal end; A fluid transfer connector comprising: a fluid transfer connector septum attached to a distal end of a sleeve and having a septum projection portion projecting axially from the sleeve, the septum projection portion being formed in a terraced shape.

[0605] 367. A fluid transfer connector as described in embodiment 366, wherein the septum protruding portion comprises a septum proximal portion having a first circumferential wall with a first circumference and a septum distal portion having a second circumferential wall with a second circumference, the second circumference being smaller than the first circumference.

[0606] 368. A fluid transfer connector as described in embodiment 367, wherein the second peripheral wall is inclined such that the second circumference recedes toward the septum distal surface.

[0607] 369. A fluid transfer connector according to any one of embodiments 366 to 368, wherein the sleeve is shaped to define a sleeve lumen and the fluid transfer connector septum includes a septum subsurface portion housed inside the sleeve lumen.

[0608] 370. A fluid transfer connector as described in embodiment 369, wherein the fluid transfer connector has a longitudinal axis and the septum subsurface portion includes a recess formed to receive a protrusion extending inwardly from the sleeve toward the longitudinal axis.

[0609] 371. A fluid transfer connector according to any one of embodiments 366 to 370, wherein the septum protruding portion has a length extending axially from the distal end of the sleeve to the septum distal surface, the length being at least 20 millimeters.

[0610] 372. A fluid transfer connector according to any one of embodiments 366 to 371, wherein the septum protruding portion has a length extending axially from the distal end of the sleeve to the septum distal surface, the length being at least 30 millimeters.

[0611] 373. A fluid transfer connector according to any one of embodiments 366 to 372, wherein the septum protruding portion has a length extending axially from the distal end of the sleeve to the septum distal surface, the length being in the range of at least 15 to 30 millimeters.

[0612] 374. 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, a connector body extending from the connector proximal end; A fluid transfer connector comprising: a septum extending from a connector body and having a septum protruding portion protruding from the connector body toward a distal end of the connector, the septum protruding portion being formed in a terrace shape.

[0613] 375. A fluid transfer connector as described in embodiment 374, wherein the septum protruding portion comprises a septum proximal portion having a first circumferential wall with a first circumference and a septum distal portion having a second circumferential wall with a second circumference, the second circumference being smaller than the first circumference.

[0614] 376. A fluid transfer connector as described in embodiment 375, wherein the second peripheral wall is sloped such that the second circumference recedes toward the connector distal end.

[0615] 377. A fluid transfer connector according to any one of embodiments 374 to 376, wherein the septum comprises a septum subsurface portion housed inside the connector body.

[0616] 378. A robotic system operable to transfer fluid between a container accessible via a fluid transfer unit and a fluid transfer assembly, the fluid transfer connector being configured to facilitate connection of the fluid transfer assembly to the container for transfer of fluid, the robotic system comprising: A controller; A robotic system comprising: a manipulator controllable by a controller and configured to hold and manipulate a fluid transfer assembly, the manipulator configured to hold the fluid transfer assembly in a fluid transfer connector.

[0617] 379. The robotic system of embodiment 378, wherein the manipulator comprises a gripping arm having at least one gripping element configured to grip a gripping portion of the fluid transfer connector.

[0618] 380. The robotic system of embodiment 378 or 379, wherein the manipulator comprises an engagement arm configured to engage an engagement portion of the fluid transfer connector.

[0619] 381. A robotic system according to any one of embodiments 378 to 380, wherein the manipulator is configured to manipulate the fluid transfer assembly while maintaining the fluid transfer unit unheld by the manipulator.

[0620] 382. A robotic system according to any one of embodiments 378 to 381, wherein the manipulator is configured to manipulate the fluid transfer assembly while holding the fluid transfer assembly at a location remote from the fluid transfer unit.

[0621] 383. A robotic system according to any one of embodiments 378 to 382, ​​wherein 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 in the fluid transfer connector.

[0622] 384. The robotic system of any one of embodiments 378 to 383, further comprising a fluid transfer connector configured to connect to the fluid transfer unit of the fluid transfer assembly and facilitate connection of the fluid transfer unit to a container for transfer of fluid.

[0623] 385. When dependent on embodiment 379, a robot system as described in embodiment 384, wherein the fluid transfer connector comprises a gripping portion configured to be gripped by a gripping arm of a manipulator.

[0624] 386. The robot system of embodiment 385, wherein the gripping portion comprises at least one graspable element configured to be grasped by a gripping element of the gripping arm.

[0625] 387. The robot system of embodiment 386, wherein at least one graspable element comprises a protrusion, and the grasping element comprises a corresponding recess configured to at least partially receive the protrusion therein.

[0626] 388. The robot system of embodiment 386, wherein the gripping element includes a protrusion and the graspable element includes a corresponding recess configured to at least partially receive the protrusion therein.

[0627] 389. The robotic system of any one of embodiments 384 to 388, wherein the fluid transfer connector comprises 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.

[0628] 390. A method for transferring fluid between a container accessible through a container septum and a fluid transfer assembly accessible through a fluid transfer connector, the method comprising operating a 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 transfer of fluid.

[0629] 391. A robotic system operable to transfer fluid between a fluid transfer assembly and a first container, and between a fluid transfer assembly and a second container, comprising: a first container holder configured to hold a first container and a second container holder configured to hold a second container, the first container holder being spaced from the second container holder by an arcuate path; A controller; a rotatable manipulator having a gripping arm rotatable about its axis of rotation and configured to grip a fluid transfer assembly, wherein the controller is configured to rotate the rotatable manipulator to move the gripping arm along an arcuate path between a first position and a second position while gripping the fluid transfer assembly, the first position being aligned with a first container holder and the second position being aligned with a second container holder.

[0630] 392. The robot system of embodiment 391, wherein the gripping arm is moved from the first position to the second position only along an arcuate path.

[0631] 393. The robot system of embodiment 391 or 392, wherein the gripping arm is moved in a single continuous motion along an arcuate path from the first position to the second position.

[0632] 394. A robot system as described in any one of embodiments 391 to 393, wherein the first container holder is configured to hold a first container at a first distance taken from the axis of rotation in a first direction perpendicular thereto, and the second container holder is configured to hold a second container at a second distance taken from the axis of rotation in a second direction perpendicular thereto, the first distance being equal to the second distance.

[0633] 395. The robot system of embodiment 394, wherein the first and second directions define an arcuate path angle therebetween that corresponds to an arc length of the arcuate path between the first position and the second position.

[0634] 396. A robotic system described in any one of embodiments 391 to 395, wherein the manipulator is configured to move at least a portion of the fluid transfer assembly along a direction parallel to the rotation axis when the fluid transfer assembly is in at least one of the first and second positions.

[0635] 397. A robotic system according to any one of embodiments 391 to 396, wherein the manipulator is configured to establish a first fluid communication between the fluid transfer assembly and a 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 a second container when the second container is held by the second container holder.

[0636] 398. A robotic system according to any one of embodiments 391 to 397, wherein each of the first and second containers is accessible through a respective container partition, and the fluid transfer assembly comprises a gripping portion and a fluid transfer conduit configured to transfer fluid through the container partition.

[0637] 399. The robotic system of any one of embodiments 391 to 398, wherein the first and second containers include one of a vial and an IV bag.

[0638] 400. A robot system according to any one of embodiments 391 to 399, wherein the axis of rotation is a longitudinal axis of the manipulator.

[0639] 401. A robotic system operable to transfer a fluid between a container and a fluid transfer assembly, the robotic system 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: A controller; and a manipulator controllable by the controller, the manipulator comprising: a plunger arm configured to engage the plunger flange; A robotic system comprising: a gripping arm configured to grip a gripping portion of a fluid transfer assembly, wherein a plunger arm is displaceable relative to the gripping arm along an injection axis and configured to be displaced together with the gripping arm during at least a portion of a manipulator movement.

[0640] 402. The controller operates the manipulator to Moving the gripper arm to align the fluid transfer assembly with the container; 402. The robotic system of embodiment 401, configured to move a plunger arm along an injection axis to displace a plunger flange to transfer fluid between a container and a syringe.

[0641] 403. A robotic system as described in embodiment 401 or 402, wherein the manipulator is configured to mechanically couple the plunger arm to the gripper arm.

[0642] 404. A robot system according to any one of embodiments 401 to 403, wherein the manipulator including the plunger arm and the gripping arm is formed as a monolithic structure.

[0643] 405. The controller controls the plunger arm to The plunger arm grasps the plunger flange, A robotic system described in any one of embodiments 401 to 404, wherein the plunger arm is configured to axially displace the plunger flange to transfer fluid between the syringe and the container.

[0644] 406. A robot system according to 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]

[0645] For a better understanding of the subject matter disclosed herein, and to illustrate how it may be carried out in practice, embodiments will now be described, by way of non-limiting example only, with reference to the accompanying drawings, in which: [Figure 1A] FIG. 1 is a block diagram of a fluid transfer station in a robotic pharmaceutical preparation system according to an example of the presently disclosed subject matter. [Figure 1B] FIG. 1 is a block diagram of some elements of a syringe connector configured to be deployed with a syringe used to transfer fluids in a robotic medicine preparation system according to an example of the subject matter of the present disclosure. [Figure 2A] 2A-2C are diagrams of a syringe connector configured to be deployed with a syringe used to transfer fluids within a robotic drug preparation system according to an example of the subject matter of the present disclosure, shown in an extended position, partially disassembled (2A), a front view of an assembled state (2B), a cross-sectional view of FIG. 2B (2C), a side view of a partially disassembled state (2D), a side view of an assembled state (2E), and a cross-sectional view of FIG. 2E (2F). [Figure 2B] 2A-2C are diagrams of a syringe connector configured to be deployed with a syringe used to transfer fluids within a robotic drug preparation system according to an example of the subject matter of the present disclosure, shown in an extended position, partially disassembled (2A), a front view of an assembled state (2B), a cross-sectional view of FIG. 2B (2C), a side view of a partially disassembled state (2D), a side view of an assembled state (2E), and a cross-sectional view of FIG. 2E (2F). [Figure 2C] 2A-2C are diagrams of a syringe connector configured to be deployed with a syringe used to transfer fluids within a robotic drug preparation system according to an example of the subject matter of the present disclosure, shown in an extended position, partially disassembled (2A), a front view of an assembled state (2B), a cross-sectional view of FIG. 2B (2C), a side view of a partially disassembled state (2D), a side view of an assembled state (2E), and a cross-sectional view of FIG. 2E (2F). [Figure 2D] 2A-2C are diagrams of a syringe connector configured to be deployed with a syringe used to transfer fluids within a robotic drug preparation system according to an example of the subject matter of the present disclosure, shown in an extended position, partially disassembled (2A), a front view of an assembled state (2B), a cross-sectional view of FIG. 2B (2C), a side view of a partially disassembled state (2D), a side view of an assembled state (2E), and a cross-sectional view of FIG. 2E (2F). [Figure 2E]2A-2C are diagrams of a syringe connector configured to be deployed with a syringe used to transfer fluids within a robotic drug preparation system according to an example of the subject matter of the present disclosure, shown in an extended position, partially disassembled (2A), a front view of an assembled state (2B), a cross-sectional view of FIG. 2B (2C), a side view of a partially disassembled state (2D), a side view of an assembled state (2E), and a cross-sectional view of FIG. 2E (2F). [Figure 2F] 2A-2C are diagrams of a syringe connector configured to be deployed with a syringe used to transfer fluids within a robotic drug preparation system according to an example of the subject matter of the present disclosure, shown in an extended position, partially disassembled (2A), a front view of an assembled state (2B), a cross-sectional view of FIG. 2B (2C), a side view of a partially disassembled state (2D), a side view of an assembled state (2E), and a cross-sectional view of FIG. 2E (2F). [Figure 2G] FIG. 13 is a side cross-sectional view of the syringe connector shown in an intermediate position. [Figure 2H] FIG. 13 is a side cross-sectional view of the syringe connector shown in a collapsed position. [Figure 3A] FIG. 1 is a front pictorial view of a fluid transfer station of a robotic pharmaceutical preparation system constructed and operative in accordance with an example of the presently disclosed subject matter. [Figure 3B] FIG. 3B is a front view, pictorial view, of a manipulator of the fluid transfer system of FIG. 3A. [Figure 3C] 3C are front pictorial views of the pushing mechanism of the manipulator of FIG. 3B in first and second stages of operation, respectively. [Figure 3D] 3C are front pictorial views of the pushing mechanism of the manipulator of FIG. 3B in first and second stages of operation, respectively. [Figure 3E] FIG. 3C is a pictorial view of the plunger arm of the manipulator of FIG. 3B. [Figure 3F] 3D is a pictorial diagram of the biasing mechanism of FIG. 3C, further comprising a sensor constructed and operative in accordance with an example of the presently disclosed subject matter. FIG. [Figure 4A]4A is a side view of the gripping arm of the manipulator of FIG. 3B, shown separately (4A) and in its operation within the robotic pharmaceutical preparation system (4B). [Figure 4B] 4A is a side view of the gripping arm of the manipulator of FIG. 3B, shown separately (4A) and in its operation within the robotic pharmaceutical preparation system (4B). [Figure 5A] 5A is a front view of the engagement arm of the manipulator of FIG. 3B, shown separately (5A) and in its operation in the robotic pharmaceutical preparation system (5B). [Figure 5B] 5A is a front view of the engagement arm of the manipulator of FIG. 3B, shown separately (5A) and in its operation in the robotic pharmaceutical preparation system (5B). [Figure 5C] 3B illustrates a top view of a portion of FIG. 3A, constructed and operative in accordance with an example of the presently disclosed subject matter. [Figure 6A] 6A, 6B, and 6C are diagrams of a fluid transfer station in a first operational stage, according to an example of the subject matter of the present disclosure. [Figure 6B] 6A, 6B, and 6C are diagrams of a fluid transfer station in a first operational stage, according to an example of the subject matter of the present disclosure. [Figure 6C] 6A, 6B, and 6C are diagrams of a fluid transfer station in a first operational stage, according to an example of the subject matter of the present disclosure. [Figure 7A] 7A, 7B, and 7C are diagrams of a fluid transfer station in a second operational stage, as shown in front view (7A), side view (7B), and cross-sectional view (7C) of FIG. 7B, according to an example of the subject matter of the present disclosure. [Figure 7B] 7A, 7B, and 7C are diagrams of a fluid transfer station in a second operational stage, as shown in front view (7A), side view (7B), and cross-sectional view (7C) of FIG. 7B, according to an example of the subject matter of the present disclosure. [Figure 7C]7A, 7B, and 7C are diagrams of a fluid transfer station in a second operational stage, as shown in front view (7A), side view (7B), and cross-sectional view (7C) of FIG. 7B, according to an example of the subject matter of the present disclosure. [Figure 8A] 8A, 8B, and 8C are diagrams of a fluid transfer station in a third operational stage, according to an example of the subject matter of the present disclosure. [Figure 8B] 8A, 8B, and 8C are diagrams of a fluid transfer station in a third operational stage, according to an example of the subject matter of the present disclosure. [Figure 8C] 8A, 8B, and 8C are diagrams of a fluid transfer station in a third operational stage, according to an example of the subject matter of the present disclosure. [Figure 9A] 9A, 9B, and 9C are diagrams of a fluid transfer station in a fourth operational stage, as shown in front view (9A), side view (9B), and cross-sectional view (9C) of FIG. 9B, according to an example of the subject matter of the present disclosure. [Figure 9B] 9A, 9B, and 9C are diagrams of a fluid transfer station in a fourth operational stage, as shown in front view (9A), side view (9B), and cross-sectional view (9C) of FIG. 9B, according to an example of the subject matter of the present disclosure. [Figure 9C] 9A, 9B, and 9C are diagrams of a fluid transfer station in a fourth operational stage, as shown in front view (9A), side view (9B), and cross-sectional view (9C) of FIG. 9B, according to an example of the subject matter of the present disclosure. [Figure 10A] 10A, 10B, and 10C are diagrams of a fluid transfer station in a fifth operational stage, according to an example of the subject matter of the present disclosure. [Figure 10B] 10A, 10B, and 10C are diagrams of a fluid transfer station in a fifth operational stage, according to an example of the subject matter of the present disclosure. [Figure 10C] 10A, 10B, and 10C are diagrams of a fluid transfer station in a fifth operational stage, according to an example of the subject matter of the present disclosure. [Figure 11A] 11A, 11B, and 11C are diagrams of a fluid transfer station in a sixth operational stage, according to an example of the subject matter of the present disclosure. [Figure 11B] 11A, 11B, and 11C are diagrams of a fluid transfer station in a sixth operational stage, according to an example of the subject matter of the present disclosure. [Figure 11C] 11A, 11B, and 11C are diagrams of a fluid transfer station in a sixth operational stage, according to an example of the subject matter of the present disclosure. [Figure 12A] 12A, 12B, and 12C are diagrams of a fluid transfer station in a seventh operational stage, according to an example of the subject matter of the present disclosure. [Figure 12B] 12A, 12B, and 12C are diagrams of a fluid transfer station in a seventh operational stage, according to an example of the subject matter of the present disclosure. [Figure 12C] 12A, 12B, and 12C are diagrams of a fluid transfer station in a seventh operational stage, according to an example of the presently disclosed subject matter. [Figure 13A] 13A, 13B, and 13C are diagrams of a fluid transfer station in an eighth operational stage, according to an example of the subject matter of the present disclosure. FIG. [Figure 13B] 13A, 13B, and 13C are diagrams of a fluid transfer station in an eighth operational stage, according to an example of the subject matter of the present disclosure. FIG. [Figure 13C] 13A, 13B, and 13C are diagrams of a fluid transfer station in an eighth operational stage, according to an example of the subject matter of the present disclosure. FIG. [Figure 14]FIG. 13 is a diagram of a fluid transfer station in a ninth operational stage according to an example of the presently disclosed subject matter. [Figure 15A] 15A, 15B, and 15C are diagrams of a fluid transfer station in a tenth operational stage, according to an example of the subject matter of the present disclosure. [Figure 15B] 15A, 15B, and 15C are diagrams of a fluid transfer station in a tenth operational stage, according to an example of the subject matter of the present disclosure. [Figure 15C] 15A, 15B, and 15C are diagrams of a fluid transfer station in a tenth operational stage, according to an example of the subject matter of the present disclosure. [Figure 16A] FIG. 1 is a front, pictorial view of a fluid transfer station of a robotic pharmaceutical preparation system, constructed and operative in accordance with another example of the presently disclosed subject matter. [Figure 16B] 16B is a front view of the engagement and gripping arms of the manipulator of the fluid transfer system of FIG. 16A (16B) and a slightly angled enlarged view of FIG. 16B (16C). [Figure 16C] 16B is a front view of the engagement and gripping arms of the manipulator of the fluid transfer system of FIG. 16A (16B) and a slightly angled enlarged view of FIG. 16B (16C). [Figure 16D] FIG. 16B is a side view depiction of the gripping arm of the manipulator of FIGS. 16A-C. [Figure 16E] FIG. 16B is a front view depiction of an engagement arm of the manipulator of FIGS. 16A-C. [Figure 17A] 17A and 17B are side view and cross-sectional views of a syringe connector configured to be deployed with a syringe used to transfer fluids in the robotic drug preparation system of FIGS. 16A-16E. [Figure 17B]17A and 17B are side view and cross-sectional views of a syringe connector configured to be deployed with a syringe used to transfer fluids in the robotic drug preparation system of FIGS. 16A-16E. [Figure 18] 1 is a side cross-sectional view of a syringe connector constructed and operative in accordance with another example of the presently disclosed subject matter. [Figure 19A] 19A is a front pictorial view of a syringe connector (19A), a side pictorial view of the syringe connector (19B), and a cross-sectional view of FIG. 19B (19C), constructed and operative in accordance with another example of the presently disclosed subject matter. [Figure 19B] 19A is a front pictorial view of a syringe connector (19A), a side pictorial view of the syringe connector (19B), and a cross-sectional view of FIG. 19B (19C), constructed and operative in accordance with another example of the presently disclosed subject matter. [Figure 19C] 19A is a front pictorial view of a syringe connector (19A), a side pictorial view of the syringe connector (19B), and a cross-sectional view of FIG. 19B (19C), constructed and operative in accordance with another example of the presently disclosed subject matter. [Figure 20A] 1 is a graph illustrating velocities and currents of one or more arms of a first manipulator in a first robotic pharmaceutical preparation system constructed and operative in accordance with an example of the presently disclosed subject matter. [Figure 20B] 13 is a graph showing the velocity and current of one or more arms of a second manipulator in a second conventional robotic pharmaceutical preparation system. [Figure 21A] FIG. 1 is a perspective pictorial view of a fluid transfer station of a robotic pharmaceutical preparation system constructed and operative in accordance with an example of the presently disclosed subject matter. [Figure 21B] FIG. 21B is an enlarged view of the fluid transfer station of FIG. 21A. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0646] The robotic pharmaceutical preparation system and fluid transfer station described herein below with reference to the drawings are configured to perform operations related to the transfer of medication between different fluid transfer devices including containers, fluid transfer assemblies, connectors, conduits, pumps, syringes, vials, intravenous bags, adapters, needles, etc. It should be understood that the examples described herein (with reference to the drawings, etc.) are described with reference to only a small portion of the components of the fluid transfer devices that are encompassed within the scope of the present subject matter for purposes of brevity and clarity of the present specification. Various examples similar to those described herein having different components of the fluid transfer devices and different robotic stations, including different combinations of components of the fluid transfer devices and robotic stations, should be considered within the scope of the present specification.

[0647] For example, the container is described herein with reference to a vial and / or an intravenous bag, it is understood that the container may 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 may constitute a container assembly having the container together with a container connector (or adapter) for establishing fluid communication of the container with other components of the fluid transfer device. For example, the container may be a vial with a vial adapter, or an intravenous bag with a spike adapter. The container may be accessible through a container septum, which may be a septum of a container lid or may be part of a connector. In some examples, the container may be a syringe, a fluid transfer pipe, a conduit, or the like.

[0648] 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 can include similar components for transferring a medication. In some examples, the fluid transfer assembly can include a pump mechanism and a fluid transfer pipe configured to be connected to a container for transfer of a medication. In some examples, the fluid transfer assembly can include a fluid transfer connector (or adapter) for establishing fluid communication between a fluid transfer unit (e.g., a fluid transfer pipe, a conduit, a pump, a syringe, etc.) and the container. In some examples, the fluid transfer assembly may not include a fluid transfer connector, and the fluid transfer connector can form part of a robotic system that operates the fluid transfer assembly. In some examples, the fluid transfer assembly can include a vial or an intravenous bag for transfer of fluid to and from another container.

[0649] Furthermore, in all examples described herein, the transfer of fluid is described as being performed by a needle penetrating the container septum and entering the container. It should be understood herein that in some examples, the transfer of fluid can be performed without a needle penetrating the container septum, i.e., by needle-free fluid transfer, or, optionally, without penetrating a septum of a fluid transfer connector (associated with a fluid transfer assembly). In some examples, the fluid transfer can be performed without a needle, through a fluid transfer conduit by controlled pressure of a fluid. 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 completely penetrate both septums, or completely penetrate one septum and partially penetrate the other septum, or partially penetrate one septum and not penetrate the other septum at all, or may not penetrate any septum at all.

[0650] A robotic system according to the subject matter of the present disclosure is configured to handle and manipulate the container and fluid transfer assembly according to all of its different examples as described above to perform fluid transfer. For example, in all of the examples described herein, the robotic system is described as having a manipulator configured to manipulate the fluid transfer assembly (more specifically, the syringe assembly), but it is understood that the robotic system (and manipulator) is configured herein to handle and manipulate either or both of the container and fluid transfer assembly according to all of the examples described above. Also, in all of the examples described herein, the manipulator is described as a robotic arm, but it is understood that the manipulator may be a platform, robot station, etc. having holders for holding components of the fluid transfer device and moving them relative to each other to perform fluid transfer.

[0651] Specific examples of robotic systems and their components will now be described in detail with reference to the drawings. The detailed description of specific embodiments below is for illustrative purposes, and all embodiments of the components of the fluid transfer device should be considered well within the scope of the present specification.

[0652] 1A is a block diagram of a fluid transfer station 10 in a robotic medicine preparation system 12. The robotic system may comprise an automated or partially automated system comprising a manipulator controlled at least in part by a controller unit, and may further comprise one or more drive assemblies to facilitate movement of the manipulator, as will be further described. The medicine preparation system 12 comprises a robotic system operable to perform any activity associated with preparing a designated medication for administration to a patient.

[0653] The fluid transfer station 10 is operable to transfer fluid between a container 14 and a syringe assembly 18. In the illustrated example, the fluid transfer assembly is a syringe assembly 18. In some examples, the fluid transfer assembly may be a pipe or tubing set associated with a pump.

[0654] The container 14 is configured to be accessible through a container septum 16. The syringe assembly 18 includes a syringe septum 20 that is displaceable relative to a needle 22. The needle 22 is operable to extend into the container 14 through the syringe septum 20 and the container septum 16 to transfer fluid between the container 14 and the syringe assembly 18 through the needle 22. In some examples, the syringe septum can be part of a fluid transfer connector that is part of a robotic system and not a fluid transfer assembly. In some examples, the transfer of fluid can be accomplished by fluid pressure through a slit formed in the septum without a needle. In some examples, the needle can be configured to extend partially, but not completely, through either or both of the septums.

[0655] Container 14 may include any container configured to contain a fluid therein, such as vials and intravenous (IV) bags, as described below, or other types of containers, such as, by way of non-limiting example, pumps, e.g., dispensing pumps, elastomeric pumps, infusion pumps, infusion containers, bottles, IV containers, IV bottles, and / or closed or open system IV bottles.

[0656] The fluid typically comprises the drug, a diluent, saline or water, or any other fluid used for drug formulation or reconstitution. The drug may be provided in a powder or liquid phase.

[0657] The robotic pharmaceutical preparation system 12 comprises a controller unit 30 operable to control a manipulator 32. The manipulator 32 operates to manipulate the syringe assembly 18 to secure contact between at least the container septum 16 and the syringe septum 20, such as by pressing the syringe septum 20 against the container septum 16. This contact is secured at least during transfer of fluid through the needle 22 while the needle 22 extends through the container septum 16 and the syringe septum 20 into the container 14 (the needle extended state is shown in dashed lines). In some examples, the manipulator may be configured to manipulate the container instead of or in addition to the syringe assembly.

[0658] The container septum 16 and the syringe septum 20 may be formed from an elastic material, which may be defined as a material capable of elastically deforming and substantially returning to its original shape after the deformation. The elastic container septum 16 and the syringe septum 20 are configured to be reversibly pierceable by the needle 22 and to reconfigure to their original form after repeated piercing by the needle 22 to prevent the ingress of microorganisms into the syringe assembly 18 and the container 14 and / or to prevent cross-contamination thereof. Furthermore, the contact between the container septum 16 and the syringe septum 20 is a sealed contact to prevent the ingress of microorganisms into the syringe assembly 18 and the container 14 and / or to prevent cross-contamination thereof. Also, the fixation of the syringe septum and the container septum via a robotic system may reduce the formation of droplets at the interface of the syringe septum and the container septum. It is noted that the container septum 16 and the syringe septum 20 may be configured to temporarily deform and radially expand upon tightly sealed contact therebetween.

[0659] Reservoir septum 16 and syringe septum 20 may be formed from the same or different materials.

[0660] 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 through 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 to transfer fluid through 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 while the needle 22 is extending through the container septum 16 and the syringe septum 20 to transfer fluid through the needle 22, and 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 together with a minimal force that reaches a compression threshold.

[0661] In some examples, securing the contact between the container septum 16 and the syringe septum 20 is performed by the robotic system 12 further pressing the container septum 16 and the syringe septum 20 together during extension of the needle through and withdrawal of the needle therefrom.

[0662] The extending of the needle 22 through the container septum 16 and the syringe septum 20 may be followed by decreasing the predetermined axial distance between the syringe assembly 18 and the container 14, which advances the needle 22 toward the container 14 and thereafter causes the aforementioned extension of the needle 22. The decreasing of the predetermined axial distance may be performed by advancing the syringe assembly 18 toward the container 14. Alternatively, the decreasing of the predetermined axial distance may be performed by advancing the container 14 toward the syringe assembly 18. Additionally, in some embodiments, the decreasing of the predetermined axial distance may be performed by advancing both the container 14 and the syringe assembly 18 toward one another.

[0663] The robotic system 12 may be 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 coaxially positioning the syringe assembly 18 together with the container septum 16 at the predetermined axial distance from the container 14 as described above.

[0664] The robotic drug preparation system 12 may be deployed for the preparation of any type of drug, including hazardous as well as non-hazardous drugs prepared in a closed system.

[0665] In some instances, the container septum 16 may comprise an auxiliary septum added to a conventional container. The auxiliary septum may generally be attached to the container via a housing such as a container connector. For example, a vial may comprise a vial adapter that comprises an auxiliary adapter septum.

[0666] In some examples, the container septum 16 may include a conventional septum of a commercially available container, such as an existing rubber stopper of a vial or an existing drug port of an IV bag. The existing container septum 16, particularly the existing IV bag drug port (500 in FIG. 12A), is available in a variety of diameters and lengths. As mentioned above, in conventional robotic or non-robotic drug preparation systems, the container septum is housed within a designated manufactured container connector (also called an "adapter") designed to fit into a port of a given dimension (e.g., diameter and / or length). Thus, the use of various IV bags or vials that are formed with ports of different dimensions or that are connected to different adapters (e.g., from different manufacturers) is not possible with such drug preparation systems. Furthermore, the existing drug ports of an IV bag may be manufactured to protrude from various locations on the IV bag, for example, from its edge or from its center (e.g., "belly button" IV bags). Thus, it is difficult to attach a container connector to an existing IV bag drug port.

[0667] In accordance with the present application, contact between the syringe septum 20 and the container septum 16 is established and secured by a manipulator 32 that is configured to align and maintain secure contact while being spaced apart from both the syringe septum 20 and the container septum 16. The manipulator 32 is operable to apply a force sufficient to maintain secure contact without the need for auxiliary securing (i.e., fixation) means that would limit the transfer of the drug to a specific predetermined port size. Thus, the robotic drug preparation system of the present application facilitates the transfer of drugs while utilizing containers of a wide variety of sizes, without being limited to a predetermined container or port size.

[0668] Additionally, the elimination of the IV bag connector (and / or vial connector) reduces reliance on ancillary components that may malfunction, thereby preventing proper fluid transfer.

[0669] In some examples, contact between the syringe septum 20 and the container septum 16 is secured at least primarily by application of an axial force to the syringe assembly 18 and / or the container by the manipulator 32. The manipulator 32 may be configured to engage any mating portion of the syringe assembly 18 or container 14, preferably excluding the syringe septum 20 and the container septum 16. The manipulator 32 may be configured to press the syringe septum 20 against the container septum 16 by indirectly applying an axial force to the syringe septum 20, such as by applying an axial force to an engagement portion that is spaced (e.g., axially) from the syringe septum 20 and the container septum 16.

[0670] In some examples, the syringe assembly 18 may include a syringe connector. The syringe septum 20 may be attached to the syringe connector. The syringe connector may include any suitable configuration. An exemplary syringe connector is described with reference to FIG. 1B.

[0671] 1B is a block diagram of several elements of a syringe connector 50, which may form part of the syringe assembly 18 or robotic system. The syringe connector 50 includes a body member 52 shaped to define a body lumen. The body member 52 is coupleable 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 disposed relative to the body member 52, and a syringe septum 20 is attached to a distal end 60 of the sleeve 58. A 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.

[0672] Sleeve 58 and body member 52 are configured to move relative to one another between at least one of the following positions: (i) an extended position (shown in solid lines) in which the needle tip is proximal to septum proximal surface 62, (ii) an intermediate position (shown in dashed lines) in which the needle tip is enclosed inside syringe septum 20, and (iii) a collapsed position (shown in dotted lines) in which the needle tip protrudes beyond septum distal surface 66.

[0673] In some examples, the transition from any one of the extended position and the intermediate position to the folded position, and from the folded position to the intermediate position, may be performed by sleeve 58 configured to move only axially relative to body member 52. In some examples, the transition from any one of the extended position and the intermediate position to the folded position, and from the folded position to the intermediate position, may be performed by sleeve 58 configured to rotate about longitudinal axis Lx1 (3B) and / or move axially relative to body member 52.

[0674] In some examples, the syringe connector may not contain a needle, or the needle may not penetrate any of the septa at all, and fluid transfer may be performed by fluid pressure through a slit formed in the septa. Even in such examples, fluid communication between the syringe assembly and the container is established when the syringe connector is displaced to its collapsed 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 starting from its intermediate position (the extended position is not necessary), and then it is the normal position. In the extended state, the syringe septum is at an extended distance from a proximal portion of the syringe connector to which the syringe is coupled. In the intermediate state, the syringe septum is at an intermediate distance, less than the extended distance, from a proximal portion of the syringe connector to which the syringe is coupled. In the collapsed state, the syringe septum is at a collapsed distance that is less than the intermediate distance from a proximal portion of the syringe connector to which the syringe is coupled.

[0675] Syringe connector 50 may include a locking mechanism 70 configured to lock sleeve 58 within body member 52 in one or more of the extended position and the intermediate position (or the collapsed position or any other position). The locking mechanism is configured to selectively allow and prevent movement of sleeve 58 relative to body member 52 from the extended position upon actuation of actuator 72. In some examples, actuator 72 is actuable regardless of whether syringe connector 50 is connected to any auxiliary septum. The auxiliary septum may include a septum not engaged with container 14, such as container septum 16, or a stand-alone septum, or a septum engaged with another component, such as a septum engaged with an adapter or connector.

[0676] Thus, there is provided a syringe connector 50 operable to be disposed in at least one of the extended, intermediate or collapsed positions described above. The syringe connector 50 includes a locking mechanism 70 actuated by an actuator 72 to lock the syringe connector 50 in the extended or intermediate position and to facilitate transition to another position.

[0677] It should be noted that in known syringe connectors, controlling the position of the needle 22 relative to the syringe septum is non-trivial for a variety of reasons, such as due to imprecise tolerances in the syringe connector. In contrast, the locking mechanism 70 described herein facilitates substantially precise control of the position of the needle tip relative to the syringe septum 20, such that it is positioned at one of: a position proximal to the septum proximal face 60 in the extended position, enclosed inside the syringe septum 20 in the intermediate position, and protruding beyond the septum distal face 66 in the collapsed position.

[0678] The syringe connector 50 may be deployed in conventional robotic systems and / or the robotic drug preparation system 12 of the present application.

[0679] It should be noted that the robotic medicine preparation system 12 of the present application may utilize the syringe connector 50 described herein or any other type of syringe connector.

[0680] In some examples, a syringe connector may comprise mutually collapsible portions, such as sleeve 58 and body member 52, but may not include locking mechanism 70. Robotic pharmaceutical preparation system 12 may be operable for fluid transfer utilizing such a syringe connector lacking locking mechanism 70.

[0681] In another example, the syringe connector may include a locking mechanism 70 configured to be actuated at any stage of a fluid transfer operation. In the operational steps described with reference to Figures 6A-15C, actuation of the locking mechanism 70 is described as being performed in the initial first operational step described with reference to Figures 6A-6C. It is understood that the robotic pharmaceutical preparation system 12 may be configured to actuate the locking mechanism 70 at any stage, such as, for example, any time before the needle 22 extends into the container 14.

[0682] Syringe connector 50 may be configured in any suitable manner, and one exemplary configuration is described with reference to Figures 2A-2H.

[0683] 2A-2H, syringe connector 50 includes a sleeve 58 coaxially disposed relative to body member 52 and includes a syringe septum 20 attached to a distal end 60 of sleeve 58. Body member 52 is shaped to define a body lumen and is connectable to a syringe 54 (IB) at a syringe coupling portion 56. Needle 22 extends axially from syringe coupling portion 56 into the body lumen.

[0684] Sleeve 58 and body member 52 are configured to move relative to one another between an extended position, as shown in FIG. 2C, in which the needle tip is proximal to septum proximal surface 62, and a collapsed position, as shown in FIG. 2H, in which the needle tip protrudes beyond septum distal surface 66. Sleeve 58 may be insertable within body member 52 along rails 120(2A) formed on an inner surface 122 of body member 52. Rails 120 are configured to slide along corresponding grooves 124 formed on an outer surface 126 of sleeve 58.

[0685] It will be appreciated that body member 52 and sleeve 58 may comprise any suitable means by which they are foldable relative to one another.

[0686] It is further understood that body member 52 may be insertable within sleeve 58, as shown in Figures 17A and 17B.

[0687] The syringe connector 50 includes a locking mechanism 70 configured to selectively allow and prevent movement of the sleeve 58 relative to the body member 52 from an extended position upon actuation of an actuator 72. The actuator 72 may be formed in any suitable manner and may include a protruding portion 138 accessible on an outer wall 140 of the syringe connector 50, which is actuable by application of a force, such as a radial or lateral force Fr (2F) (as well as some examples and / or axial force) on the protruding portion 138. The radial or lateral force Fr may include a gripping force, a lateral force, a linear bidirectional (squeezing) force, a bilinear force, a bidirectional force, and / or a counterbalancing force. The actuator 72 includes an internal portion 144 (2D) disposed within the sleeve 58. The protruding portion 138 protrudes laterally through at least one opening 148 (2B) formed in the body member 52. Application of a radial (and / or axial) force Fr on the protruding portion 138 causes actuation (i.e., activation) of the locking mechanism 70 from a locked state to an unlocked state and facilitates slidable axial movement of the body member 52 relative to the sleeve 58 for transitioning from the extended position to the intermediate position and / or the folded position.

[0688] In an alternative embodiment, as shown in FIG. 17B, inner portion 144 is disposed within body member 52 and protruding portion 138 protrudes laterally through at least one opening 148 formed on sleeve 58.

[0689] In some examples, the locking mechanism can be configured to allow relative movement between the sleeve and the body member regardless of an 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 allow relative movement between the sleeve and the body member even in the absence of a force applied to the syringe septum in a direction parallel to the longitudinal axis of the syringe connector.

[0690] In some examples, the locking mechanism in the locked state is configured to prevent relative movement between the sleeve and the body member from the extended position to the folded position and / or from the intermediate or normal position to the folded position due to an axial force applied to at least one of the body member and the sleeve or to the syringe septum in a direction parallel to the longitudinal axis. For example, the flat surface 138A(2G) at the bottom of the protruding portion 138 prevents relative movement between the sleeve and the body member regardless of an axial force applied to at least one of the body member and the sleeve or to the syringe septum in a direction parallel to the longitudinal axis, at least until the locking mechanism is displaced to its unlocked state. In such examples, the protruding portion 138 constitutes a lockable member, the opening 148 constitutes a locking member that locks the lockable member, and the locking mechanism cannot be displaced to the unlocked state in response to the axial force.

[0691] 2A-2H, actuator 72 includes a pair of interior portions 144 configured as flexible extensions formed on opposite sides of sleeve 58. Each of flexible extensions 144 includes a protruding portion 138 configured as a tab for forming a snap connection with a pair of corresponding openings 148 formed on opposite sides of body member 52 and positioned to align with the tabs such that tabs 138 can protrude laterally from corresponding openings 148 in the locked condition.

[0692] A second pair of openings 150 (2F) may be provided along the syringe connector 50 and may be located in any suitable position, such as axially collinear with the first pair of openings 148.

[0693] When no force Fr is applied to the tab 138 and it is aligned with either the corresponding first pair of openings 148 or 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 150 and positioning the syringe connector 50 in a locked state.

[0694] 2A-2F show sleeve 58 and body member 52 disposed in an extended position. Tabs 138 protrude from first pair of openings 148 in a locked condition. This extended position may be deployed to allow sterilization of a needle including a needle tip disposed proximal to septum proximal face 62, thereby allowing sterilizing gas penetrating syringe connector 50 to sterilize needle 22 along with the needle tip. Sterilization is typically performed prior to positioning syringe connector 50 in fluid transfer station 10, as will be further described with reference to a first operational stage shown in FIGS. 6A-6C.

[0695] By applying a force Fr (2F) to the tab 138, the tab 138 is forced inwardly 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 a locked state to an unlocked state. In the unlocked state, the body member 52 may be slidably moved axially relative to the sleeve 58 to transition from an extended position to an intermediate position shown in FIG. 2G and / or a collapsed position shown in FIG. 2H.

[0696] 2G shows sleeve 58 and body member 52 positioned in an intermediate position. Tab 138 is positioned to protrude from second pair of openings 150 in a locked state. The needle tip or opening is positioned to be enclosed within syringe septum 20 to prevent the needle tip from protruding beyond syringe septum 20. This intermediate position may be deployed to prevent contamination of the needle tip and ingress of microorganisms through the needle tip into syringe 54 and to prevent inadvertent injury to an operator when removing syringe assembly 18 from container 14. Additionally, enclosing the needle tip or opening within syringe septum 20 seals the needle tip or opening from liquid droplets.

[0697] The outer wall 140 of the syringe connector 50 may include a protective surface 170 configured in some embodiments to prevent manual access to the actuator 138, i.e., the tab 138. This is to prevent inadvertent depression of the tab, which may cause undesired projection of the needle tip beyond the syringe septum 20, such as when the syringe assembly 18 is transported by a human operator. The protective surface 170 may include a pair of peripheral protruding portions 174 surrounding the openings. As seen in FIGS. 2A-2H, three peripheral protruding portions 174 are positioned to surround the first pair of openings 148 and the second pair of openings 150, although one peripheral protruding portion 174 may be provided, or many peripheral protruding portions 174 may be provided.

[0698] As seen in FIG. 2H, in the collapsed position, sleeve 58 is inserted into body member 52 and confined at its proximal end therein by base surface 160 of body member 52. Distal end 60 of sleeve 58 is formed with a radial stop 164. Radial stop 164 may comprise any suitable configuration, such as a rim that projects radially from outer surface 126(2A) of sleeve 58. In the collapsed position, the distal end of body member 52 abuts radial stop 164 and the needle tip projects beyond septum distal surface 66. This collapsed position may be deployed to perform needle penetration into container 14 to enable fluid transfer, as will be further described with reference to the stages of operation shown in FIGS. 9A-9C.

[0699] The syringe connector 50 may be configured to be irreversibly movable from the extended position, such that following the initiation of fluid transfer, the syringe connector 50 is configured to return from the collapsed position shown in FIG. 2H to an intermediate position in which the needle opening is enclosed inside the syringe septum 20, as shown in FIG. 2G. In some embodiments, the syringe connector does not return to its extended position, but rather remains in the intermediate position when removed from the container holder, or what may be considered a container holder, to be shifted to another container holder or removed from the fluid transfer station 10. The syringe connector 50 is positioned in the intermediate position, for example, to prevent contamination of the needle tip and microbial ingress through the needle tip into the syringe 54, and to prevent inadvertent injury to an operator when removing the syringe assembly 18 from the container 14.

[0700] As seen in FIGS. 2A-2H, the syringe septum 20 is attached to the distal end 60 of the sleeve 58, which is molded to have a lumen. The syringe septum 20 includes a septum projection 180 (shown in the inset of FIG. 2C) that projects axially from the sleeve 58 from its distal end 60. The syringe septum projection 180 may be molded in any suitable form, such as a terraced shape. The septum projection 180 includes a sleeve proximal portion 182 having a first circumferential wall 184 with a first circumference. The septum projection 180 includes a sleeve distal portion 186 having a second circumferential wall 188 with a second circumference. The second circumference is smaller than the first circumference. In some instances, the second circumferential wall 188 is angled such that the second circumference recedes toward the septum distal surface 66.

[0701] In some embodiments, the syringe connector 50 extends between a connector proximal end 189 and a connector distal end that also constitutes the sleeve distal end 60 (FIG. 2C) and is configured to connect to a syringe 54 at the connector proximal end 189. The syringe connector 50 comprises a connector structure, which in some embodiments comprises a connector body member 52 extending from the connector proximal end 189 and the sleeve 58. The syringe septum 20 extends from the connector structure (e.g., from the sleeve 58) and has a syringe septum protruding portion 180 protruding therefrom towards the connector distal end 60. The syringe septum protruding portion 180 is formed in a terraced shape.

[0702] It is noted that in some alternatives, the septum projection portion 180 may comprise a cylindrical shape in which the first and second circumferences may be the same. It is further noted that in some examples, the septum projection portion 180 may be shaped such that the first...

Claims

1. 1. A robotic system operable to transfer fluid between a container accessible through a container septum and a fluid transfer assembly accessible through a fluid transfer connector septum, comprising: A controller; 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 ensure that a predetermined compression threshold is reached between the container septum and the fluid transfer connector septum, thereby securing contact therebetween for transfer of the fluid.

2. The controller controls the manipulator to contacting the container septum with the fluid transfer connector septum; 2. The robotic system of claim 1, further configured to perform the securing of 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 during at least a portion of the fluid transfer.

3. 2. The robotic system of claim 1, wherein the manipulator comprises a pressing mechanism configured to ensure that the predetermined compression threshold between the container septum and the fluid transfer connector septum is reached before initiation of fluid transfer, and reaching the predetermined compression threshold is associated with securing contact.

4. The controller operates the manipulator to aligning the fluid transfer connector septum of the fluid transfer assembly with the vessel septum of the vessel; contacting the fluid transfer connector septum and the container septum 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 effect said securing of contact therebetween; and / or 4. The robotic system of claim 3, wherein a fluid transfer conduit associated with a fluid transfer connector of the fluid transfer assembly performs at least partial penetration of at least one of the fluid transfer connector septum and the container septum to enable the transfer of the fluid, and the pressing mechanism is configured to ensure that the predetermined compression threshold between the container septum and the fluid transfer connector septum is reached before the at least partial penetration.

5. The robot system of claim 3, wherein the pressing mechanism is configured to further ensure that the predetermined compression threshold between the container bulkhead and the fluid transfer connector bulkhead is maintained during at least a portion of the fluid transfer.

6. The robot system of claim 4, wherein the pressing mechanism is configured to further ensure that the predetermined compression threshold between the container bulkhead and the fluid transfer connector bulkhead is maintained even after the transfer of the fluid is completed, at least until the fluid transfer conduit is separated from the fluid transfer connector bulkhead.

7. The robotic system of claim 1 , wherein the manipulator comprises a gripping arm configured to grip a gripping portion of at least one of the fluid transfer assembly and the container.

8. 8. The robotic system of claim 7, wherein the manipulator comprises an engagement arm configured to engage with the fluid transfer assembly at an engagement portion when the gripping arm grips the fluid transfer assembly, and the engagement arm is configured to be axially movable relative to the gripping arm.

9. 9. The robotic system of claim 8, wherein the engagement arm and the gripping arm are operatively coupled such that the engagement arm and the gripping arm are controllably displaceable axially together or relative to each other.

10. The controller controls the engagement arm and the gripping arm to the gripping arms grip a body member of the fluid transfer connector fixedly coupled to a fluid transfer conduit of the fluid transfer connector, aligning the fluid transfer assembly with the container and contacting the fluid transfer connector septum with the container septum; the engagement arm engages a sleeve of the fluid transfer connector of the fluid transfer assembly, the sleeve being fixedly coupled to the fluid transfer connector septum and pressing the fluid transfer connector septum against the container septum to effect the securing of contact therebetween; 9. The robotic system of claim 8, wherein the gripping arm is configured to fold and move the body member and the sleeve toward each other, thereby moving the fluid transfer conduit and the fluid transfer connector septum at least partially toward each other to facilitate fluid transfer.

11. The gripping arm is further configured to apply a radial force to an outer wall of the fluid transfer assembly; The robotic system of claim 10 , wherein the controller is configured to control the gripper arm to selectively apply the radial force to press against a fluid transfer connector actuator of the fluid transfer assembly.

12. The robotic system of claim 8, 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 to the fluid transfer connector septum, the gripping arm is configured to grip a body member of the fluid transfer connector fixedly coupled to a fluid transfer conduit of the fluid transfer connector, and the controller is configured to cause relative movement between the gripping arm and the engagement arm when the predetermined compression threshold between the container septum and the fluid transfer connector septum is reached, thereby moving the fluid transfer conduit and the fluid transfer connector septum at least partially toward each other.

13. 13. The robotic system of claim 12, wherein the manipulator is configured to resist relative movement between the gripping arm and the engagement arm when an axial force less than a predetermined pushing threshold is applied to cause the relative movement, the predetermined pushing threshold being related to the predetermined compression threshold.

14. The controller controls the engagement arm and the gripping arm to following the transfer of the fluid, the gripping arms move the body member away from the sleeve; The robotic system of claim 10 , wherein the engagement arm and the gripping arm are configured to be moved away from the vessel to separate the fluid transfer connector septum from the vessel septum.

15. The controller controls the engagement arm and the gripping arm to one of the engagement arm and the gripping arm grips the fluid transfer assembly, aligns the fluid transfer assembly with the container, and contacts the fluid transfer connector septum with the container septum; 9. The robotic system of claim 8, wherein any one of the engagement arm and the gripping arm is configured to press the fluid transfer connector septum against the container septum to secure contact therebetween.

16. 9. The robotic system of claim 8, wherein the engagement arm is formed with a pressing surface configured to press against a radial stop of the fluid transfer assembly to effect the securing of the contact between the container septum and the fluid transfer connector septum.

17. 2. The robotic system of claim 1, further comprising a fluid transfer connector extending between a connector proximal end configured to connect to a fluid transfer unit of the fluid transfer assembly and a connector distal end comprising the fluid transfer connector septum, the fluid transfer connector configured to establish fluid communication between the fluid transfer unit and the container for transfer of the fluid.

18. The fluid transfer connector includes: a connector body extending from the connector proximal end toward a body distal end; 18. The robotic system of claim 17, wherein the fluid transfer connector septum comprises a septum projection portion extending from the body distal end toward the connector distal end.

19. the fluid transfer connector comprises a body member and a sleeve displaceable relative to one another between an extended position, which is a normal position, and a collapsed position, in which the fluid transfer connector establishes the fluid communication; 18. The robotic system of claim 17, wherein the manipulator is configured to displace the fluid transfer connector to the collapsed position after securing contact between the fluid transfer connector septum and the container septum.

20. 1. A method for transferring fluid between a container accessible through a container septum and a fluid transfer assembly accessible through a fluid transfer connector septum, 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 against the other of the container septum and the fluid transfer connector septum to secure contact therebetween by ensuring that a predetermined compression threshold between the container septum and the fluid transfer connector septum is reached; transferring a fluid through the container septum and the fluid transfer connector septum; maintaining said fixed contact between said container septum and said fluid transfer connector septum during at least a portion of said fluid transfer.

21. 1. A robotic system operable to transfer fluid between a container accessible through a container septum and a fluid transfer assembly accessible through a fluid transfer connector configured to establish fluid communication between the container and the fluid transfer assembly for transfer of fluid, the fluid transfer connector comprising a body member and a sleeve displaceable relative to one another between an extended position, which is a normal position, and a collapsed position, in which the fluid transfer connector establishes the fluid communication, the fluid transfer connector comprising a fluid transfer connector septum disposed on the sleeve, the robotic system comprising: A 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 one another, ensure a predetermined compression threshold between the container septum and the fluid transfer connector septum is reached to secure contact therebetween, and selectively displace the fluid transfer connector from the extended position to its collapsed position; a contact locking mechanism configured to prevent the manipulator from displacing the fluid transfer connector from the extended position to its collapsed position until the predetermined compression threshold between the container septum and the fluid transfer connector septum is reached.

22. 22. The robotic system of claim 21, wherein the manipulator is configured to 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 with a compressive force having a variable magnitude.

23. 23. The robotic system of claim 22, wherein the contact fixation mechanism is configured to prevent the manipulator from displacing the fluid transfer connector from the extended position to its collapsed position at least until the compressive force is less than the predetermined compression threshold.

24. 23. The robotic system of claim 22, wherein the contact fixation mechanism is configured to enable the manipulator to displace the fluid transfer connector from the extended position to its folded position at least when the compressive force is equal to or greater than the predetermined compression threshold.

25. 23. The robotic system of claim 22, wherein the contact fixation mechanism is configured to enable the manipulator to displace the fluid transfer connector to its collapsed position following detection of an event indicating that the compressive force is greater than or equal to the predetermined compressive threshold.

26. 22. The robotic system of claim 21, wherein the contact clamping mechanism comprises a mechanical element.

27. 22. The robotic system of claim 21, wherein the contact fixation mechanism comprises a resistance member configured to resist the manipulator from displacing the fluid transfer connector into its collapsed position.

28. the manipulator comprises an engagement arm configured to engage the sleeve and a gripping arm configured to grip the body member, the engagement arm and the gripping arm configured to move relative to each other to displace the fluid transfer connector between the extended position and the collapsed position, the engagement arm and the gripping arm coupled to each other via the resistance member; 28. The robotic system of claim 27, wherein the engagement arm and the gripping arm are configured to move toward each other in response to initiation of deformation of the resistance member to displace the fluid transfer connector to the collapsed position.

29. 22. The robotic system of claim 21, further comprising a fluid transfer connector configured to establish fluid communication between the container and the fluid transfer assembly, the fluid transfer connector having a body member and a sleeve including a fluid transfer connector septum, the sleeve and the body member being displaceable relative to one another between an extended position, which is a normal position, and a folded position, in which the fluid transfer connector establishes the fluid communication.

30. 1. A method for transferring fluid between a container accessible through a container septum and a fluid transfer assembly accessible through a fluid transfer connector comprising a fluid transfer connector septum, the method comprising, by operation of a robotic system: 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 one another; operating the manipulator to manipulate the fluid transfer assembly to press the fluid transfer connector septum against the container septum until at least 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 normal extended position to its collapsed position in which fluid communication between the container and the fluid transfer assembly is established after the predetermined compression threshold is reached; and performing a transfer of the fluid between the fluid transfer assembly and the container.

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