Patent Publication Number: US-11660387-B2

Title: Fluid delivery device having an insertable prefilled cartridge

Description:
CROSS-REFERENCE TO RELATED APPLICATIONS 
     This application is a Continuation of U.S. patent application Ser. No. 14/786,009 filed Oct. 21, 2015, which is a U.S. National Stage Entry of International Patent Application No. PCT/US2014/040205, filed May 30, 2014, which in turn claims the benefit of U.S. Provisional Patent Application No. 61/829,325 filed May 31, 2013 entitled “Infusion Needle Mechanism For A Fluid Delivery Device”, U.S. Provisional Patent Application No. 61/857,415 filed Jul. 23, 2013 entitled “Cartridge Insertion Mechanism For A Fluid Delivery Device”, U.S. Provisional Patent Application No. 61/918,746 filed Dec. 20, 2013 entitled “Cartridge Insertion Mechanism For A Fluid Delivery Device”, and U.S. Provisional Patent Application No. 61/923,957 filed Jan. 6, 2014 entitled “Infusion Needle Mechanism For A Fluid Delivery Device” which are incorporated by reference herein in their entirety. 
    
    
     BACKGROUND OF THE INVENTION 
     The present invention generally relates to a fluid delivery device having an insertable prefilled cartridge. 
     BRIEF SUMMARY OF THE INVENTION 
     In one embodiment there is a fluid delivery device comprising: a housing having a bottom surface configured to be coupled to the skin surface; a cartridge prefilled with a fluid and configured to be inserted into the housing, the cartridge having a septum configured to be generally perpendicular to the bottom surface when the cartridge is inserted in the housing; and a needle assembly having a needle including a fluid coupling end and a delivery end, the fluid coupling end of the needle being fluidly disengaged from the cartridge in an initial position, the delivery end of the needle extending past the plane of the bottom surface in a deployed position and the fluid coupling end of the needle extending through the septum in the deployed position. 
     In one embodiment, the needle has a central portion extending between the fluid coupling end and the delivery end, the central portion bending around an axis that is coincident with the delivery end of the needle. In one embodiment, the central portion is helically shaped in the initial position. In one embodiment, the helical shape of the central portion is at least partially flattened toward the bottom surface when moving between the initial and deployed positions. In one embodiment, the central section of the needle loops around a moveable needle core. In one embodiment, the needle core is coupled to a lock member configured to releasably retain the needle in the initial and deployed positions. In one embodiment, the lock member is configured to retain the needle in a locked position after the deployed position, the lock member preventing re-deployment of the needle in the locked position. In one embodiment, the lock member is rotatable about the needle core and the rotational position of the lock member relative to the needle core determines if the needle is retained in or releasable from the initial and deployed positions. 
     In one embodiment, the housing includes a hydraulic fluid drive. In one embodiment, the hydraulic fluid drive includes a port configured to couple with the cartridge, the port having a seal that is closed prior to inserting the cartridge into the housing and released when the cartridge is coupled with the port, the cartridge including a piston moveable by the hydraulic fluid in the deployed position. In one embodiment, the seal includes a rotatable valve having one or more fluid passages configured to fluidly couple the hydraulic fluid drive and the piston. In one embodiment, the seal includes a slideable valve having one or more fluid passages configured to fluidly couple the hydraulic fluid drive and the piston. 
     In one embodiment, the one or more fluid passages are filled with a fluid prior to the cartridge being inserted into the housing. In one embodiment, the hydraulic fluid drive is fluidly coupled to an accumulator configured to allow thermal expansion and contraction of the drive fluid. In one embodiment, the accumulator is fluidly coupled to the accumulator when the seal is closed and fluidly disengaged from the hydraulic fluid drive when the seal is released. In one embodiment, the hydraulic fluid drive includes a first hydraulic chamber and a second hydraulic chamber, the first hydraulic chamber being fluid coupled to the second hydraulic chamber by a flow restrictor, as disclosed in U.S. Patent Application Publication No. 2013/0046239, hereby incorporated by reference in its entirety. 
     In one embodiment, the needle assembly includes a button, wherein actuation of the button moves the needle from the initial position to the deployed position. In one embodiment, the button is configured to be actuated by pressing the button toward the bottom surface. In one embodiment, the needle assembly is coupled to the cartridge and is configured to be inserted into the housing when the cartridge is inserted into the housing. In one embodiment, the needle assembly is configured to be coupled to the cartridge in the initial position after the cartridge is inserted into the housing. In one embodiment, a central portion of the needle is purposely deformed while moving from the initial position to the deployed position. In one embodiment, a central portion of the needle is purposely deformed while moving from the deployed position to a final position, the delivery end of the needle being retained within the housing in the final position. In one embodiment, the fluid coupling end of the needle and the delivery end of the needle extend in generally perpendicular directions in the deployed position. 
     In one embodiment there is a cartridge assembly for use with a fluid delivery device having a housing, the cartridge assembly comprises: a cartridge having a fluid and a septum configured to be generally perpendicular to a bottom surface of the housing when the cartridge is inserted in the housing; and a needle assembly coupled to the cartridge proximate the septum prior to the cartridge assembly being inserted into the housing, the needle assembly having a needle including a fluid coupling end and a delivery end, the fluid coupling end of the needle being generally perpendicular to the delivery end of the needle, the fluid coupling end of the needle being fluidly disengaged from the cartridge in an initial position, the delivery end of the needle configured to extend past the plane of the bottom surface in a deployed position and the fluid coupling end of the needle configured to extend through the septum in the deployed position. 
     In one embodiment, the needle has a central portion extending between the fluid coupling end and the delivery end, the central portion bending around an axis that is parallel with the delivery end of the needle. In one embodiment, the central portion is helically shaped in the initial position. In one embodiment, the helical shape of the central portion is at least partially flattened toward the bottom surface when moving between the initial and deployed positions. In one embodiment, the central section of the needle loops around a moveable needle core. In one embodiment, the needle assembly is coupled to a lock member and an assembly body, the lock member configured to releasably retain the needle within the assembly body in the initial position and a final position. 
     In one embodiment, the needle assembly includes a button, wherein actuation of the needle button moves the needle from the initial position to the deployed position. In one embodiment, a central portion of the needle is purposely deformed while moving from the initial position to the deployed position. In one embodiment, a central portion of the needle is purposely deformed while moving from the deployed position to a final position, the delivery end of the needle being retained within the housing in the final position. In one embodiment, the fluid coupling end of the needle and the delivery end of the needle extend in generally perpendicular directions in the deployed position. 
    
    
     
       BRIEF DESCRIPTION OF THE SEVERAL VIEWS OF THE DRAWINGS 
       The foregoing summary, as well as the following detailed description of embodiments of the fluid delivery device having an insertable prefilled cartridge will be better understood when read in conjunction with the appended drawings of an exemplary embodiment. It should be understood, however, that the invention is not limited to the precise arrangements and instrumentalities shown. 
       In the drawings: 
         FIG.  1    is a trimetric view of a fluid delivery device; 
         FIG.  2    is a top cross sectional view of the fluid delivery device shown in  FIG.  1    taken along a plane indicated by line  2 - 2 ; 
         FIG.  3 A  is a front cross sectional view of the fluid delivery device shown in  FIG.  1    taken along a plane indicated by line  3 A- 3 A; 
         FIG.  3 B  is a front cross sectional view of the fluid delivery device of  FIG.  3 A  shown in the deployed position; 
         FIG.  4    is a trimetric view of a fluid delivery device in accordance with an exemplary embodiment of the present invention; 
         FIG.  5    is a side cross sectional view of the fluid delivery device of  FIG.  4    taken along a plane indicated by line  5 - 5 ; 
         FIG.  6 A  is a trimetric view of a cartridge and a needle of the fluid delivery device shown in  FIG.  4   ; 
         FIG.  6 B  is a trimetric view of the cartridge and the needle shown in  FIG.  6 A  showing the needle coupled to a needle core; 
         FIG.  6 C  is a trimetric view of the cartridge, needle and needle core shown in  FIG.  6 B  along with a needle assembly base; 
         FIG.  6 D  is a trimetric view of the cartridge and needle assembly shown in  FIG.  6 C  along with a lock member; 
         FIG.  6 E  is a trimetric view of the cartridge and needle assembly shown in  FIG.  6 D  along with a button biasing member; 
         FIG.  7    is a trimetric view of the lock member shown in  FIGS.  6 D and  6 E ; 
         FIG.  8    is a partially transparent trimetric view of the needle button of the fluid delivery device shown in  FIG.  4   ; 
         FIG.  9 A  is a trimetric view of the fluid delivery device of  FIG.  4    showing the prefilled cartridge before being inserted into the housing; 
         FIG.  9 B  is a trimetric view of the fluid delivery device of  FIG.  4    showing the prefilled cartridge being inserted into the housing; 
         FIG.  9 C  is a trimetric view of the fluid delivery device of  FIG.  9 B  with the housing and a portion of the needle button removed; 
         FIG.  9 D  is a trimetric view of the fluid delivery device of  FIG.  9 B  showing the cartridge assembly fully inserted and the needle assembly in the initial position; 
         FIG.  9 E  is a trimetric view of the fluid delivery device of  FIG.  9 B  showing the cartridge and needle assembly in the engaged position; 
         FIG.  9 F  is a trimetric view of the fluid delivery device of  FIG.  9 B  showing the needle assembly in the deployed and locked position; 
         FIG.  9 G  is a trimetric view of the fluid delivery device of  FIG.  9 B  showing the needle assembly in the deployed and released position; 
         FIG.  9 H  is a trimetric view of the fluid delivery device of  FIG.  9 B  showing the needle assembly in the disengaged and locked position; 
         FIG.  10 A  is a bottom trimetric view of the fluid delivery device of  FIG.  9 B  in the initial position; 
         FIG.  10 B  is a bottom trimetric view of the fluid delivery device of  FIG.  9 B  in the engaged position; 
         FIG.  11    is a trimetric view of a needle in accordance with an exemplary embodiment of the present invention; 
         FIG.  12    is a trimetric view of a needle in accordance with an exemplary embodiment of the present invention; 
         FIG.  13 A  is a side cross sectional view of a fluid delivery device in accordance with an exemplary embodiment of the present invention; 
         FIG.  13 B  is a side cross sectional view of the fluid delivery device of  FIG.  13 A  shown in a deployed position; 
         FIG.  14 A  is a cross sectional exploded view of a portion of a fluid delivery device in accordance with an exemplary embodiment of the present invention; 
         FIG.  14 B  is a side cross sectional view of the fluid delivery device of  FIG.  14 A  shown in a deployed position; 
         FIG.  15    is a top trimetric exploded view of a portion of a fluid delivery device in accordance with an exemplary embodiment of the present invention; 
         FIG.  16 A  is a top cross sectional view of the fluid delivery device of  FIG.  15    taken along a plane indicated by line  16 A- 16 A of  FIG.  16 C ; 
         FIG.  16 B  is a side cross sectional view of the fluid delivery device of  FIG.  15    shown in a deployed position; 
         FIG.  16 C  is a front cross sectional view of the fluid delivery device of  FIG.  15    shown in an initial position; 
         FIG.  17 A  is a trimetric view of a fluid delivery device in accordance with an exemplary embodiment of the present invention with the housing removed; 
         FIG.  17 B  is a first trimetric view of the fluid delivery device of  FIG.  17 A  shown in the deployed position; 
         FIG.  17 C  is a second trimetric view of the fluid delivery device of  FIG.  17 A  shown in the deployed position; 
         FIG.  17 D  is a trimetric view of the needle from the fluid delivery device of  FIG.  17 A ; 
         FIG.  18 A  is a trimetric view of a fluid delivery device in accordance with an exemplary embodiment of the present invention with the housing removed and in an initial position; 
         FIG.  18 B  is a trimetric view of the fluid delivery device of  FIG.  18 A  shown in the partially deployed position; 
         FIG.  18 C  is a trimetric view of the fluid delivery device of  FIG.  18 A  shown in the deployed position; 
         FIG.  18 D  is a trimetric view of the fluid delivery device of  FIG.  18 A  shown in the release position; 
         FIG.  18 E  is a trimetric view of the fluid delivery device of  FIG.  18 A  shown in the locked position; 
         FIG.  18 F  is a trimetric view of the needle from the fluid delivery device of  FIG.  18 A ; 
         FIG.  19    is a trimetric view of a fluid delivery device in accordance with an exemplary embodiment of the present invention with the housing removed and in an initial position; 
         FIG.  20 A  is a side view of a fluid delivery device in accordance with an exemplary embodiment of the present invention in an initial position; 
         FIG.  20 B  is a side cross sectional view of the fluid delivery device shown in  FIG.  20 A ; 
         FIG.  20 C  is a side view of the fluid delivery device of  FIG.  20 A  shown in a deployed position; 
         FIG.  20 D  is a side cross sectional view of the fluid delivery device shown in  FIG.  20 C ; 
         FIG.  21 A  is a trimetric view of a fluid delivery device in accordance with an exemplary embodiment of the present invention with the housing removed and in an initial position; 
         FIG.  21 B  is a trimetric view of the fluid delivery device shown in  21 A with the button removed; 
         FIG.  21 C  is a trimetric view of the fluid delivery device of  FIG.  21 A  shown in a partially deployed position; 
         FIG.  21 D  is a trimetric view of the fluid delivery device of  FIG.  21 A  shown in a deployed position; 
         FIG.  22 A  is a trimetric view of a fluid delivery device in accordance with an exemplary embodiment of the present invention with the housing removed and in an initial position; 
         FIG.  22 B  is a trimetric view of the fluid delivery device of  FIG.  22 A  shown in a deployed position; 
         FIG.  23 A  is a front view of a needle from the fluid delivery device of  FIG.  22 A ; 
         FIG.  23 B  is a side view of the needle shown in  FIG.  23 A ; 
         FIG.  24 A  is a trimetric view of a fluid delivery device in accordance with an exemplary embodiment of the present invention with the housing removed and in an initial position; 
         FIG.  24 B  is a trimetric view of the fluid delivery device of  FIG.  24 A  shown in a deployed position; 
         FIG.  25 A  is a trimetric view of a vial assembly for use with a fluid delivery device in accordance with an exemplary embodiment of the present invention with the housing removed; 
         FIG.  25 B  is a side cross sectional view of the fluid delivery device shown in  FIG.  25 A ; 
         FIG.  25 C  is a side cross sectional view of the fluid delivery device of  FIG.  25 A  shown in the deployed position; 
         FIG.  26 A  is a side cross sectional view of a fluid delivery device in accordance with an exemplary embodiment of the present invention shown in an initial position; 
         FIG.  26 B  is a side cross sectional view of the fluid delivery device of  FIG.  26 A  shown in a first partially deployed position; 
         FIG.  26 C  is a side cross sectional view of the fluid delivery device of  FIG.  26 A  shown in a second partially deployed position; 
         FIG.  26 D  is a side cross sectional view of the fluid delivery device of  FIG.  26 A  shown in a deployed position; 
         FIG.  27 A  is a trimetric cross sectional view of a portion of a fluid delivery device in accordance with an exemplary embodiment of the present invention shown in an initial position; and 
         FIG.  27 B  is a trimetric cross sectional view of the fluid delivery device of  FIG.  27 A  shown in a deployed position. 
         FIG.  28 A  is a trimetric view of a front of a fluid delivery device in accordance with an exemplary embodiment of the present invention; 
         FIG.  28 B  is a trimetric view of a bottom of the fluid delivery device shown in  FIG.  28 A  with the bottom of the housing and a portion of the cartridge removed for clarity; 
         FIG.  28 C  is a trimetric view of a bottom of the fluid delivery device shown in  FIG.  28 B  with the door closed; 
         FIG.  28 D  is a trimetric view of a rear of the fluid delivery device shown in  FIG.  28 B  in the deployed state; 
         FIG.  29 A  is a trimetric view of a needle assembly in accordance with an exemplary embodiment of the present invention; 
         FIG.  29 B  is a cross sectional view of the needle assembly shown in  FIG.  29 A ; 
         FIG.  29 C  is a trimetric view of the needle assembly shown in  FIG.  29 C  in the deployed position; 
         FIG.  29 D  is a cross sectional view of the needle assembly shown in  FIG.  29 C ; 
         FIG.  30 A  is a trimetric view of the bottom of a fluid delivery device in accordance with an exemplary embodiment of the present invention with the cartridge ready to be inserted and the base is removed for clarity; 
         FIG.  30 B  is a trimetric view of the bottom of the fluid delivery device shown in  FIG.  30 A  with the cartridge being inserted; 
         FIG.  30 C  is a reversed trimetric view of the bottom of the fluid delivery device shown in  FIG.  30 A  with the cartridge inserted; 
         FIG.  30 D  is a reversed trimetric view of the bottom of the fluid delivery device shown in  FIG.  30 C  with the cartridge inserted and the base plate removed for clarity; 
         FIG.  30 E  is an enlarged partial trimetric view of the bottom of the fluid delivery device shown in  FIG.  30 C ; 
         FIG.  30 F  is an enlarged partial trimetric view of the fluid delivery device shown in  FIG.  30 A  showing the cartridge interface of the manifold; 
         FIG.  30 G  is a partial cross sectional trimetric view of fluid delivery device shown in  FIG.  30 A  showing the cartridge interface and oil trumpet seal when closed; 
         FIG.  30 H  is a partial cross sectional trimetric view of the fluid delivery device shown in  FIG.  30 G  with the oil trumpet seal open; 
         FIG.  30 I  is a trimetric view of the valve stem of the fluid delivery device shown in  FIG.  30 A ; 
         FIG.  31 A  is a trimetric view of a fluid delivery device in accordance with an exemplary embodiment of the present invention with the cover partially cut away, the fluid reservoir partially inserted and the hydraulic fluid path closed; 
         FIG.  31 B  is a trimetric detail view of a fluid delivery device shown in  FIG.  31 A  with the fluid manifold, fluid reservoir, seal and cover removed for clarity; 
         FIG.  31 C  is a partial cross section view of a fluid delivery device shown in  FIG.  31 A  with the fluid reservoir partially inserted, the hydraulic fluid path closed, and an accumulation chamber connected; 
         FIG.  31 D  is a trimetric view of a fluid delivery device shown in  FIG.  31 A  with the cover partially cut away, the fluid reservoir fully inserted, and the hydraulic fluid path open; 
         FIG.  31 E  is a trimetric detail view of a fluid delivery device shown in  FIG.  31 D  with the fluid manifold, fluid reservoir, seal and cover removed for clarity; 
         FIG.  31 F  is a partial cross section view of a fluid delivery device shown in  FIG.  31 D  with the fluid reservoir fully inserted, and the hydraulic fluid path open; 
         FIG.  31 G  is a partial trimetric view of a fluid delivery device shown in  FIG.  31 A  with the hydraulic fluid path closed; 
         FIG.  31 H  is a partial trimetric exploded view of a fluid delivery device shown in  FIG.  31 A  with the stem above the manifold; 
         FIG.  31 I  is a trimetric section view of the stem of the fluid delivery device shown in  FIG.  31 A ; 
         FIG.  32 A  is a cross sectional view of a fluid delivery device in accordance with an exemplary embodiment of the present invention with the cartridge ready to be inserted; 
         FIG.  32 B  is a cross sectional view of the fluid delivery device shown in  FIG.  32 A  with the cartridge inserted; 
         FIG.  33 A  is a cross sectional view of a fluid delivery device in accordance with an exemplary embodiment of the present invention with the cartridge ready to be inserted; 
         FIG.  33 B  is a cross sectional view of a fluid delivery device shown in  FIG.  33 A  with the cartridge when inserted but not yet rotated into the housing; 
         FIG.  33 C  is a cross sectional view of a fluid delivery device shown in  FIG.  33 A  with the cartridge inserted and rotated into the housing; 
         FIG.  34 A  is a partial cross sectional view of a fluid delivery device in accordance with an exemplary embodiment of the present invention with no cartridge inserted and the accumulator fluidly connected; 
         FIG.  34 B  is a partial cross sectional view of the fluid delivery device shown in  FIG.  34 A  with the cartridge partially inserted; 
         FIG.  34 C  is a partial cross sectional view of the fluid delivery device shown in  FIG.  34 A  with the cartridge fully inserted and the accumulator isolated; 
         FIG.  35 A  is a trimetric view of a cartridge and manifold of a fluid delivery device in accordance with an exemplary embodiment of the present invention with the cartridge ready to be inserted; 
         FIG.  35 B  is a cross section side view of the cartridge and manifold shown in  FIG.  35 A  with the cartridge ready to be inserted; 
         FIG.  35 C  is a cross section side view of the cartridge and manifold shown in  FIG.  35 A  with the cartridge inserted; 
         FIG.  35 D  is a cross section end view of the cartridge and manifold shown in  FIG.  35 C ; 
         FIG.  35 E  is a cross section end view of the cartridge and manifold shown in  FIG.  35 C  with the cartridge inserted and rotated; 
         FIG.  36 A  is a trimetric view of the cartridge and manifold of a fluid delivery device in accordance with an exemplary embodiment of the present invention with the cartridge ready to be inserted; 
         FIG.  36 B  is a cross section side view of the cartridge and manifold shown in  FIG.  36 A  with the cartridge ready to be inserted; 
         FIG.  36 C  is a cross section side view of the cartridge and manifold shown in  FIG.  36 A  with the cartridge inserted; 
         FIG.  36 D  is a cross section end view of the cartridge and manifold shown in  FIG.  36 A  with the cartridge inserted; 
         FIG.  36 E  is a cross section end view of the cartridge and manifold shown in  FIG.  36 A  with the cartridge inserted and rotated; 
         FIG.  37 A  is a trimetric view of a cartridge and manifold of a fluid delivery device in accordance with an exemplary embodiment of the present invention with the cartridge ready to be inserted; 
         FIG.  37 B  is a cross section side view of the cartridge and manifold shown in  FIG.  37 A  with the cartridge ready to be inserted; 
         FIG.  37 C  is a cross section side view of the cartridge and manifold shown in  FIG.  37 A  with the cartridge inserted; 
         FIG.  37 D  is a cross section side view of the cartridge and manifold shown in  FIG.  37 A  with the cartridge inserted and sealing shutter removed; 
         FIG.  38 A  is a trimetric view of a cartridge and manifold of a fluid delivery device in accordance with an exemplary embodiment of the present invention with the cartridge ready to be inserted; 
         FIG.  38 B  is a cross section side view of the cartridge and manifold shown in  FIG.  38 A  with the cartridge ready to be inserted; 
         FIG.  38 C  is a cross section side view of the cartridge and manifold shown in  FIG.  38 A  with the cartridge inserted and the pierced membrane removed for clarity; 
         FIG.  39 A  is a cross section side view of a cartridge and manifold of a fluid delivery device in accordance with an exemplary embodiment of the present invention with the cartridge ready to be inserted; 
         FIG.  39 B  is a cross section side view of the cartridge and manifold shown in  FIG.  39 A  with the cartridge inserted; 
         FIG.  40 A  is a trimetric view of a cartridge and manifold of a fluid delivery device in accordance with an exemplary embodiment of the present invention with the cartridge ready to be inserted; 
         FIG.  40 B  is a cross section side view of the cartridge and manifold shown in  FIG.  40 A  with the cartridge ready to be inserted; 
         FIG.  40 C  is a cross section side view of the cartridge and manifold shown in  FIG.  40 B  with the cartridge inserted and the pierced membrane removed for clarity; 
         FIG.  40 D  is a trimetric view of the cartridge and manifold shown in  FIG.  40 B  with the cartridge inserted in a non-continuous manifold; 
         FIG.  40 E  is a cross section side view of the cartridge and manifold of a fluid delivery device in accordance with an exemplary embodiment of the present invention with the cartridge ready to be inserted; 
         FIG.  40 F  is a cross section side view of the cartridge and manifold shown in  FIG.  39 E  with the cartridge inserted; 
         FIG.  41 A  is a trimetric view of a cartridge and manifold of a fluid delivery device interface in accordance with an exemplary embodiment of the present invention with the cartridge ready to be inserted; 
         FIG.  41 B  is a cross section side view of the cartridge and manifold shown in  FIG.  41 A  with the cartridge ready to be inserted; 
         FIG.  41 C  is a trimetric view of the cartridge and manifold shown in  FIG.  41 A  with the deformable face seal in its deformed state and the cartridge removed for clarity; 
         FIG.  41 D  is a cross section side view of the cartridge and manifold shown in  FIG.  41 A  with the cartridge inserted and deformable face seal in its deformed configuration; 
         FIG.  42 A  is a cross section side view of a cartridge and manifold of a fluid delivery device in accordance with an exemplary embodiment of the present invention with the cartridge ready to be inserted; 
         FIG.  42 B  is a cross section side view of the cartridge and manifold shown in  FIG.  41 A  with the cartridge inserted; 
         FIG.  43 A  is a cross section side view of a fluid delivery device in accordance with an exemplary embodiment of the present invention before inserting the cartridge; and 
         FIG.  43 B  is a cross section side view of the fluid delivery device shown in  FIG.  43 A  with the cartridge inserted. 
     
    
    
     DETAILED DESCRIPTION OF THE INVENTION 
     Referring to  FIGS.  1 - 3 B , an exemplary fluid delivery device  110  is shown. In one embodiment, fluid delivery device  110  is a discrete ambulatory insulin delivery pump. Fluid delivery device  110  may be single use, disposable and incapable of reuse. Fluid delivery device  110  may provide therapeutic capability in a small, single use, disposable package and can be produced using high volume manufacturing fabrication (e.g., injection molding) and assembly processes, allowing for low cost of goods. Devices of the invention can be used for a broad range of applications, including, but not limited to, clinical applications (e.g., administration of medicaments, etc.) and biomedical research (e.g., microinjection into cells, nuclear or organelle transplantation, isolation of single cells or hybridomas, etc.). 
     In one embodiment, fluid delivery device  110  is a device for dispensing, delivering, or administering the fluid or agent to the user or patient. The fluid may be a low viscosity gel agent and or a therapeutic agent. In one embodiment, the fluid is an analgesic agent. In one embodiment, the fluid is insulin of any type. In one embodiment, the fluid is a U100 insulin. In another embodiment the fluid is a U200 insulin. In another embodiment the fluid is a U300 insulin. In another embodiment, the fluid is a U500 insulin. In another embodiment the fluid is any insulin between U100 and U500. In other embodiments, the fluid may be, but is not limited to, opiates and/or other palliatives or analgesics, hormones, psychotropic therapeutic compositions, or any other drug or chemical whose continuous dosing is desirable or efficacious for use in treating patients. 
     Single fluids and combinations of two or more fluids (admixed or co-administered) may be delivered using fluid delivery device  110 . As used herein “patients” or “user” can be human or non-human animals; the use of fluid delivery device  110  is not confined solely to human medicine, but can be equally applied to veterinarian medicine. 
     Fluid delivery device  110  may dispense the fluid over a sustained period of time (i.e., basal delivery). In one embodiment, the fluid delivery rate is continuously or near continuously delivered to the user over the sustained period of time. Fluid delivery device  110  may also be capable of dispensing a supplementary amount of fluid, in addition to the basal amount, on demand, under patient control (i.e., bolus delivery). In one embodiment, the bolus amount delivered in a single, selectable administration is pre-determined. In some embodiments, fluid delivery device  110  is hydraulically actuated and comprises one or more reservoirs or chambers containing hydraulic fluid of a suitable viscosity for transferring power from one or more actuators to the fluid and controlling the delivery rate as discussed further below. 
     Referring to  FIG.  1   , for example, the fluid delivery device  110  shown includes a housing  112  and an adhesive bottom surface  114  such as a foam pad. 
     Referring to  FIG.  2   , fluid delivery device  110  includes a cartridge  222  having a fluid reservoir  220  containing the medicament. The fluid delivery device  110  may include one or more actuators  226  (such as a basal actuator),  228  (such as a bolus actuator) that act on and move piston  224  within cartridge  222 . 
     Referring to  FIGS.  3 A and  3 B , a needle  330  may be deployed to fluidly couple fluid reservoir  220  and the patient. Needle  330  may be coupled to a button  332  and the needle  330  may be bent such that a translation of button  332  toward the patient causes a fluid coupling end  330   a  to be fluidly coupled to fluid reservoir  220  and a delivery end  330   b  to extend from bottom surface  114 . 
     Liquid pharmaceuticals for subcutaneous delivery medicaments are commonly packaged in cartridges or vials having a fluid reservoir. These cartridges that are filled prior to coupling with a fluid deliver device may be referred to as prefilled cartridges or prefilled reservoirs. In some embodiments, it is desirable to be able to load these prefilled cartridges or cartridge assemblies into a fluid delivery device for ease of handling rather than have to fill a reservoir already inside of the device. 
     A cartridge is normally a cylinder reservoir with a septum seal on one end and a piston or plunger inside at an opposite end. The medicament is delivered by fluidly connecting the material inside of the cartridge reservoir through the septum with the patient&#39;s body and then pressing on the piston to move the piston along the axis. Due to manufacturing preferences, the septum may be a planar element at the end of the cartridge. Also, in a skin secured device, it is desirable to minimize the height of the device, therefore the extended axis of the cartridge is usually positioned substantially parallel to the base of the device. The result is that the flat septum lies in a plane generally perpendicular to the surface of the skin. 
     Making a fluidic connection between the reservoir and the patient&#39;s skin requires elements of the fluidic path to move in essentially perpendicular directions; parallel to the axis of the reservoir and perpendicular to the patients skin. In one embodiment, the fluidic path is moved in a first direction to penetrate the cartridge septum and a second to penetrate the skin of the user. In other embodiments, the fluidic path penetrates the cartridge septum and the user&#39;s skin simultaneously or the fluidic path first penetrates the skin of the user before penetrating the cartridge septum. 
     A device that contains a needle may also control the potential for the needle to be exposed when it is not supposed to be deployed to minimize the chance for an unintended needle stick or contamination. This control may function before and after the device&#39;s use. 
     Embodiments of the present invention may allow for making a liquid connection between a septum sealed container within a device positioned on the skin and the subcutaneous region of the skin without the manual manipulation of a needle, syringe or infusion set. Such embodiments may allow a needle to connect a container of liquid with a flat septum seal substantially perpendicular to the skin with the subcutaneous region of the skin by the user pressing a button or other simple actuation. In some embodiments, the needle is not straight. In some embodiments, the needles are moved in multiple directions to both penetrate the septum seal and the user&#39;s skin by a single actuation of the user (e.g., pressing a button). 
     It is therefore desired to have a simple to use mechanism that allows a single user operation connection between a liquid vessel with a flat septum perpendicular to the skin and subcutaneous skin levels. The mechanism may place one end of a small diameter needle (e.g., a 25 gage or smaller) into the skin and create a liquid path with a previously sealed vial through a septum seal where the vial is in its final position relative to the skin. The system may also be able to be triggered to retract the needle from the skin once the user desires to remove the device such as when the infusion is complete. 
     Embodiments herein may address the need for a mechanism that is simple to operate and can make the required liquid connection from a septum seal perpendicular to the surface of the skin and the users subcutaneous skin with a continuous needle. The embodiments may also include a needle assembly mounted to a door or a cover for the housing. 
     The fluid delivery system or device according to embodiments of the present invention may exist in three states: an initial state where the needle is not in fluid communication with the fluid reservoir, a primed state where the needle is in fluid communication with the fluid reservoir but the needle is not deployed into the user&#39;s tissue, and a deployed state where the needle is in the skin and is in fluid communication from the inside of the fluid reservoir to the tissue of the user. The needle may be moved from the initial state to the primed state to the deployed state and, in some embodiments, back to the primed state. In alternative embodiments, the needle may be deployed into the user&#39;s tissue prior to or simultaneously with the fluid connection being made between the needle and the fluid reservoir. Following use, the needle may be retracted and retained in the housing to prevent further use. 
     With the cartridge in place in the fluid delivery device, according to some embodiments, the delivery device is in its initial state. Closing a latch such as a door may force the fluid coupling end of the needle through the fluid reservoir septum and the device is in its primed state. By pressing the button on the device, the distal delivery end of the needle is moved into the user&#39;s tissue and latches and the device is in its deployed state. Releasing the latch and allowing the needle&#39;s delivery end to leave the tissue returns the device to its primed or initial state. 
     Embodiments of the delivery needles disclosed herein may be used with various fluid delivery devices such as the fluid delivery devices disclosed in U.S. Patent Application Publication No. 2013/0046239, U.S. Patent Application Publication No. 2011/0306929, and U.S. Pat. No. 7,481,792 that are hereby incorporated by reference in their entirety. The cartridges and other components of these fluid delivery devices may be modified to accommodate the various needle assemblies disclosed herein. 
     In some embodiments, the fluid delivery device includes a housing and a bottom surface configured to be coupled to a skin surface in an engaged position. In one embodiment, a cartridge having a fluid reservoir is coupled to the housing and has a septum. In one embodiment, the septum seals one end of the fluid reservoir and a piston seals the other end. The patient may insert a pre-filled cartridge assembly into the fluid delivery device prior to use. The septum of the cartridge may have a pierceable portion, the portion of the septum pierced by the needle during use. In one embodiment, the cartridge is comprised of glass, or has an inner glass coating, though other materials for the cartridge such as plastic may be used. 
     In some embodiments, a needle assembly having a needle or needles may be used to fluidly couple the septum with the skin surface with the desired motion by the user or be configured to automatically deploy upon use of the device. The needle may have a delivery end and a fluid coupling end. Initially, the fluid coupling end may be fluidly disengaged from the fluid reservoir, (e.g., an initial or pre-fluid delivery position). The delivery end of the needle may also be spaced above the bottom surface of the fluid delivery device such that both ends of needle are contained within the cartridge assembly in the initial position. After the cartridge assembly is inserted into the fluid delivery device and the device is adhered to the skin surface, the fluid coupling end of the needle may be extended through the pierceable portion of the septum and the delivery end of the needle may be extended through the bottom surface of the fluid delivery device either simultaneously, at offset times or separately such that fluid reservoir is fluidly coupled with the patient during use (e.g., a deployed, in-use or fluid delivery position). After use, the needle may be retracted back into the housing and prevented from further deployment. 
     In some embodiments, where the system is driven by a hydraulic fluid, the hydraulic fluid must be contained securely in the device prior to the cartridge being installed. Once installed, the fluid or fluid driven element is operable to push the cartridge piston with minimal and preferably no compressible volume between the two. 
     Referring to  FIGS.  4 - 5   , an exemplary the fluid delivery device  410  is shown that includes a housing  412  having an insertable prefilled cartridge assembly  450 . The fluid delivery device  410  may include an adhesive bottom surface  414  such as a foam pad to attach the fluid delivery device  410  to the skin of the patient. The fluid delivery device  410  may include one or more actuators (such as an internal basal actuator and/or a bolus actuator  428 ) that act on the piston  424  within cartridge assembly  450 . In one embodiment, the one or more actuators drive a hydraulic fluid that acts on the piston  424 . 
     Referring to  FIGS.  6 C- 6 E , fluid delivery device  410  may have a cartridge assembly  450  that contains a cartridge  422  prefilled with a liquid before the cartridge assembly  450  is inserted into the fluid delivery device  410 . In one embodiment, the cartridge assembly  450  includes a needle assembly  443  having a mechanism to manage the movement of the needle  430 . The cartridge assembly  450  may be comprised of a number of components to position and control the motion of enclosed parts. The cartridge assembly  450  may be generally flush with the housing  412  in the deployed position (see  FIG.  4   ). In one embodiment, the cartridge assembly  450  includes a panel  450   a  that forms part of the top of the fluid delivery device  410  in the deployed position. 
     Referring to  FIG.  5   , an exemplary embodiment of the inside of the fluid delivery device  410  is shown. The cartridge  422  may include a fluid reservoir  420 , a piston  424  slideable within the fluid reservoir  420  and a pierceable septum  418 . In one embodiment, a crimp cap  419  seals the septum  418  to the end of the cartridge  422 . As discussed in further detail below, the needle  430  may be configured so that the fluid coupling end  430   a  can penetrate the septum  418  through the motion of the needle  430  generally along the axis of the cartridge  422  and the delivery end  430   b  (see  FIG.  6 A ) can penetrate the skin of the patient through the compression of a flexible coiled central portion  430   c  of the needle  430  allowing the fluid delivery end  430   b  of the needle  430  to move along its axis into the skin without displacing the fluid coupling end  430   a  of the needle  430 . 
     Referring to  FIG.  6 B , the needle  430  may be secured within a needle core  425  proximal to the fluid delivery end  430   b  of the needle  430  but distal to the central portion  430   c . The needle core  425  may be generally cylindrical in shape. In other embodiments, the needle core  425  is rectangular or has cross or triangular cross sectional shape. In one embodiment, the needle  430  from the fluid delivery end  430   b  extends up through the center of the needle core  425  and then wraps around and down the outside of the needle core  425  toward the fluid coupling end  430   a  of the needle  430 . In one embodiment, the central portion  430   c  of the needle  430  has a flexible serpentine or helically shaped form in the initial position. The needle  430   a  may be secured to the needle core  425  such that at least the depth the needle  430  has to penetrate the tissue extends distally out of the needle core  425 . In one embodiment, the distance the fluid delivery end  430   a  of the needle  430  extends from the needle core  425  is between approximately 1 mm and approximately 15 mm. The needle  430  may be secured to the needle core  425  by ultrasonic welding, heat staking, adhesive, an interference fit, one or more snap fits, or a combination of these. In one embodiment, the needle core  425  is hollow except for a region at the proximal or top end for securing the needle  430  to allow the fluid delivery end  430   b  to freely flex or float relative to the fluid delivery device  410 . In one embodiment, the needle core  425  includes a grove  425   a  that the needle  430  extends through. In one embodiment, the needle core  425  is joined to the button  440  creating the needle assembly  443  comprising of the needle  430 , the needle core  425  and the button  440 . 
     Referring to  FIG.  6 C , the cartridge assembly may include an assembly body  480  that supports the needle core  425  and the cartridge  422 . The assembly body  480  may include a boss  482  that receives and guides the needle core  425 . In one embodiment, the needle core  425  slides within the boss  482 . The fluid coupling end  430   a  of the needle  430  may extend from the septum  418  a sufficient distance such that moving the needle assembly  443  (see  FIG.  9 C ) toward the cartridge  422  extends the fluid coupling end  430   a  of the needle  430  into the fluid reservoir  420 . In one embodiment, the distance the needle  430  may be moved toward and through the septum  418  in the initial position is between approximately 1 and approximately 15 mm. The needle  430  close to the fluid coupling end  430   a  may be secured to the assembly body  480 , such as to the boss  482 , to maintain the position of the fluid coupling end  430   a  relative to the axis of the cartridge  422 . In one embodiment, the needle  430  is attached to the assembly body  480  by ultrasonic welding, heat staking, extending through a feature such as an aperture, an interference fit or by an adhesive. 
     In one embodiment, the needle core  425  is configured to slide within the boss  482  such that the delivery end  430   b  of the needle  430  is retained within the needle assembly  443  in the initial position and extends from the bottom of the assembly body  480  in the deployed position. In one embodiment, the boss  482  is a round cylindrical tube with an inside diameter matched to the outside diameter of needle core  425 . The boss  482  may be integral with the assembly body  480 . In other embodiments, the boss  482  is attached to the assembly body  480 . 
     Referring to  FIGS.  6 D and  6 E , the cartridge assembly  450  may include a lock member  435 . The lock member  435  may be rotatably coupled to the boss  482 . In one embodiment, the lock member  435  has an inside diameter with a slip fit around the outside diameter of the boss  482 . The lock member  435  may extend from the bottom of the assembly body  480  to the fluid coupling end  430   a  and the bottom loop of the needle  430 . The lock member  435  is configured to rotate about the boss  482  to lock or allow actuation of the needle  430  depending on the angular position of the lock member  435  about the boss  482 . The lock member  435  may be retained axially in place by a retention member  480   c  such as a hook that extends over and engages a bottom lip  435   a  of the lock member  435 . 
     Referring to  FIG.  7   , the lock member  435  may include one more features to control and limit the motion of the needle  430 . The lock member  435  may include an opening  435   b  that is configured to receive the boss  482 . The lock member  435  may include one or more lips and ramps to control the vertical motion of the needle  430  relative to the assembly body  480 . In one embodiment, the lock member  435  includes a first top lip  435   f , a first ramp  435   g , a bottom lip  435   c , a transition space  435   d , a second ramp  435   h  and a second top lip  435   j . In one embodiment, the lock member  435  is configured such that latch  440   a , discussed further below, is retained on the first top lip  435   f  in the initial position, slides down first ramp  435   g  during deployment, latches onto bottom lip  435   c  during use, slides through transition space  435   d  and up second ramp  435   h  during retraction and is retained on the second top lip  435   j  in the final locked out position. 
     The lock member  435  may include one or more features that control the rotational position of the lock member  435  relative to the boss  482 . In one embodiment, the lock member  435  includes a pivot arm  435   e . In one embodiment, the pivot arm  435   e  is diametrically opposed from lip and ramp features. The pivot arm  435   e  may include a stop member  435   i.    
     Referring to  FIG.  8   , the needle assembly  435  may include a button  440 . The button  440  may be coupled to the needle core  425  to move the needle core  425  and the needle  430  relative to the assembly body  480  and the lock member  435 . The button  440  may be secured to the needle core  425  by ultrasonic welding, heat staking, an adhesive or by an interference fit. The button  440  and the assembly body  480  may form a housing for the needle assembly  443 . The button  440  may include the latch  440   a . The latch  440   a  may extend toward the open center of the button  440 . The latch  440   a  may include a flexible arm. In one embodiment, the latch  440   a  can flex toward and away from the center of the button  440  but the latch  440   a  cannot stretch or be compressed lengthwise. In one embodiment, the latch  440   a  is biased to flex towards and away from the lock member  435  verses side to side by being significantly larger in the side to side dimension than in the dimension to and from the lock member  435 . The button may include one or more tabs  440   b  that extend toward the open center of the button  440 . The button  440  may include a hole or notch  440   c . In one embodiment, the tab  440   b  and the notch  440   c  are on opposing ends of the button  440  and the latch  440   a  is on a side of the button  440 . 
     Referring to  FIG.  6 E , a biasing member  441  may be coupled between the assembly body  480  and the button  440  to bias the button  440  and the needle assembly  443  away from the assembly body  480 . In one embodiment, the biasing member  441  is a torsion spring. In other embodiments, the biasing member  441  is a coil spring. The button  440  may include one or more features such a tab  440   b  that engage with the assembly body  480  such as groove  480   a  (see  FIG.  6 E ) to help guide the motion of the button  440  relative to the assembly body  480  and prevent the button  440  from traveling too far away from the assembly body  480 . 
     In one embodiment, the position of the needle assembly  443  relative to the cartridge  422  is controlled by the position of the lock member  435 . In one embodiment, the position of the lock member  435  is controlled by the status of the insertion of the cartridge assembly  450  into the fluid delivery device  410 . 
     Referring to  FIGS.  7  and  8   , in the initial state the first top lip  435   f  may block the latch  440   a  from going down and thus prevents the attached needle  430  from being deployed. In one embodiment, in this initial state, the pivot arm  435   e  is positioned to block the relative motion between the assembly body  480  and cartridge  422  thus preventing the fluid coupling end  430   a  of the needle  430  from penetrating the reservoir septum  418 . In one embodiment, the pivot arm  435   e  includes a stop  435   i  that hooks over the back of the assembly body  480  to reinforce the blocking of the cartridge  422  motion. 
     In a second state, the lock member  435  has been rotated clockwise to a second position. In this second position, the lock member  435  is rotated clockwise a sufficient distance to move the pivot arm  435   e  away from the cartridge  422  so that the assembly body  480  and the cartridge  422  can be pushed together resulting in the fluid connecting end of the needle  430  penetrating the septum  418 . This creates a fluid path from inside the fluid reservoir  420  through the needle  430  to the atmosphere. This temporary situation allows any pressure that may have built up in the fluid reservoir  420  to escape without delivering a sudden excess dose to the patient. The first top lip  435   f  extends far enough around the lock member  435  so that in this second state the first top lip  435   f  still blocks the latch  440   a  and thus the needle assembly  443  from going down and thus prevents the needle  430  from being deployed. 
     In a third state, the lock member  435  has been rotated clockwise to a third position. In this third position, the lock member  435  may be rotated a sufficient distance to align the first ramp  435   g  with the latch  440   a . In this position, pressing down on the top of the button  440  can move the needle assembly  443  down as the first top lip  435   f  is no longer blocking the latch  440   a . As the needle  430 , needle core  425  and button  440  move down, the latch  440   a  is flexed outward by the shape of the first ramp  435   g . When fully depressed, the fluid delivery end  430   b  of the needle is deployed to the desired depth into the patient and the end of the latch  440   a  snaps under the bottom lip  435   c . The bottom lip  435   c  retains the latch  440   a  and prevent button  440  from rising under the force of biasing member  41  thus retaining delivery end  430   a  of the needle  430  at the proper delivery depth during fluid delivery. The fluid connection between the cartridge  422  and the patient tissue is now complete and the controlled delivery of the medicament can begin. 
     Once the delivery of medicament is complete, the lock member  435  may be rotated clockwise to a fourth position resulting in a fourth state. In this fourth position, the lock member  435  may be rotated a sufficient distance to align the second ramp  435   h  with the latch  440   a . As there is no longer a ledge retaining latch  440   a , the needle assembly  443  can move under the force of the biasing member  441 , flexing the latch  440   a  outward returning the needle  430  to its retracted position. In this final position, the latch  440   a  snaps back in and positions the latch  440   a  on the second top lip  435   j . The second top lip  435   j  blocks latch  440   a  from going down preventing the needle  430  from being redeployed. 
     In one embodiment, the pressure to deploy the needle  430  is supplied by the user&#39;s finger. In another embodiment, the pressure to deploy the needle  430  is supplied by a biasing member that is part of the fluid delivery device  410 . In one embodiment, the biasing member includes one or more torsion or coil springs. In one embodiment, the biasing member is comprised of one or more elastomeric or plastic components. 
     In one embodiment, the pressure to retract the needle  430  is supplied by a biasing member that is part of the fluid delivery device  410 . In one embodiment, the biasing member consists of one of more torsion springs. In one embodiment, the biasing member consists of one of more coil springs inside of the central section  430   c  of the needle  430 , positioned under the needle core  425  inside of the boss  482 , or next to the boss  482 . In one embodiment, the pressure to retract the needle  430  is supplied by needle&#39;s elastic deformation. In one embodiment the biasing member may be one of more elastomeric or plastic components. In one embodiment, the pressure to retract the needle  430  is supplied by removing the force applied by the biasing member or members that are used to deploy the needle  430 . 
     Referring to  FIGS.  9 B and  9 C , in use, a user takes the cartridge assembly  450  having a cartridge  422  prefilled with a fluid and inserts the cartridge  422  into a mating sealing receptacle  452  in the fluid delivery device  410 . In one embodiment, the cartridge  422  is inserted at an angle so that the needle assembly  443  clears the retaining members  412   b  in the housing. In one embodiment the cartridge  422  is initially separate from the remainder of the cartridge assembly  450 , and the cartridge  422  is first inserted into the cartridge assembly  450  before inserting the cartridge assembly  450  into the housing  412 . 
     Referring to  FIGS.  9 B- 9 D , in use, the cartridge assembly  450  may be snapped down into the fluid delivery device  410  such that a retention clip  445  holds the fluid reservoir in position. The needle assembly  443  may be coupled to the fluid delivery device by one or more retaining members  412   b  that extend through and latch onto the assembly body  480 . In one embodiment, a cam member  412   a  extends up through an opening in the assembly body  480  when the cartridge assembly  450  is snapped down into place. This cam member  412   a  has a profiled surface that engages with the end  435   k  of base lip  435   a  of the lock member  435  to rotate the lock member  435  clockwise and into the second position. 
     Referring to  FIG.  9 E , once the lock member  435  is in the second position and the pivot arm  435   e  is out of the way, the user may press the assembly body  480  along the axis of the cartridge  422  back into the fluid delivery device  410 . This motion moves the fluid coupling end  430   a  of needle  430  into the fluid reservoir  420  fluidly coupling the needle  430  with the fluid reservoir  420 . Pushing the assembly body  480  fully into the fluid delivery device  410  causes the cam member  412   a  to engage end  435   k  of the lock member  435  to further rotate the lock member  435  clockwise to the third position. In the third position, the one or more retaining members  412   b  engage with the assembly body  480  to retain the needle assembly  443  in place. Once the lock member  435  is in the third position, the device can be activated and secured to the user and deployed before loss of any significant volume of medicament due to the low basal flow rate. 
     Referring to  FIGS.  5 ,  10 A and  10 B , in one embodiment, the fluid delivery device  410  is hydraulically driven with a viscous hydraulic liquid pressing on the proximal side of the plunger  424  within the cartridge  422  to push the medicament through the fluid path where the hydraulic fluid is contained by a valve  460 . In one embodiment, the valve  460  is similar to the valve  3060  as shown and described in  FIG.  30 G . In one embodiment, the valve  460  is similar to the valve  3160  as shown and described in  FIG.  31 I . In one embodiment, once at least in the second position and preferably in the third position, the valve  460  between the stored hydraulic liquid and the inside of the reservoir  420  can be opened. In one embodiment, the valve  460  is a rotary valve coupled to a lever  475  that extends outside of the housing  412 . The valve  460  may be opened by the user turning the lever  475  a sufficient rotational distance such as 90°. 
     The lever  475  may be releasably coupled to the valve  460  by a pair of radially deformable prongs  475   a  (see  FIG.  5   ). In one embodiment, rotation of the lever  475  aligns the prongs  475   a  with an aperture that allows the prongs  475   a  to be pulled out and released from the housing  412 . In one embodiment, the lever  475  is prevented from being moved before the cartridge assembly  450  is inserted. In one embodiment, the lever  475  is prevented from being removed before it is turned sufficiently by a keyed opening in the fluid delivery device  410  that only lines up with the shape of the lever  475  in a position where the valve  460  is open. In one embodiment, the lever  475  extends out of the base of the fluid delivery device  410 . In another embodiment, the lever  475  extends out of the top of the fluid delivery device  410 . In another embodiment the lever  475  extends out of the top of the fluid delivery device  410  and extends to near the end of the fluid delivery device such that it interferes with the button  440  of the cartridge assembly  450  preventing the button  440  from being depressed until the lever  475  is removed. In one embodiment the lever  475  is prevented from being removed before a basal actuator  226  has been activated. In one embodiment rotating the lever  475  activates a basal actuator  226 . 
     Referring to  FIG.  9 F , once the lock member  435  is in the third position, the latch  440   a  is no longer blocked by the first top lip  435   f . In the third position, the button  440  and needle  430  can be depressed deploying the delivery end  430   b  of the needle  430  from the bottom of the fluid delivery device  410  and into the patient as described previously so the medicament can be delivered through the needle  430  until the user is ready to retract the needle  430 . 
     Referring to  FIGS.  9 G and  9 H , once the medicament has been delivered, the user may actuate the needle release button  455 . A protrusion  455   a  extending from the needle release button  455  may extend through an opening  440   c  (see  FIG.  8   ) in the assembly body  480  proximate the lock member  435 . Pressing the needle release button  455  may cause the protrusion  455   a  to contact the end  435   k  of the base lip  435   a  of the lock member  435  to rotate the lock member  435  clockwise and into the fourth position. As the lock member rotates from the third position to the fourth position, the latch  440   a  travels along the transition space  435   d  of the lock member  435  to the second ramp  435   h . When the latch  440   a  is aligned with the second ramp  435   h , the latch  440   a  is no longer axially retrained by the bottom lip  435   c  and the biasing member  441  causes the needle  430  and button  440  to move upwardly relative to the assembly body  480 . As the latch  440   a  slides up the second ramp  435   h , the latch  440   a  is biased outwardly until it passes the second top lip  435   j  (see  FIG.  7   ) and then the latch  440   a  springs back inwardly and engages the second top lip  435   j  preventing the needle  430  from being redeployed. In another embodiment, the protrusion  455   a  may not extend into the assembly body  480  but presses on a flexible portion of the assembly body  480  that then contacts the base lip  435   a  of the lock member  435  to rotate the lock member  435  clockwise and into the fourth position. 
     In an alternate embodiment, a protrusion from the depressed needle release button  455  extends under a portion of the needle  430 , the needle core  425  and/or the button  440  after it retracts to block the needle  430  from being redeployed. 
     Referring to  FIG.  11   , another exemplary embodiment of the needle  1130  is shown. The needle  1130  is similar to needle  430  discussed above except that the center section  1130   c  of needle  1130  bends about an axis parallel with the fluid coupling end  1130   a  of the needle  1130 . The center section  1130   c  allows the delivery end  1130   b  of the needle  1130  to be deployed in and out of tissue generally linearly. The center section  1130   c  distributes strain in the needle  1130   c  allowing the translation of the needle  1130  with less force to keep the travel linear. 
     In one embodiment, the fluid coupling end  1130   a  of the needle  1130  does not rotate when the delivery end  1130   b  is deployed into or retracted from the user&#39;s tissue. 
     In one embodiment, the center section  1130   c  is substantially in a plane coplanar with delivery end  1130   b  of the needle  1130 . In one embodiment, the center section  1130   c  is substantially in a plane generally normal to the fluid coupling end  1130   a  of the needle  1130 . In one embodiment, the center section  1130   c  of the needle  1130  is essentially in a plane that is not normal to the fluid coupling end  1130   a  of the needle  1130  or parallel to the delivery end  1130   b  of the needle  1130 . In one embodiment, the center section  1130   c  is not in a single plane. 
     Referring to  FIG.  12   , there is shown another exemplary embodiment of the needle  1230 . The needle  1230  is similar to the needle  1130  discussed above except that the length of the center section  1230   c  is extended further through additional bends in the needle  810 . Such additional bends in the needle  1230  may allow even more length to distribute the strain and lower bending forces on the center section  1230   c  as the delivery end  1230   b  is deployed along a generally linear path. 
     In one embodiment, by aligning the axes of curvature of the bends in the center section  1230   c , fabrication is simplified as a single linear form and reduced steps are necessary to make the additional bends in the needle  1230 . 
     Referring to  FIGS.  13 A and  13 B , another exemplary embodiment of a fluid delivery device  1310  is shown. 
     In one embodiment, needle  1330  has a three dimensional curved shape. In one embodiment, needle  1330  is bent in at least two planes, and needle  1330  is straight in at least one of the at least two planes. In one embodiment, delivery end  1330   b  of needle  1330  is generally straight and generally perpendicular to bottom surface  1314  of fluid delivery device  1310 . In one embodiment, at the top end of the delivery end  1330   b , needle  1330  bends and a transverse section  1330   c  travels under button  1332 . In one embodiment, once needle  1330  reaches an approximate centerline of fluid reservoir  1320 , fluid coupling end  1330   a  of needle  1330  bends to be generally perpendicular with delivery end  1330   b  and then follows a curved path into the septum  1318 . In one embodiment, the curve in delivery end  1330   b  is a non-uniform radius curve. 
     In one embodiment, extending delivery end  1330   b  of needle  1330  from bottom surface  1314  in the deployed position forces a portion of needle  1330  close to the fluid coupling end  1330   a  of needle  1330  (the curved portion) against a surface  1336  to direct fluid coupling end  1330   a  of needle  1330  into the fluid reservoir  1320 . 
     In one exemplary use, when actuated by pressing button  1332 , delivery end  1330   b  transverses linearly into skin  1334 . Simultaneously, fluid coupling end  1330   a  of needle  1330  travels against ramp form surface  1336  and deforms transverse section  1330   c , predominantly through twisting deformation, resulting in fluid coupling end  1330   a  of needle  1330  penetrating septum  1318  and making a fluid connection with fluid reservoir  1320 . A catch mechanism may be used to hold button  1332  in place and needle  1330  in the deployed position for the duration of use ( FIG.  13 B ). 
     Once finished, the catch on button  1332  may be released and a return spring (not shown) may be used to urge button  1332  and needle  1330  to their original position ( FIG.  13 A ). In addition or alternatively, once the catch releases button  1332 , the torsional spring tension in transverse section  1330   c  may cause needle  1330  to return to its original shape and rotate fluid coupling end  1330   a  back out of fluid reservoir  1320  allowing fluid coupling end  1330   a  to travel up surface  1336  and return needle  1330  to its original position. 
     Referring to  FIG.  14 A- 14 B , another exemplary embodiment of a fluid delivery device  1410  is shown. 
     In order to pierce a septum  1418  that is generally perpendicular to the skin  1434 , a septum attachment  1460  may be provided to add a pierceable portion  1466  at an angle less than 90 degrees relative to the skin surface  1434  in the engaged position. In one embodiment pierceable portion  1466  is generally parallel with skin surface  1434  in the engaged position such that fluid coupling end  1430   a  and delivery end  1430   b  are generally parallel in both the initial and deployed positions. In one embodiment, pierceable portion  1466  is comprised of an elastomeric material. 
     In one embodiment, septum attachment  1460  has an internal cavity  1460   a  and a fluid channel  1462  that fluidly couples fluid reservoir  1420  and cavity  1460   a  in the assembled position. In one embodiment, fluid channel  1462  is a needle having a beveled tip  1462   a . In one embodiment, cavity may be at least partially compressed prior to coupling with septum  1418 . Once coupled to septum  1418  and cavity  1460   a  is fluidly coupled with fluid reservoir  1420 , cavity  1460   a  expands as fluid from fluid reservoir fills cavity  1460   a . In one embodiment, cavity  1460   a  is substantially collapsed prior to coupling with septum  1418  to reduce the amount of air delivered through needle  1430 . 
     In another embodiment, septum attachment  1460  includes a vent  1464  fluidly coupled with cavity  1460   a  prior coupling septum attachment  1460  with septum  1418 . In one embodiment, vent  1464  is sealed by septum  1418  once septum attachment  1460  is coupled to septum  1418 . In one embodiment vent  1464  is a needle having a beveled tip  1464   a.    
     During use, cartridge  1422  and septum attachment  1460  may be coupled prior to insertion into fluid delivery device  1410  or they may be coupled as a result of inserting cartridge  1422  into fluid delivery device  1410 . 
     Referring to  FIGS.  15 - 16 C , another exemplary embodiment of a fluid delivery device  1510  is shown. 
     In one embodiment, needle  1530  has a three dimensional curved shape. In one embodiment, fluid coupling end  1530   a  of needle  1530  is straight. In other embodiments, fluid coupling end  1530   a  is curved. In one embodiment, needle  1530  bends from fluid coupling end  1530   a  to a transverse section  1530   c  then travels under button  1532  to delivery end  1530   b . In one embodiment delivery end  1530   b  is curved. In one embodiment, fluid coupling end  1530   a  is the center of the radius of the curve of the delivery end  1530   b . In one embodiment, the curve of delivery end  1530   b  has a constant radius such that delivery end  1530   b  follows a generally continuous track as delivery end  1530   b  is moved from the initial position ( FIG.  16 C ) to the deployed position ( FIG.  7 B ). 
     In one embodiment, fluid coupling end  1530   a  of needle  1530  extends at least partially into septum  1518  while delivery end  1530   b  of needle  1530  is moved from the initial position to the deployed position. In one embodiment, fluid coupling end  1530   a  is fluid coupled with the fluid reservoir prior to delivery end  1530   b  moving from the initial position. In one embodiment, button  1532  has a ramp  1532   a  configured to engage needle transverse section  1530   c  of needle  1530  and move fluid coupling end  1530   a  of needle  1530  from the initial position to the deployed position. In one embodiment, the movement of needle  1530  from the initial position to the deployed position is the result of one motion of button  1532  in a single direction. In one embodiment, the direction button  1532  moves is generally perpendicular to the bottom surface  1514 . 
     In one exemplary use, when actuated by pressing button  1532 , ramp  1532   a  forces fluid coupling end  1530   a  into and through septum  1518  making a liquid connection with fluid reservoir  1520 . While needle  1530  moves into fluid reservoir  1520 , delivery end  1530   b  of needle  1530  is then rotated about the septum penetration point and delivery end  1530   b  travels in an arc and penetrates the skin surface stopping at the subcutaneous depth. 
     A catch mechanism may be provided to hold button  1532  and the needle  1530  in the deployed position for the duration of use. Once the infusion is finished, the catch on button  1532  may be released and a return spring (not shown) presses on button  1532  and rotates delivery end  1530   b  of needle  1530  back out of the skin. 
     Referring to  FIGS.  17 A- 17 D , another exemplary embodiment of a fluid delivery device  1710  is shown. 
     In one embodiment, needle  1730  has a three dimensional curved shape. In one embodiment, fluid coupling end  1730   a  is generally straight. In one embodiment, delivery end  1730   b  is generally curved. In one embodiment, delivery end  1730   b  is curved in an arc with a centerline collinear with fluid coupling end  1730   a . In one embodiment, a transverse section  1730   c  extends between fluid coupling end  1730   a  and delivery end  1730   b . In another embodiment, fluid coupling end  1730   a  may be curved, and the initial translation replaced by a rotation around a center of curvature. 
     A needle button  1732  may be used to cause needle  1730  to translate parallel to fluid coupling end  1730   a  and pierce a septum  1718  to make a liquid connection with the fluid reservoir inside of cartridge  1722 . After this linear motion has completed, a cam  1738  may be used to cause needle  1730  to rotate around the axis of fluid coupling end  1730   a , causing delivery end  1730   b  to travel into the skin tissue. Once finished, cam  1738  may be moved further to cause needle  1730  to rotate around the axis of fluid coupling end  1730   a  causing delivery end  1730   b  to retract out of the skin tissue. In one embodiment, button  1732  and cam  1738  are independently operated. In another embodiment, cam  1738  is coupled with or part of button  1732 . 
     In one embodiment, the motion of pushing fluid coupling end  1730   a  of the needle  1732  into septum  1718  does not extend delivery end  1730   b  of needle  1730  from bottom surface  1714 . In other embodiments, fluid coupling end  1730   a  and delivery end  1730   b  are moved simultaneously. 
     In one embodiment, cam  1738  has a track that needle  1730  extends through to guide fluid coupling end  1730   b  relative to bottom surface  1714 . In one embodiment, cam  1738  has a first track  1738   a  sloped downwardly such that when cam  1738  is urged into fluid delivery device  1710 , first track  1738   a  guides fluid coupling end in the deployed position. In one embodiment, cam  1738  has a second track  1738   b  extending upwardly that guides fluid coupling end  1730   b  back into the housing after use (e.g. a storage position). In one embodiment, cam  1738  is moved in a single direction relative to fluid delivery device  1710  to guide fluid coupling end  830   b  into the deployed position and into the storage position (e.g. the track is V-shaped). In an embodiment, the direction of cam  1738  is reversed between the deployed position and the storage position (e.g. the track is the shape shown). In one embodiment, an additional mechanism (not shown) moves needle  1730  from the deployed position to the storage position. 
     Referring to  FIGS.  18 A- 18 F , a fourth exemplary embodiment of a fluid delivery device  1810  is shown. 
     In one embodiment, needle  1830  has a three dimensional curved shape. In one embodiment, fluid coupling end  1830   a  is generally straight and generally perpendicular to septum  1818 . In one embodiment, delivery end  1830   b  is curved. In one embodiment, the curve of delivery end  1830   b  is bent in an arc with the centerline collinear with fluid coupling end  1830   a . In one embodiment, fluid coupling end  1830   a  is coupled with delivery end  1830   b  by a transverse section  1830   c.    
     The movement of delivery end  1830   b  of needle  1830  from the initial position to the deployed position may be actuated by a spring  1840 . In one embodiment, spring  1840  is a torsion spring and includes a first leg  1840   a  resting on the top of transverse portion  1830   c  of needle  1830 . In one embodiment, torsion spring  1840  includes a second leg  1840   b  initially restrained by some combination of a needle release  1844  and/or other components. In other embodiments, first and second legs  1840   a ,  1840   b  of torsion spring  1840  can be separate springs. 
     A needle button  1832  may be used to cause needle  1830  to translate toward septum  1818  and pierce septum  1818  with fluid coupling end  1830   a  to make a liquid connection with the fluid reservoir inside of the cartridge  1822 . As fluid coupling end  1830   a  is inserted into septum  1818 , or once fluid coupling end  1830   a  is completely in the deployed position, transverse portion  1830   c  of needle  1830  reaches a slot  1842 , or the end of a support in a separate part, which allows delivery end  1830   b  to rotate about fluid coupling end  1830   a  and travel into the skin tissue, pushed by first leg  1840   a  of torsion spring  1840 . 
     Once delivery is finished, needle release  1844  may be moved by the user such that it pushes first leg  1840   a  of torsion spring  1840  off from the top of needle  1830 . Next, needle release  1844  may be moved in such a way (either by the user or a release mechanism) that second leg  1840   b  of torsion spring  1840  pushes transverse portion  1830   c  of needle  1830  up and retract delivery end  1830   b  of needle  1830  out of the skin tissue. In other embodiments, different components can push first leg  1840   a  off of needle  1830 , and retract needle  1830 . In other embodiments, first leg  1840   a  of torsion spring  1840  can be left pressing down on needle  1830 , and a stronger spring be used to counteract first leg  1840   a  and retract needle  1830 . 
     Referring to  FIG.  19   , a fifth exemplary embodiment of a fluid delivery device  1910  is shown. 
     In one embodiment, a needle  1930  with one or more transverse sections  1930   c  connects a fluid coupling end  1930   a  that will pierce a septum  1918  and a helically shaped delivery end  1930   b  that will pierce the skin. In one embodiment, the axis of the helically shaped delivery end  1930   b  is coaxial with fluid coupling end  1930   a . In one embodiment, fluid coupling end  1930   a  of needle  1930  is generally straight. A track  1942  may be provided to guide delivery end  1930   b . In one embodiment, delivery end  1930   b  of needle  1930  is disposed within track  1942  that guides delivery end  1930   b  of needle  1930  from the initial position to the deployed position. In one embodiment, track  1942  is generally straight. In one embodiment, track  1942  is at an oblique angle relative to bottom surface  1914 . 
     When actuated, a button  1932  and needle  1930  move in a single screw-like motion to insert fluid coupling end  1930   a  of needle  1930  into septum  1918  and rotate delivery end  1930   b  downwardly about fluid coupling end  1930   a  to penetrate the skin. In one embodiment, needle  1930  can be removed from septum  1918  and the skin by reversing the motion of button  1932 , which could be accomplished by a spring or other mechanism. A latch may be provided to temporarily hold button  1932  in the deployed position. 
     Referring to  FIG.  20 A- 21 B , another exemplary embodiment of a fluid delivery device  2010  is shown. 
     In one embodiment, a needle  2030  has a fluid coupling end  2030   a  that extends in generally the same direction as a delivery end  2030   b  in the initial position. In one embodiment, needle  2030  is formed to have a V or U-turn shape similar to a bobby pin in the initial position. In one embodiment, needle  2030  includes a bend in one plane of more than approximately 135°. 
     In one embodiment, needle  2030  is purposely deformed elastically and potentially plastically while moving from the initial position to the second position. In one embodiment, a deforming element  2044  is provided between fluid coupling end  2030   a  and delivery end  2030   b . In one embodiment, as needle  2030  is deployed, fluid coupling end  2030   a  and delivery end  2030   b  slide along deforming element  2044  to spread the fluid coupling end  2030   a  from the delivery end  2030   b . In one embodiment, deforming element  2044  is generally circular in cross section. In other embodiments, deforming element is oval, square, triangular or any other shape in cross section. 
     In one embodiment, deforming element  2044  is not fixed relative to fluid delivery device  2010  in the deployed position allowing needle  2030  to be coupled to the remainder of fluid delivery device by septum  2018  only. In such an embodiment, needle  2030  may stay generally stationary relative to the subcutaneous tissue of the patient if housing  2012  moves with the skin surface. In such an embodiment, needle  2030  may move relatively independently of the housing  2012  minimizing the force on the tissue. 
     In one embodiment, fluid coupling end  2030   a  and delivery end  2030   b  are each curved to allow their travel to follow constant paths either into septum  2018  or into the patient or both. In one embodiment, fluid coupling end  2030   a  and delivery end  2030   b  are each curved in non-constant radius curves to allow their travel to follow constant paths either into septum  2018  or into the patient or both. In one embodiment, fluid coupling end  2030   a  and delivery end  2030   b  have equal lengths and similar opposing curvature. In other embodiments, fluid coupling end  2030   a  and delivery end  2030   b  are not symmetric. 
     A needle button or cover (not shown for clarity) may be provided over the bend in needle  2030 . In one embodiment, needle  2030  is pressed at an oblique angle relative to bottom surface  2014  during deployment. In one embodiment, the angled force on needle  2030  during deployment is collinear with the force applied by the user. In other embodiments, the angled force on needle  2030  during deployment is the result of a redirection from a slanted button base or other configuration over needle  2030 . 
     During deployment, the depressing of needle  2030  forces fluid coupling end  2030   a  and delivery end  2030   b  over deforming element  2044  which deforms one or both of the legs to direct them to their deployed positions. In one embodiment, a latch or other retention mechanism retains needle  2030  in the deployed position. In one embodiment, when infusion is complete, the latch is released and a return mechanism such as a spring between needle  2030  and deforming element  2044  can force needle  2030  back to its retracted position. In one embodiment, when infusion is complete, the latch is released and the stored strain in needle  2030  can force needle  2030  back to its retracted position. 
     Referring to  FIG.  21 A- 21 D , a seventh exemplary embodiment of a fluid delivery device  2110  is shown. 
     In one embodiment, a needle  2130  bent into three dimensions is pressed into the skin and then needle  2130  is rotated to penetrate septum  2118 . In one embodiment, needle  2130  includes three sections: a straight delivery end  2130   b  for penetrating the skin, a transverse section  2130   c  and a curved fluid coupling end  2130   a  for penetrating septum  2118 . In one embodiment, needle  2130  extends through a base  2146  that allows translation and rotation of fluid coupling end  2130   a  of needle  2130 . In one embodiment, transverse section  2130   c  of needle  2130  passes through a slot  2146   a  in base  2146  that controls the rotational position of needle  2130 . A button  2132  with an angled slot  2132   a  is held by base  2146  and can travel perpendicular to the skin. Transverse section  2130   c  of needle  2130  may pass through angled slot  2132   a . In one embodiment, there is a return force element  2148  (e.g., a spring) that acts to force button  2132  back into the storage position. In one embodiment, a latch or retaining mechanism may be provided to temporarily retain button  2132  in the deployed position. 
     When actuated, button  2132  is depressed, button  2132  acts on transverse section  2130   c  of needle  2130 . Slot  2146   a  pushes needle  2130  an angle toward septum  2118  and bottom surface  2114 . Initially, needle  2130  does not rotate due to the limitation set on it by slot  2146   a  in base  2146 . Once needle  2130  has reached a certain depth, such as full deployment depth, fluid coupling end  2130   a  is moved horizontally into septum  2118  because slot  2146   a  no longer restricts horizontal motion. In the final deployed position, button  2132  is fully depressed and fluid coupling end  2130   a  has rotated into septum  2118  as a result of the force on needle  2130  by slot  2132   a  in button  2132 . 
     For withdrawal, a latch or retaining mechanism on button  2132  would be released and return force element  2148  forces button back up and into the storage position. 
     In another embodiment, delivery end  2130   b  could be prevented from rotating and needle  2130  could be bent essentially elastically to be inserted into septum  2118 . 
     In another embodiment, fluid coupling end  2130   a  may be, in whole or in part, helical, and all or a portion of the rotation of needle  2130  may occur while the delivery end  2130   b  is moving into the tissue. 
     In another embodiment, insertion and/or removal of fluid coupling end  2130   a  is accomplished by a spring or springs, instead of an angled slot  2132   a  in button  2132 . 
     Referring to  FIG.  22 A- 23 B , another exemplary embodiment of a fluid delivery device  2210  is shown. 
     In one embodiment, a needle  2230  with a transverse section  2230   c  connects a helical fluid coupling end  2230   a  and a helical delivery end  2230   b . In one embodiment, helical fluid coupling end  2230   a  and a helical delivery end  2230   b  the axes of the helices being coincident. In one embodiment, helical fluid coupling end  2230   a  and a helical delivery end  2230   b  and have the same pitch. 
     When actuated, a button  2232  and needle  2230  move in a single screw-like motion to transition needle  2230  from the initial position to the deployed position. In one embodiment, needle  2230  can be transitioned to the storage position by reversing the motion, either manually or by a return mechanism such as a spring. In one embodiment, a latch or retaining mechanism temporarily retains needle  2230  in the deployed position. 
     Referring to  FIG.  24 A- 24 B , a ninth exemplary embodiment of a fluid delivery device  2410  is shown. 
     In one embodiment, a needle  2430  includes one or more transverse sections  2430  that connects fluid coupling end  2430   a  and delivery end  2430   b . In one embodiment, fluid coupling end  2430   a  and delivery end  2430   b  are curved. In one embodiment, fluid coupling end  2430   a  and delivery end  2430   b  lie essentially on parallel planes. In one embodiment, fluid coupling end  2430   a  and delivery end  2430   b  each have circular arc geometry with the axes of the arcs being coincident. In one embodiment, transverse section  2430   c  has three linear sections  2430   c   1 ,  2430   c   2  and  2430   c   3 , with the first transverse section  2430   c   1  coaxial with the axis of rotation. Transverse section  2430   c  may instead have other bends. 
     When actuated, needle  2430  may rotate about a common axis, such as first transverse section  2430   c   1  to move needle  2430  into the deployed position. In one embodiment, a needle button is provided. The needle can be removed from both by reversing the motion, which could be accomplished by a spring. In one embodiment, needle  2430  can be transitioned to the storage position by reversing the motion, either manually or by a return mechanism such as a spring. In one embodiment, a latch or retaining mechanism temporarily retains needle  2430  in the deployed position. 
     Referring to  FIG.  25 A- 25 C , a tenth exemplary embodiment of a fluid delivery device  2510  is shown. 
     In one embodiment, the needle mechanism and the vial are combined as a vial assembly  2550  that may be inserted into a fluid delivery device  2510 . In one embodiment, vial assembly  2550  is pre-filled with a medicament before being coupled with the fluid delivery device  2510 . 
     In one embodiment, needle  2530  is preformed to have a generally straight fluid coupling end  2530   a  and a curved delivery end  2530   b . In one embodiment, one or more deforming surfaces  2552   a ,  2552   b  are provided to guide delivery end  2530   b  into the deployed position. In one embodiment, deforming surfaces  2552   a ,  2552   b  on provided on opposing sides of delivery end  2530   b . In one embodiment, deforming surfaces  2552   a ,  2552   b  are moveable relative to bottom surface  2514  such that needle  2530  is moveable in the deployed position. 
     In one embodiment, needle  2530  includes a bend in one plane more than 100°. In one embodiment, fluid coupling end  2530   a  is generally straight and delivery end  2530   b  is curved in a direction opposite to the bend between fluid coupling end  2530   a  and delivery end  2530   b.    
     During use, after removing a locking pin  2554  and pressing button  2532  forces fluid coupling end  2530   a  into septum  2518  and forces delivery end  2530   b  over deforming surfaces  2552   a ,  2552   b  along a slanted or curved path out of bottom surface  2514  and into the deployed position. In another embodiment, releasing locking pin  2554  causes button  2532  to be deployed automatically without a separate action step by the user. 
     When infusion is complete, a latch or retaining mechanism may be released and a return mechanism  2548 , e.g., a spring, forces needle  2530  into the storage position. 
     Referring to  FIG.  26 A- 26 D , an eleventh exemplary embodiment of a fluid delivery device  2610  is shown. 
     In one embodiment, fluid coupling end  2630   a  is deformed during deployment and delivery end  2630   b  is generally straight. In one embodiment, the needle button  2632  is driven along the axis of delivery end  2630   b  during deployment and fluid coupling end  2630   a  is deformed to translate in a direction generally perpendicular to the axis of delivery end  2630   b  during deployment. 
     In other embodiments, both fluid coupling end  2630   a  and delivery end  2630   b  are deformed during deployment. 
     Referring to  FIG.  27 A- 27 B , a twelfth exemplary embodiment of a fluid delivery device  2710  is shown. 
     In one embodiment, fluid coupling end  2730   a  is flexible. Fluid coupling end  2730   a  may be comprised of a different, more flexible material from the remainder of needle  2730  and/or may have smaller gauge than delivery end  2730   b . In one embodiment, fluid coupling end  2730   a  is guided through a curve by a needle guide  2756 . In one embodiment needle guide  2756  includes a channel  2756   a  that guides fluid coupling end  2730   a  toward septum  2718 . 
     During use, a downward force is applied to button  2732  along an axis of delivery end  2730   b  forcing delivery end  2730   b  into the deployed position. Simultaneously, the downward force on button  2732  forces fluid coupling end  2730   a  through needle guide  2756  and into septum  2718 . 
     In one embodiment, needle guide  2756  assists in retaining cartridge  2722  within fluid delivery device  2710 . 
     When infusion is complete, a latch or retaining mechanism may be released and a return mechanism, e.g., a spring, forces needle  2730  into the storage position. 
     Referring to  FIGS.  28 A- 28 D , there is shown another exemplary embodiment of a needle assembly for use with the fluid delivery device  2810 . A cartridge  2822 , including a fluid reservoir, may be inserted into the drug delivery device  2810 . In one embodiment, the cartridge  2822  is prefilled with a fluid such as insulin prior to being inserted into the drug delivery device  2810 . In one embodiment, the cartridge  2840  is slid into a channel inside of the drug delivery device  2810  through an opening  2800   a . The fluid delivery device  2810  may include a closure, such as a pivoting door  2805 , that closes the opening  2800   a  once the cartridge  2822  has been installed. In one embodiment, door  2805  includes a needle assembly  2801  having a needle  2830 . In alternative embodiments, the cartridge  2822  is preinstalled in the drug delivery device  2810 , or the cartridge  2822  is inserted through an opening in a top or bottom or different end of the drug delivery device  2810 . 
     The door  2805  may be pivotably attached to the fluid delivery device  2810 , e.g., such as with a hinge. The hinge may be a living hinge constituted by a thin section in the door  2805  and/or the housing of the fluid delivery device  2810 . In one embodiment, the hinge and the door  2805  or co-molded with the housing  2812 . 
     In alternative embodiments, the door  2805  is a separate assembly from the fluid delivery device  2810  and couples to the fluid delivery device  2810  after the cartridge  2822  is inserted into the fluid delivery device  2810 . In one embodiment, the door  2805  is pre-attached to the septum  2818  of the cartridge  2822  and latches to the fluid delivery device  2810  after the cartridge  2822  has been inserted into the fluid delivery device  2810 . In one embodiment, the door  2805  is pre-attached to the septum seal of the cartridge  2822  and slides over the cartridge  2822  after the cartridge  2822  has been inserted into the fluid delivery device  2810 . 
     The attachment of the door  2805  to the housing of the fluid delivery device  2810  such as by a hinge, may have a degree of play such that the door  2805  may be shifted relative to the housing. The needle assembly  2801  may include an alignment feature  2807  that is configured to essentially nest around the end of the cartridge  2822 . In one embodiment, alignment feature  2807  shifts the cartridge  2822  and/or the door  2805  into the proper position and ensures alignment of the needle  2830  and the septum  2818 . In one embodiment, the alignment feature  2807  has a taper in the inside leading edge to allow the alignment feature  2807  to more easily move over the end of the cartridge  2822 . In one embodiment, alignment feature  2807  snap fits onto cartridge  2822  in the initial position and/or primed state. 
     A fluid coupling end  2830   a  of the needle  2830  that is configured to penetrate the septum  2818  may be curved with a radius generally centered with the axis of the hinge. In one embodiment, the needle  2830  is bent in two dimensions as shown in the detail of  FIG.  28 A . The fluid coupling end  2830   a  may be bent at essentially a right angle and positioned to penetrate the fluid reservoir septum  2818  when the door  2805  is being closed ( FIG.  28 B  and  FIG.  28 C ). The end of the cartridge  2822  is shown sectioned for clarity). For example, in some embodiments, fluid coupling end  2830   a  may be positioned within alignment feature  2807  and configured to penetrate the septum  2818  as or when alignment feature  2807  is engaged with cartridge  2822 . The delivery end  2830   b  of the needle  2830  may also be bent so that it is in a plane substantially perpendicular to the bottom surface of the fluid device  2810  and thus the surface of the skin. In one embodiment, the delivery end  2830   b  of the needle  2830  has a radius of curvature that is essentially centered on the axis of the fluid coupling end  2830   a  of the needle  2830 . In one embodiment, the needle assembly is designed to first rotate the fluid coupling end  2830   a  of the needle  2830  generally about the axis of the delivery end  2830   b  of the needle  2830  into the septum  2818  and then rotate the delivery end  2830   b  of the needle  2830  generally about the axis of the fluid coupling end  2830   a  of the needle  2830  out of the fluid delivery device  2810  and into the patient&#39;s skin. 
     The needle assembly  2801  may include an actuation trigger or button  2815  coupled to the needle  2830 . The needle assembly  2801  may include a return element  2820  such as a spring for biasing the needle  2830  toward an initial or retracted position. 
     In one embodiment, closing the door  2805  over open end  2800   a  forces the fluid coupling end  2830   a  of the needle  2830  to penetrate the septum  2818  and fluidly couple the fluid reservoir and the needle  2830 . This position may be referred to as a primed state. (See  FIG.  28 C ). 
     Depressing the button  2815  may extend the delivery end  2830   b  of the needle  2830  from the housing and into the patient&#39;s skin. This position may be referred to as the deployed or delivery position. (See  FIG.  28 D ). In one embodiment, depressing the button  2815  rotates the button  2815  around the axis of the fluid coupling end  2830   a  of the needle  2830 . In one embodiment, there is a catch mechanism (not shown for clarity) that is configured to retain the button  2815  at the end of its travel holding the needle  2830  in its fully deployed position. 
     Once the user is done with the delivery device  2810 , the needle  2830  is removed from their tissue. In one embodiment, there is a return element  2820  that is further deformed when the button is depressed. Once the return element  2820  is released, the return element  2820  returns to its more relaxed state lifting the needle  2830  out of the tissue back to the primed state. In one embodiment, the needle  2830  is secured to the button  2815  and the return element  2820  returns both the button  2815  and the return element  2820  to positions where needle  2830  is no longer in the tissue. In one embodiment, after retraction the needle  2830  is secured in a groove within the button  2815  to prevent further use of the needle  2830 . In an alternative embodiment, the button  2815  remains depressed at the end of delivery but the return element  2820  retracts the needle  2830  back into the housing. In one embodiment, the return element  2820  is a torsion spring. In one embodiment, the return element  2820  is a compression spring. In one embodiment, once the needle  2830  has been retracted, the delivery end  2830   b  is retained within the fluid delivery device  2810  to prevent further exposure of the delivery end  2830   b  and avoid accidental needle sticks. 
     In one embodiment, the button  2815  is integrated with the fluid delivery device  2810  and the needle  2830  is carried by the door  2805 . In such an embodiment, the needle  2830  and the button  2815  interface once the door  2805  is closed. In one embodiment, the door  2805  slides on a track or tracks that hold and guide the cartridge  2822  during insertion. In one embodiment, the door  2805  slides on a track or tracks independent of the cartridge  2822  insertion process. 
     Referring to  FIGS.  29 A- 29 D , there is shown a second exemplary embodiment of a needle assembly  2901 . Needle assembly  2901  is similar to needle assembly  2801  discussed above except that in needle assembly  2901  the needle  2930  enters the skin in a generally straight line rather than through an arc. In one embodiment, the needle  2930  bends during deployment. 
     In one embodiment, the delivery end section  2930   b  of the needle  2930  is guided to enter the skin in a generally straight line. In one embodiment, there is a bend or arc in the center section  2930   c  of the needle  2930  and the fluid coupling end section  2930   a  of the needle is allowed to rotate in the septum of the cartridge. During deployment, the distance between the fluid coupling end section  2930   a  of the needle  2930  and the delivery end section  2930   b  of the needle  2930  varies as the needle path is not following an arc of constant radius. The curve of the center section  2930   c  of the needle  2930  can flex to take in and/or let out space between the fluid coupling end section  2930   a  and the delivery end section  2930   b  of the needle  2930 . In one embodiment, there is more than one bend or arc in the center section  2930   c  of the needle  2930 . 
     In one embodiment, the center section  2930   c  curves generally in the same direction as the delivery end section  2930   b  of the needle  2930  to minimize height of the center section  2930   c  when the needle  2930  is in the deployed position. In one embodiment, the center section  2930   c  curves generally in the opposite direction as the delivery end section  2930   b  of the needle  2930  to minimize interference with other device mechanisms or features when the needle  2930  is in the deployed position. In one embodiment, the center section  2930   c  and the first and delivery end sections  2930   a ,  2930   b  are formed such that the needle  2930  is not under any bending stress when the needle  2930  is in the deployed position. 
     In one embodiment, an actuation button  2920  and a return element  2925 , such as a spring  2925  are also mounted to the door  2905 . 
     In one embodiment, the door  2905  is pre attached to the cartridge and latches to the housing of the fluid delivery device upon insertion of the cartridge. In one embodiment, door  2905  is rotatably attached to the housing and closes over and couples with the cartridge after the cartridge is inserted into the fluid delivery device. 
     Prefilled cartridges commonly have septum seals on one end and pistons or plungers inside at an opposite end. The medicament is delivered by fluidly connecting the material inside of the cartridge through the septum with the patient&#39;s body and then pressing on the piston. 
     In most fluid delivery systems, and especially in hydraulically driven fluid delivery devices, the accurate and effective delivery of the medicament requires that there be little, and preferably no, compressible gaps between the drive mechanism and the piston, little, and preferably no, pre-delivery pressure on the piston and that the needle be accurately inserted into the septum. 
     Inserting a cartridge in a delivery device can result in performance issues due to the length tolerance of the cartridge resulting in unacceptably large gaps that are compressible between the drive mechanism and the piston and a misaligned needle insertion system. 
     In addition, temperature changes in storage and transport may cause changes in component dimensions and liquid volumes. If there is a significant difference in the coefficients of thermal expansion between components, then there may be significant changes in the components positions which could exacerbate tolerance issues. This is especially significant in hydraulically driven systems where the fluid is likely to have much greater thermal expansion characteristics than the solid components of the device. 
     It is therefore desired to have a simple to use mechanism that allows a prefilled cartridge to be inserted in a delivery device and can accommodate a cartridge minimizing compressible gaps between the drive mechanism and the piston. In one embodiment, the length tolerance of the cartridge usable with the delivery device is at least +/−0.4 mm. The delivery device may allow for minimal pressure in the system due to insertion or the insertion mechanism. The delivery device may allow for proper alignment between the cartridge septum seal and the needle mechanism. It is also beneficial if the delivery device can compensate for thermal expansion effects. 
     Referring to the drawings in detail, wherein like reference numerals indicate like elements throughout, there is shown in  FIGS.  4 A- 14 B  fluid delivery devices in accordance with exemplary embodiments of the present invention. Structures in certain embodiments may refer to a feature with similar base numbering already discussed in another embodiment. The leading umber may refer to the figure the embodiment first appears in the drawings. For example, element number  1312  in  FIG.  13    refers to the house  112  discussed in reference to  FIG.  1   . 
     Referring to  FIGS.  30 A- 30 I , an exemplary embodiment of a fluid delivery device  3010  is shown. 
     In one embodiment, the fluid reservoir piston  3025  or a spacer proximal to the piston  3025  extends beyond or is essentially flush with the open end of the cartridge  3022 . The cartridge is inserted into the device  3010  ( FIG.  30 A ) through an opening in the housing base  3030  with the piston  3025  or spacer pressed up against the fluid manifold surface  3050   a  ( FIGS.  30 G and  30 H ). As an alternative, the piston  3025  or spacer is recessed inside of the cartridge  3022  and the fluid manifold surface  3050   a  extends out to come into close proximity or contact the piston  3025  or spacer. The cartridge  3022  septum end is pressed down into the device ( FIG.  30 B ) and the cartridge neck  3022   a  is engaged by a retaining mechanism such as prongs  3040   a . The prongs  3040   a  may be part of the floating needle mechanism  3040  so by engaging the cartridge neck  3022   a , the needle mechanism  3040  is aligned with the septum seal end of the cartridge  3022  despite any length variation of the cartridge  3022 . 
     In one embodiment, the fluid reservoir piston  3025  or spacer is pressed up against the fluid manifold surface  3050   a  by a spring element such as spring fingers  3035   a  part of the device cover  3035 . This or these spring element(s) press the entire cartridge  3022  by pressing on the floating needle assembly prongs  3040   a . In one embodiment, the spring element(s) press directly on the cartridge neck  3022   a  or on the cartridge septum end, such that the piston  3025  or spacer is axially forced up against the fluid manifold surface  3050   a.    
     In one embodiment, where the fluid reservoir piston  3025  is moved by a fluid when the delivery device  3010  is activated, the cartridge  3022  is sealed to the fluid manifold  3050  by an eternal sliding seal  3052 . This allows the fluid reservoir piston  3025  to be pressed against the fluid manifold surface  3050   a  reducing and preferably eliminating any gap that is compressible (e.g., an air gap or an additional elastic spacer) between the drive mechanism and the cartridge piston  3025 . 
     In one embodiment, the cartridge piston  3025  or spacer is pressed up against the fluid manifold surface  3050   a  by a spring element  3035   a  as the cartridge  3022  is inserted into the delivery device  3010 . When the cartridge  3022  is fully pressed into the floating needle assembly prongs  3040   a , the prongs  3040   a  are spread as the gap between the prongs  3040   a  is slightly smaller than the cartridge neck  3022   a . When the floating needle assembly prongs  3040   a  are spread, features such as teeth on their outer edges engage with mating features such as teeth  3030   a  on the inside edge of the base opening  3030 . This engagement locks the axial movement of the cartridge  3022  as the floating needle assembly prongs  3040   a  and thus the cartridge neck  3022   a  can no longer move relative to the fluid manifold. Angling or otherwise shaping the mating features to pull the cartridge piston  3025  or spacer slightly away from the fluid manifold surface  3050   a  while locking the cartridge piston  3025  or spacer reduces and preferably eliminates any residual force from the spring elements  3035   a  that could affect the medicament delivery rate once the delivery needle  30400  penetrates the septum. 
     Referring to  FIGS.  30 G- 30 H , in one embodiment, where the fluid reservoir piston  3025  is moved by a fluid when the delivery device  3010  is activated, the fluid is contained in the fluid manifold  3050  by a trumpet valve  3060 . The trumpet valve stem can slide or rotate with similar effects but will be described here as translations, rotation only requires a change in passage positions and will be described more specifically later. The trumpet valve  3060  slides in a tight fitting cylinder  3050   c  in the manifold  3050 . The manifold  3050  has a cross path  3050   b  that connects on one side to the interior of the manifold  3050  and continues to the fluid manifold surface  3050   a . The trumpet valve  3060  has a passage  3060   a  that, prevents the flow of fluid from inside the manifold  3050  to the back of the fluid reservoir piston  3025  when not aligned with cross path  3050   b  ( FIG.  30 G ). In one embodiment, the trumpet valve  3060  has a path or recess  3060   c  allowing the opening in the manifold  3050   a  to vent to atmosphere when the passage  3060   a  is not aligned with cross path  3050   b . This prevents air pressure build up when the cartridge  3010  is inserted. In one embodiment, when the trumpet valve  3060  is moved or rotated such that trumpet valve passage  3060   a  is aligned with cross path  3050   b  fluid can pass freely from inside of the fluid manifold  3050  to the back of the fluid reservoir piston  3025  and the air vent path  3060   c  is sealed ( FIG.  30 I ). In one embodiment, the trumpet valve passage  3060   a  is filled with drive fluid prior to cartridge insertion to minimize any air in the drive fluid path. 
     To prevent the hydraulic fluid from leaking from the hydraulic fluid reservoir before the fluid reservoir is inserted into the fluid delivery device, a hydraulic fluid seal may be provided. In one embodiment, where the fluid reservoir piston  3025  is moved by a drive fluid when the delivery device  3010  is activated, the drive fluid is contained in the fluid manifold  3050  by a trumpet valve  3060  acting as the hydraulic fluid seal and an additional accumulator chamber  3060   b  is provided to allow the thermal expansion and contraction of the drive fluid prior to inserting cartridge  3022 . The chamber  3060   b  is located within the trumpet valve  3060  and is interconnected with the fluid manifold  3050  by a path around the trumpet valve stem  3060   c , through opening  3060   d  and into the chamber  3060   b . In one embodiment chamber  3060   b  is located within the trumpet valve  3060  and is interconnected with the fluid manifold  3050  by a direct path. In one embodiment, there is a piston  3070  in the chamber  3060   b  to contain the drive fluid but allow the chamber size to change as the drive fluid expands and contracts. In one embodiment, the chamber  3060   b  is sealed but there is a compressible or deformable element in the chamber to absorb the volume change of the drive fluid. 
     In one embodiment, the chamber  3060   b  is sealed by a membrane. In one embodiment, the chamber is not a part of the trumpet valve  3060 , but is interconnected by  3060   c  when passage  3060   a  is not aligned with cross path  3050   b . In one embodiment there are one or more elastomeric components that are used to create seals between the valve components. 
     In one embodiment, the act of inserting the fluid reservoir into the fluid delivery device causes the hydraulic fluid seal to be opened. In some embodiments, the hydraulic fluid seal is a floating seal or a foil seal that is punctured similar to the embodiments disclosed in U.S. Patent Application Publication No. 2011/0306929 which is hereby incorporated by reference in its entirety. The hydraulic fluid seal may include a mechanical seal valve. 
     Referring to  FIGS.  31 A- 31 H , another exemplary embodiment of a fluid delivery device  3110  is shown. The hydraulic fluid seal may include a mechanical seal valve such as a rotating stem  3160 . The stem  3160  may include a fluid path  3160   a  that is rotated to fluidly selectively couple the hydraulic fluid drive, such as the hydraulic fluid reservoir  3140   a  with the piston  3124  (see  FIG.  31 C ) of the cartridge  3122 . The stem  3160  may be located in a socket  3150  that is fluidly connected to the hydraulic fluid manifold  3140 . The socket  3150  may be integral with the hydraulic fluid manifold  3140 . In other embodiments, the socket  3150  is a separate component that is attached to the manifold  3140 . 
     The stem  3160  may have one or more fluid paths  3160   a  that enter one side of the stem  3160  and leave the other. In its initial position, the stem  3160  may be positioned so that the fluid path  3160   a  is not aligned with the fluid path  3150   a  through the socket  3150  thus blocking flow of the hydraulic fluid out of the hydraulic fluid reservoir  3140   a  (see  FIG.  31 C ). In the activated position, the stem  3160  may be rotated to a position where the fluid path  3160   a  in the stem  3160  is essentially aligned or fluidly coupled with the fluid paths  3150   a  through the socket allowing the hydraulic fluid to flow out of the hydraulic fluid reservoir  3140   a  (see  FIG.  31 C ). In one embodiment, the fluid path  3160   a  may be open to the hydraulic fluid reservoir  3140   a  when closed to the piston  3124  (see  FIG.  31 F ). In one embodiment, the fluid path  3160   a  may be closed to the hydraulic fluid reservoir  3140  when closed to the piston  3124  (see  FIG.  31 G-I ). 
     Initially, stem  3160  may be rotated such that fluid path  3160   a  is not aligned with the fluid path  3150   a  through the socket thus blocking flow of the hydraulic fluid. The cartridge  3122 , which is pre-filled with a fluid, is then inserted into the fluid delivery device  3110  and the stem  3160  is rotated to fluidly couple the fluid path  3160   a  with the hydraulic fluid reservoir  3140   a.    
     In one embodiment the stem hydraulic fluid passage  3160   a  is filled with hydraulic fluid prior to cartridge insertion and prior to rotation. 
     Referring to  FIG.  31 I , in one embodiment, the stem  3160  may contain a sealed but deformable chamber  3160   b  that is interconnected with the hydraulic fluid in the initial sealed position through passage  3160   c . This chamber would be disconnected from the hydraulic fluid by the rotation of the stem. The chamber  3160   c  is deformable through the flexing of membrane  3060   d  or the motion of a piston in the same space. In one embodiment it is possible to have both passage  3160   c  and passage  3106   a  connected from the hydraulic fluid simultaneously. 
     Referring to  FIG.  31 A , in one embodiment, the cartridge  3122  is inserted into the fluid delivery device  3110  through an opening in one end of the fluid delivery device  3110 , piston end first. In one embodiment, the cartridge  3122  is inserted into the fluid delivery device  3110  through an opening in one side of the fluid delivery device  3110 . In one embodiment, the cartridge  3122  is inserted into the fluid delivery device  3110  through an opening in the body side of the fluid delivery device  3110 . In one embodiment, the cartridge  3122  is inserted into the fluid delivery device  3110  through an opening in the side opposite the body side of the fluid delivery device  3110 . 
     Referring to  FIG.  31 B , in one embodiment, the act of inserting cartridge  3122  into the fluid delivery device  3110  may cause the stem  3160  to rotate open. In other embodiments, the stem  3160  is manually opened (e.g., the user twists a component coupled to the stem  3160 ) or opened upon conducting a second action, such as closing a cartridge  3122  retaining device or deploying the needle. 
     The cartridge  3122  may be coupled to a sliding drawer  3125  that guides the cartridge  3122  to its final position where the fluid cartridge  3122  seals with the output fluid path  3150   a  of the socket. Moving the drawer  3125  to its final position may act to rotate the stem  3160  from its initial or sealed position to its activated or open position. In one embodiment, the sliding drawer  3125  has a drawer feature  3125   a  that interacts with the stem  3160  to rotate the stem  3160  from its initial position to its activated position. In one embodiment, the drawer feature  3125   a  is a toothed rack and the stem  3160  has a toothed pinion  3163  that interact to move the stem  3160  from its initial position to its activated position when the sliding drawer  3125  is moved to its final position. In one embodiment, the stem  3160  has a lever that a drawer feature  3125   a  pushes on when the drawer  3125  is moved to its final position moving the stem  3160  from its initial position to its activated position. 
     The fluid reservoir piston  3124  may be moved by the hydraulic fluid when the fluid delivery device  3110  is activated. The cartridge  3122  may be sealed to a socket  3150  of the hydraulic fluid manifold  3140  by a sliding seal  3152 . This may allow the fluid reservoir piston  3124  to be pressed against the hydraulic fluid manifold surface  3150   b  eliminating any air gap between the reservoir piston  3124  and the hydraulic fluid. 
     As similarly shown in  FIGS.  31 G- 31 I , in one embodiment, the stem  3160  has a path or recess  3160   e  allowing the opening in the socket  3150   a  to vent to atmosphere when the passage  3160   a  is not aligned with cross path  3051   a . This prevents air pressure build up when the cartridge  3122  is inserted and enters the socket  3150   a.    
     In one embodiment, when the stem  3160  is rotated such that the fluid path  3160   a  is aligned with the socket fluid path  3150   a  within the socket  3150  and fluid can pass freely from inside of the hydraulic fluid manifold  3140  to the back of the fluid reservoir piston  3124 , the air vent path from the socket element  3160   e  is sealed. In one embodiment, the stem fluid path  3160   a  is filled with hydraulic fluid prior to cartridge  3122  insertion to eliminate or at least minimize any air in the drive fluid path. 
     In one embodiment, cartridge  3122  contains two or more fluid reservoirs. Each of the two or more fluid reservoirs may include a piston. One or more of the pistons in the fluid reservoirs may be moved under the influence of a drive fluid that is stored within a drive fluid reservoir within or part of the housing. 
     Referring to  FIGS.  32 A- 32 B , in one embodiment where the piston  3224  is moved by a drive fluid when the delivery device  3210  is activated, the cartridge  3222  is shown in its initial insertion position. The cartridge  3222  is inserted essentially axially into delivery device  3210 , in the direction of the arrow shown. In one embodiment the cartridge  3222  is retained in place by features in the cartridge cap  3226 . During insertion, the fluid transfer needle  3230  will penetrate the cartridge seal  3223 . In one embodiment, the stopper  3225  in conjunction with seal  3223  will relocate the needle dam  3235 , exposing the drive fluid transfer opening  3230   a  in the fluid transfer needle  3230 , ( FIG.  32 B ), into the receiver cavity  3238   a  located in the face seal  3238 . Air vent holes in the base of the recess in face seal  3238  will allow the air to be vacated from the receiver cavity  3238   a  until needle dam  235  is pressed against the base of the recess in face seal  238  sealing them. In one embodiment, the cavity around the outer side of stopper  3225  will be filled with drive fluid (e.g., any incompressible fluid) minimizing the volume of air captured. The cartridge  3222  is shown in its captured position within the pump assembly  3210  ( FIG.  32 B ). The needle dam  3235  is shown in its active position exposing the fluid transfer opening  3230   a  in the fluid transfer needle  3230 . 
     Referring to  FIGS.  33 A- 33 C , in one embodiment, where a fluid reservoir piston  3324  is moved by a drive fluid when the delivery device  3310  is activated, an end of the cartridge  3322  is inserted and coupled to the manifold and then rotated into position. The delivery device  3310  is shown in its initial insertion position in  FIG.  33 A  with the cartridge  3322  in its initial insertion position. In one embodiment, the cartridge  3322  is inserted into a ball joint receiver  3360 , at an acute angle relative to the bottom surface of the housing (e.g., in the direction of the arrow shown in  FIG.  33 A ), until cartridge  3322  is retained in place. In one embodiment, during, and as a result of, this motion, the fluid transfer needle  3362  will penetrate the seal  3380 . In one embodiment, the stopper  3378  in conjunction with seal  3380  will relocate the needle dam  3368 , exposing the fluid transfer opening in the fluid transfer needle  3362 , ( FIG.  33 B ), into the receiver cavity  3365   a  located in the seal  3365 . Air vents in the face seal  3365  will allow the air to be vacated from the receiver cavity. In one embodiment, space around the outer side of stopper  3378  will be filled with a drive fluid minimizing the volume of air captured. 
     In one embodiment, the cartridge  3322  is rotated into the housing of the device ( FIG.  33 C ). When the cartridge  3322  is in its final position, clips in the device cover  3312  or device base  3357  retain the cartridge  3322  in position. 
     Referring to  FIGS.  34 A- 34 C , in one embodiment, a linearly actuated valve, actuated by the insertion of the cartridge  3420  into the delivery device  3410 , opens flow to the cartridge  3420  while shutting off communication to a storage temperature compensation system. The stem  3415  is inserted into an opening of a valve seat  3425 . The stem  3415  inserted into the top of the valve seat  3425  seals the drive system during storage, before use. The internal volume of the manifold  3430  fluidly communicates to an internal chamber  3440  of the valve body  3425  through ports  3425   a . During storage these ports can communicate to the storage temperature compensation system through port  3425   b  (see  FIG.  34 A ). 
     When the cartridge  3420  is installed, the cartridge piston  3445  pushes on the valve stem  3415 . As the valve stem  3415  moves into the valve body  3425 , ports  3425   a  are isolated from the storage temperature compensation system and allowed to communicate with the internal path  3415   a  of the valve stem  3415 , though annulus  3418 . The excess drive oil from chamber  3440  is pushed into the storage temperature compensation system (see  FIG.  34 B ). In one embodiment, alternately, the storage temperature compensation system, could be located within the stem, and includes air. 
     Once the cartridge  3420  is seated completely into the delivery device  3410  ( FIG.  34 C ) the end  3443  of the cartridge  3420  seals against a face seal  3435 . This allows for oil flowing from the manifold through ports  3425   a  and annulus  3418  and up the internal passage of the valve stem  3415   a  to displace the cartridge piston  3445  and not leak out of the system. 
     Referring to  FIGS.  35 A- 35 E , in one embodiment, cartridge  3520  has a notch  3520   a  in the leading edge of the wall. This notch  3520   a  lines up substantially with a channel in the cartridge piston  3515 , and a channel in the rigid spike  3518 . In one embodiment, when the cartridge  3520  is initially inserted, the spike  3518  will pierce the foil  3527  adhered to the face of the accumulator piston  3525 . This allows the drive fluid to flow into the channel in the spike  3518  and the piston, and out through the notch  3520   a  in the cartridge  3520 , as the accumulator piston is pushed in. In one embodiment, the outer diameter of the cartridge  3520  slides against the “wings” of the face seal  3528 , pushing the accumulator piston  3525  in until the end of the cartridge  3520  compresses the face seal against the manifold  3540 . 
     In one embodiment, after the cartridge  3520  is inserted, and the accumulator piston  3525  is pushed back until the end of the cartridge  3520  is making a seal axially against the face seal  3528  and there is a path for excess working fluid to leave the manifold through the notch  3520   a  in the cartridge  3520 . 
     In one embodiment, after the cartridge has been inserted, it can be rotated such that the notch in the cartridge  3520  is covered by one of the “wings” on the face seal  3528 , blocking the path for the working fluid to leave the manifold, and sealing the cartridge  3520 . 
     In one embodiment, alternately, the notch  3520   a  in the leading edge of the wall of the cartridge could be a hole in the wall of the cartridge, with the leading edge un-interrupted. In one embodiment, alternately, the spike  3518  could be integral with the cartridge piston  3515 . 
     Referring to  FIGS.  36 A- 36 E , in one embodiment, the cartridge  3622  has a port (through hole)  3620   b  in the wall. This port  3620   b  lines up substantially with a channel  3630   a  in the cartridge piston  3630 , and the channel  3635   a  in the spike  3635 . When the cartridge  3622  is initially inserted, the spike  3635  will pierce the foil  3642  adhered to the face of the accumulator piston  3641 . In one embodiment, this allows the drive fluid to flow into the channel  3635   a  in the spike  3635  and the channel  3630   a , and out through the port  3620   b  in the cartridge  3622 , as the accumulator piston  3641  is pushed into the body of the manifold  3645 . In one embodiment, the outer diameter of the cartridge  3622  slides against the wings of the radial seal  3647 , pushing the accumulator piston  3641  in until the end of the cartridge  3622  has passed through the radial seal  3647 , and reaches its fully inserted position. This compresses the radial seal  3647  between the cartridge  3622  and the manifold  3645 , creating a seal around the entire perimeter of the end of the cartridge  3622 . 
     In one embodiment, after the cartridge  3622  is inserted, and the accumulator piston  3641  is pushed back past the radial seal  3647 , there is a path for excess drive fluid to leave the manifold  3645 . 
     In one embodiment, after the cartridge  3622  has been inserted, it can be rotated such that the port  3620   b  in the cartridge  3622  is covered by one of the “wings” on the face seal  3647 , blocking the path for the drive fluid to leave the manifold  3645 , and sealing the cartridge  3622  (See  FIG.  36 E ). 
     In one embodiment, alternatively, the port  3620   b  in the wall of the cartridge  3622  could be a notch in the leading edge of the wall of the cartridge, so long as there is a continuous seal around the outside of the cartridge  3622  after the cartridge has been rotated. In one embodiment, alternatively, when the cartridge has been inserted, the end of the cartridge  3622  could seal against the accumulator piston  3641 , and the accumulator piston  3641  has been pushed until it seals against the manifold  3645 . 
     In one embodiment, the spike  3635  could be integral with the piston  3630 . 
     Referring to  FIGS.  37 A- 37 D , in one embodiment, the end of the cartridge  3722  and the end of the cartridge piston  3715  are essentially flush. When the cartridge  3722  is inserted into the manifold  3740 , the cartridge  3722  will contact, and then push back, the shutter  3730 . The shutter  3730  is sealed against the face seal  3725 , which is pressed against the shutter  3730  by the spring  3727 , and is also sealed against the manifold  3740  by a sliding seal along the inside of the manifold  3740 . In one embodiment, the face seal  3725  is shown as over-molded elastomer over a rigid component. In one embodiment, the face seal  3725  is one material. In one embodiment, the face seal  3725  has separate sealing elements, such as o-rings or quad-rings. 
     In one embodiment, the cartridge  3722  pushes back the shutter  3730  until the cartridge  3722  reaches its final position, sliding the face seal  3725  down the bore in the manifold  3740 , compressing the spring  3727 . Then the shutter  3730  is removed or moved such that the face seal  3725  is pushed into contact with the cartridge  3722  by the spring  3727 , forming a seal against the cartridge  3722 , allowing the drive fluid to push against the cartridge piston  3715  when the device is activated. 
     In one embodiment, the shutter  3730  is a membrane. 
     In one embodiment, the spring  3727  could be some compressible or deformable material, including the elastomeric material of the face seal  3725 . 
     Referring to  FIGS.  38 A- 38 C , in one embodiment, the drive fluid is sealed into the manifold (only the output end is shown)  3840  by a pierceable membrane  3825  prior to the insertion of a separate cartridge. When the cartridge  3822  is initially inserted, the rigid spike  3817  in the cartridge piston  3815  pierces the membrane  3825  adhered to the face of the elastomeric face seal  3823 . In one embodiment, the cartridge  3820  travels farther, during insertion, and compresses the face seal  3823  creating a seal between the face seal  3823  and the cartridge  3822 . The membrane perforation allows the drive fluid to flow within the face seal through the hole created in the foil (not shown) by the spike  3817  to the rear face of the cartridge piston  3815 . 
     In one embodiment, the face seal  3823  is held in place by the collar  3827  which is fixed to the manifold  3840 , creating a seal. 
     In one embodiment, the spike  3817  could be integral with the cartridge piston  3815 . 
     Referring to  FIGS.  39 A- 39 B , in one embodiment, the drive fluid is sealed into the manifold  3940  by a pierceable membrane  3930  prior to the insertion of a separate cartridge  3922 . The cartridge  3922  has the cartridge piston  3915  essentially flush with the end of the cartridge  3922 . The cartridge  3922  is inserted, and punches through the membrane  3930  which is bonded to both a stiffening plug  3931  and a capture ring  3925 . In one embodiment, the capture ring  3925  is fixed to the manifold  3940 , holding an o-ring  3927 . 
     In one embodiment, the gap between the edge of the stiffening plug  3931  and the capture ring  3925  is less than the distance between the membrane  3930  and the o-ring  3927 , so that when the membrane  3930  has been broken, no part of the membrane  3930  that is still attached to the capture ring capture ring  3925  can extend past the o-ring  3927 , to compromise the seal created between the o-ring  3927  and the outer diameter of the cartridge  3922 . The stiffening plug  3931  is smaller in maximum size than the internal diameter of the cartridge  3922 , so that the stiffening plug  3931  cannot block the flow of the drive fluid to the piston  3915 . 
     In one embodiment, the face of the capture ring is at an angle to the axis of the cartridge  3922 , or non-planar, so when the cartridge  3922  comes in contact with the membrane  3930 , it makes contact at one, or more, points, rather than along the entire perimeter of the end of the cartridge  3922  simultaneously. In one embodiment, the end of the cartridge is nonplanar. 
     In one embodiment, the stiffening plug  3931  is larger than the internal diameter of the cartridge  3922 , but non-planar, such that it is impossible for the stiffening plug  3931  to block the flow of the drive fluid. 
     In one embodiment, the o-ring  3927  is replaced by some other sealing member, including but not limited to over-molding. 
     In one embodiment, the capture ring  3925  is combined with the manifold  3940  as a single part. 
     In one embodiment, the capture ring  3925  is combined with the o-ring  3927  as a single part adhered to, or over-molded on, the manifold  3940 . 
     Referring to  FIGS.  40 A- 40 F , in one embodiment, the drive fluid is sealed into the manifold  4040  by a pierceable membrane  4027  prior to the insertion of a separate cartridge ( FIG.  40 A ). When the cartridge  4022  is initially inserted, the protrusion  4015   a  on the piston  4015  will pierce the membrane  4027  adhered to the face of the elastomeric face seal  4025  ( FIG.  40 C ). In one embodiment, the face seal  4025  is aligned by the interaction of the face seal&#39;s outer diameter and the outer ring of the manifold  4040 . In one embodiment, the face seal  4025  forms a seal to the manifold  4040  on the inside of the face seal ring and an interior surface of the manifold  4040 . 
     In one embodiment, during insertion, the cartridge  4022  pushes and then compresses the face seal  4025  axially against a perpendicular surface of the manifold  4040 , creating a seal between the cartridge  4022  and the face seal  4025 , and the face seal  4025  and the manifold  4040 . 
     In one embodiment, the spike  4015   a  could be a separate part from the piston  4015 . 
     In one embodiment, the face seal  4025  could be made of multiple components or materials. 
     In one embodiment, the face seal  4025  is fixed in place at the final position. 
     In one embodiment, the outer ring of the manifold is non-continuous. ( FIG.  40 D ) 
     In one embodiment, the outer ring of the manifold  4040  is completely removed. 
     Referring to  FIGS.  40 E- 40 F , in one embodiment, the drive fluid is sealed into the manifold  4040  by a pierceable membrane  4027  prior to the insertion of a separate cartridge ( FIG.  40 F ). The cartridge  4022  is initially inserted, the spike  4017  on the piston  4015  pierces the membrane  4027  adhered to the face of the elastomeric face seal  4055  ( FIG.  40 F ) and a sealing element  4057  around the outer surface of the face seal  4055  creates a sliding seal between the manifold  4050  and the face seal  4055 . 
     In one embodiment, the cartridge  4022  pushes the face seal  4055  creating a seal between the face seal  4055  and the cartridge  4022 . In one embodiment, this seal could be achieved with a separate component, such as a quad-ring, or an over-molded elastomer. In one embodiment, there could be a sealing element between the cartridge and the manifold  4040 . 
     In one embodiment, the spike  4017  is integral with the cartridge piston  4015 . 
     In one embodiment, the o-ring  4057  is some other sealing element, such as a quad-ring, or an over-molded elastomer. 
     In one embodiment, the face seal  4055  is elastomeric, and combined with the o-ring. 
     Referring to  FIG.  41 A- 41 D , in one embodiment, the drive fluid is sealed into the manifold  4140  by a deformable face seal  4130  ( FIG.  41 A ). In one embodiment, the end of the cartridge  4122  and the end of the cartridge piston  4115  are offset by a specific distance. When the cartridge  4122  is inserted into the manifold  4140  it will contact, and then push back the deformable face seal  4130  while sliding over the hollow core  4125  until piston  4115  contacts hollow core  4125 . 
     In one embodiment, the deformation of the deformable face seal  4130  results in a pathway opening for the drive fluid to flow. In one embodiment, the cartridge  4122  is sealed against the face of the deformable face seal  4130 . 
     Referring to  FIGS.  42 A- 42 B , in one embodiment, the drive fluid is sealed into the manifold  4240  by a pierceable membrane  4245  prior to the insertion of a separate cartridge ( FIG.  42 A ). 
     In one embodiment, when the cartridge  4222  is initially inserted, the hollow spike  4225  in the piston  4230  will pierce the membrane  4245  adhered to the face of the radial seal  4240   a . In one embodiment, the hollow opening in the spike  4225  will allow the transfer of the drive fluid down toward the cartridge piston  4230  displacing air entrapment. In one embodiment, the sliding radial seal is held in place by the manifold  4240 , creating a seal. 
     In one embodiment, the cartridge  4222  travels farther, compressing the o-ring seal  4250  and creating a radial seal between the sliding radial seal  4240   a  and the cartridge  4222 . This seal contains the drive fluid that flows through the hole in the foil (not shown) created by the spike  4225  when the drive fluid is activated forcing it to act on the cartridge piston  4230 . 
     In one embodiment, the spike  4225  could be integral with the cartridge piston  4230 . In one embodiment, the radial seal is over-molded elastomer over a rigid component, or could be one material. 
     Referring to  FIGS.  43 A- 43 B , in one embodiment, a linearly actuated valve, actuated by the insertion of the cartridge assembly  4322  into the delivery device  4310 , opens flow to the cartridge  4322  while shutting off communication to the storage temperature compensation system. The stem  4315  is inserted into an opening of a valve body  4325 , which is sealed into manifold  4330 . The stem  4315  inserted into the top of the seat  4325  seals the drive system during storage, before use and contains the drive fluid during use. The internal volume of the manifold  4330  fluidly communicates to an internal chamber of the valve body  4325  through ports  4325   a . During storage these ports can communicate to the storage temperature compensation system through port  4325   b . The storage temperature compensation system is comprised of a chamber in the center of the stem  4315 , passage through the valve stem  4315   a , and a flexible membrane  4340 . The flexible membrane  4340  accommodates the change in drive fluid volume without imparting a significant force on the drive fluid. The non-drive fluid contact side of the flexible membrane  4340  is also vented to atmosphere. ( FIG.  43 A ). 
     When the cartridge assembly  4322  is installed into delivery device  4310 , the cartridge piston  4345  and vial  4343  push on the valve stem  4315 . As the valve stem  4315  moves into the valve body  4325 , ports  4325   a  are isolated from the storage temperature compensation system and allowed to communicate with the annular space around stem  4315  and through the passages  4315   b  in the top of stem  4315 . Air trapped by the insertion of cartridge assembly  4322  is vented to atmosphere through passage  4325   b , once the cartridge  4322  has become radially sealed by O-ring  4335 . This allows for flow from the manifold through ports  4325   a  around stem  4315  and up internal passages of the valve stem  4315   a  to displace the cartridge piston  4345  while preventing leakage out of the system ( FIG.  43 B ). 
     It will be appreciated by those skilled in the art that changes could be made to the exemplary embodiments shown and described above without departing from the broad inventive concepts thereof. It is understood, therefore, that this invention is not limited to the exemplary embodiments shown and described, but it is intended to cover modifications within the spirit and scope of the present invention as defined by the claims. For example, specific features of the exemplary embodiments may or may not be part of the claimed invention and various features of the disclosed embodiments may be combined. Unless specifically set forth herein, the terms “a”, “an” and “the” are not limited to one element but instead should be read as meaning “at least one”. 
     It is to be understood that at least some of the figures and descriptions of the invention have been simplified to focus on elements that are relevant for a clear understanding of the invention, while eliminating, for purposes of clarity, other elements that those of ordinary skill in the art will appreciate may also comprise a portion of the invention. However, because such elements are well known in the art, and because they do not necessarily facilitate a better understanding of the invention, a description of such elements is not provided herein. 
     Further, to the extent that the methods of the present invention do not rely on the particular order of steps set forth herein, the particular order of the steps should not be construed as limitation on the claims. Any claims directed to the methods of the present invention should not be limited to the performance of their steps in the order written, and one skilled in the art can readily appreciate that the steps may be varied and still remain within the spirit and scope of the present invention.