Patent Publication Number: US-7913720-B2

Title: Automated drug preparation apparatus including serial dilution functionality

Description:
TECHNICAL FIELD 
     The present invention relates generally to medical and pharmaceutical equipment, and more particularly, to an automated system for preparing a serially diluted drug delivery device, such as a syringe, and to a number of safety and control features that preserve the integrity and optimize the performance and capabilities of the system. 
     BACKGROUND 
     Disposable syringes are in widespread use for a number of different types of applications. For example, syringes are used not only to withdraw a fluid (e.g., blood) from a patient but also to administer a medication to a patient. In the latter, a cap or the like is removed from the syringe and a unit dose of the medication is carefully measured and then injected or otherwise disposed within the syringe. 
     As technology advances, more and more sophisticated, automated systems are being developed for preparing and delivering medications by integrating a number of different stations, with one or more specific tasks being performed at each station. For example, one type of exemplary automated system operates as a syringe filling apparatus that receives user inputted information, such as the type of medication, the volume of the medication and any mixing instructions, etc. The system then uses this inputted information to disperse the correct medication into the syringe up to the inputted volume. 
     In some instances, the medication that is to be delivered to the patient includes more than one pharmaceutical substance. For example, the medication can be a mixture of several components, such as several pharmaceutical substances. 
     By automating the medication preparation process, increased production and efficiency are achieved. This results in reduced production costs and also permits the system to operate over any time period of a given day with only limited operator intervention for manual inspection to ensure proper operation is being achieved. In addition, reduced human intervention provides reduced opportunities for bacteriological contamination. Such a system finds particular utility in settings, such as large hospitals, where a large number of doses of medications that must be prepared daily. Traditionally, these doses have been prepared manually in what is an exacting but tedious responsibility for a highly skilled staff. In order to be valuable, automated systems must maintain the exacting standards set by medical regulatory organizations, while at the same time simplifying the overall process and reducing the time necessary for preparing the medications. 
     Because syringes are used often as the carrier means for transporting and delivering the medication to the patient, it is advantageous for these automated systems to be tailored to accept syringes. However, the previous methods of dispersing the medication from the vial and into the syringe were very time consuming and labor intensive. More specifically, medications and the like are typically stored in a vial that is sealed with a safety cap or the like. In conventional medication preparation, a trained person retrieves the correct vial from a storage cabinet or the like, confirms the contents and then removes the safety cap manually. This is typically done by simply popping the safety cap off with one&#39;s hands. Once the safety cap is removed, the trained person inspects the integrity of the membrane and cleans the membrane. An instrument, e.g., a needle, is then used to pierce the membrane and withdraw the medication contained in the vial. The withdrawn medication is then placed into a syringe to permit subsequent administration of the medication from the syringe. 
     If the medication needs to be reconstituted, the medication initially comes in a solid form and is contained in an injectable drug vial and then the proper amount of diluent is added and the vial is agitated to ensure that all of the solid goes into solution, thereby providing a medication having the desired concentration. The drug vial is typically stored in a drug cabinet or the like and is then delivered to other stations where it is processed to receive the diluent. 
     A special case exists when doses need to be prepared in quantities smaller than are ordinarily used either because the patient is a child or because the patient has other underlying conditions that make them intolerant of ordinary doses of a particular drug. In such cases the dose may be so small as to be immeasurable with sufficient accuracy at commercially available concentrations. In such cases, pharmacies prepare dilutions of the commercially available injections so that the required dose is delivered in a larger, more measurable fluid volume. This process is even more time-consuming and exacting than the previously described dose preparation in that the pharmacist must first prepare the commercially available product, then remove an aliquot from that product, inject it into a sterile empty vial, compute an additional diluent amount, measure and inject that diluent into the sterile empty vial (to produce the dilution), and then label the vial to ensure that its contents are clearly and accurately known. Each of these additional steps adds time, opportunity for manual measurement error and opportunity for microbial contamination. 
     This limitation also exists for automated systems in that they may have limits to the fluid volume of doses they can prepare accurately, or the dose container (such as syringe) into which they place the dose cannot accurately deliver doses below a specified volume. 
     What is needed in the art and has heretofore not been available is a system and method for automating the medication preparation process and more specifically, an automated system and method for preparing a syringe including the filling of medication therein and also an automated serial dilution technique, as well as a number of safety features that improve the integrity of the process. 
     SUMMARY 
     An automated medication preparation system for preparing a prescribed dosage of medication in a drug delivery device includes a plurality of stations for receiving, handling and processing the drug delivery device so that the prescribed dosage of medication is delivered to the drug delivery device and a transporting device that receives and holds more than one drug delivery device and moves the drug delivery devices in a controlled manner from one station to another station. The system is configured so that two or more separate drug delivery devices can be acted upon at the same time. 
     In another aspect, an automated drug preparation system for preparing a prescribed dosage of medication in a syringe includes a first drug delivery station that includes a first automated drug delivery device that is in fluid communication with a source of a first fluid that is for delivery to the syringe. The system further includes an adjustable plunger extension mechanism that includes a movable component that intimately engages a plunger of the syringe so that a first movement of the movable component is translated into a first extension of the plunger a first defined distance which causes a first volume of the first fluid to be drawn into the syringe. 
     The system also includes a controller that includes stored medication orders including a final volume and concentration of the prescribed dosage of medication, wherein and based on the stored medication orders, the controller calculates the first defined distance that the plunger is moved to draw the first volume of the first fluid and causes the plunger to extend the first defined distance. When the first volume is less than the final volume, the controller calculates the difference between the final volume and the first volume and disengages the fluid communication between the source of the first fluid and the first automated drug delivery device and then calculates a second defined distance the plunger is to be moved to permit reception of a second volume of a second fluid and causes the plunger to extend the second defined distance. The sum of the first and second volumes is equal to the final volume. 
     For example, one exemplary device creates a diluted medication dose within the final or destination drug delivery device (e.g. a syringe) by first computing and acquiring the desired amount of diluent into that drug delivery device, and then injecting the original, commercially available drug solution into the device to complete delivery of the dose. 
     In another embodiment, a method for processing a drug order and preparing a diluted child drug product from a parent drug product, when it is required, includes the steps of: (a) receiving and processing the drug order and determining whether a diluted child drug product is required as is the case when the drug order can not be prepared by processing the parent drug product; (b) determining whether a diluted parent drug product exists and if none exists, then determining whether an amount of reconstituted parent drug product can be aspirated into a syringe and an amount of diluent directly added to the syringe to yield the diluted child drug product; and if so, then performing these operations; and (c) if the diluted parent drug product exists, then determining whether an amount of the diluted parent drug product can be aspirated into a syringe and an amount of diluent directly added to the syringe to yield the diluted child drug product; and if so, then performing these operations; and if the diluted parent drug product does not exist, then the parent drug product is located and an amount of the parent drug product is aspirated into an empty container and an amount of diluent is added to the container which is then manipulated to produce the child drug product. 
     In another aspect, a method of preparing a diluted dosage of medication with an automated drug preparation system includes the steps of: (a) reconstituting medication in a first vial, in an automated manner, to produce reconstituted medication have a first concentration which is greater than an inputted target concentration of the dosage of medication; (b) loading a syringe onto a device that controllably delivers the loaded syringe from one station to another station; (c) fluidly connecting the syringe to a source of diluent; (d) extending a plunger of the syringe a predetermined distance to draw a first volume of the diluent into the syringe; and (e) advancing the partially filled syringe to another station where a predetermined amount of the reconstituted medication is delivered to the partially filled syringe to produce the dosage of medication that has a concentration at least about equal to the inputted target concentration, wherein the reconstituted medication is delivered to the partially filled syringe in a manner different than drawing fluid by extension of the syringe plunger. 
     In yet another embodiment, a method of withdrawing a precise amount of drug from a drug vial in an automated manner includes the steps of: (a) identifying the type of drug vial being used; (b) accessing a database to retrieve stored vial characteristics that are associated with the identified drug vial; (c) positioning a vented cannula relative to the drug vial based on the stored vial characteristics such that in a first mode of operation, a vent port of the vented cannula is open and the drug vial is vented to atmosphere and in a second mode of operation, the vent port is closed; and (d) drawing the precise amount of drug from the drug vial. 
     Further aspects and features of the exemplary automated safety cap removal mechanism disclosed herein can be appreciated from the appended Figures and accompanying written description. 
    
    
     
       BRIEF DESCRIPTION OF THE DRAWINGS 
         FIG. 1  is a perspective view of a housing that contains an automated drug delivery system that prepares a dosage of medication to be administered to a patient; 
         FIG. 2  is a diagrammatic plan view of the automated system for preparing a medication to be administered to a patient; 
         FIG. 3  is a local perspective view of an automated device for removing or replacing the safety tip cap from the syringe; 
         FIG. 4  is a local perspective view of a device for extending a plunger of the syringe; 
         FIG. 5  is a local perspective view of fluid transfer and vial preparation equipment in a fluid transfer area of the automated system; 
         FIG. 6  is a local perspective view of first and second fluid delivery devices that form a part of the system of  FIG. 2 ; 
         FIG. 7  is a cross-sectional view of a syringe being held with a plunger thereof being extended by an automated plunger extension mechanism; 
         FIG. 8  is a local perspective view of a multi-use vial holding station and a vial weigh station; 
         FIG. 9  is a top plan view of a drug vial; 
         FIG. 10  is a cross-sectional view of a drug vial with the vented cannula in a second position where the vent is inactive; 
         FIG. 11  is a cross-sectional view of a drug vial with a vented cannula in a first position where the vent is active; 
         FIG. 12  is a cross-sectional view of drug delivery directly from a drug vial by extending the plunger of a syringe with an automated mechanism; 
         FIG. 13  is a flow chart illustrating the steps of a serial dilution performed by the devices of  FIG. 6 ; 
         FIG. 14  is a computer screen image of an input page for entering information related to a drug dilution order; and 
         FIG. 15  is a graph of the data obtained by a load cell for determining a weight of the contents of the vial to ensure proper reconstitution of the medication. 
     
    
    
     DETAILED DESCRIPTION OF PREFERRED EMBODIMENTS 
       FIG. 1  is perspective view of a housing  1300  that is constructed to house an automated drug preparation and delivery system  100  in a sealed, controlled environment when the housing structure is closed (sealed). A user interface, such as a computer,  1303  is provided to permit an operator not only to enter information, such as drug orders, but also to monitor the progress and operation of the system  100 . The housing  1300  and its components are described in greater detail below. 
       FIG. 2  is a schematic diagram illustrating one exemplary automated system, generally indicated at  100 , for the preparation of a medication. The automated system  100  is divided into a number of stations where a specific task is performed based on the automated system  100  receiving user input instructions, processing these instructions and then preparing unit doses of one or more medications in accordance with the instructions. The automated system  100  includes a station  110  where medications and other substances used in the preparation process are stored. As used herein, the term “medication” refers to a medicinal preparation for administration to a patient. Often, the medication is initially stored as a solid, e.g., a powder, to which a diluent is added to form a medicinal composition. Thus, the station  110  functions as a storage unit for storing one or medications, etc., under proper storage conditions. Typically, medications and the like are stored in sealed containers, such as vials, that are labeled to clearly indicate the contents of each vial. The vials are typically stored in columns and further, empty vials can be stored in one column. The station  110  includes a mechanism that permits the controlled discharge of a selected drug vial  60 . 
     A first station  120  is a syringe storage station that houses and stores a number of syringes. For example, up to 500 syringes or more can be disposed in the first station  120  for storage and later use. The first station  120  can be in the form of a bin or the like or any other type of structure than can hold a number of syringes. In one exemplary embodiment, the syringes are provided as a bandolier structure that permits the syringes to be fed into the other components of the system  100  using standard delivery techniques, such as a conveyor belt, etc. 
     The system  100  also includes an apparatus  130  for advancing the fed syringes from and to various stations of the system  100 . The apparatus  130  can be a rotary device, as shown, or it can be a linear apparatus, or it can assume some other shape. For purposes of illustration only, the apparatus  130  is discussed and shown as being a rotary device; however, it is not limited to such a configuration and therefore, the present disclosure is not limiting of the scope of the present invention. 
     A number of the stations are arranged circumferentially around the rotary apparatus  130  so that the syringe is first loaded at the first station  120  and then rotated a predetermined distance to a next station, etc., as the medication preparation process advances. At each station, a different operation is performed with the end result being that a unit dose of medication is disposed within the syringe that is then ready to be administered. 
     One exemplary type of rotary apparatus  130  is a multiple station cam-indexing dial that is adapted to perform material handling operations. The indexer is configured to have multiple stations positioned thereabout with individual nests for each station position. One syringe is held within one nest using any number of suitable techniques, including opposing spring-loaded fingers that act to clamp the syringe in its respective nest. The indexer permits the rotary apparatus  130  to be advanced at specific intervals. 
     At a second station  140 , the syringes are loaded into one of the nests or the like of the rotary apparatus  130 . One syringe is loaded into one nest of the rotary apparatus  130  in which the syringe is securely held in place. The system  100  preferably includes additional mechanisms for preparing the syringe for use, such as removing a tip cap and extending a plunger of the syringe at a third station  150  as described below. At this point, the syringe is ready for use. 
     The system  100  also preferably includes a reader  151  that is capable of reading a label disposed on the sealed container containing the medication. The label is read using any number of suitable reader/scanner/camera/imager devices  151 , such as a bar code reader, etc., so as to confirm that the proper medication has been selected from the storage unit of the station  110 . Multiple readers can be employed in the system at various locations to confirm the accuracy of the entire process. Once the system  100  confirms that the sealed container (drug vial  60 ) that has been selected contains the proper medication, the vial  60  is delivered to a station  550  using an automated mechanism, such a robotic gripping device, as will be described in greater detail. At the station  550 , the vial  60  is prepared by removing the safety cap from the sealed container and then cleaning the exposed end of the vial. Preferably, the safety cap is removed on a deck of the automated system  100  having a controlled environment. In this manner, the safety cap can be removed just-in-time for use. Exemplary vial cap removal devices are disclosed in U.S. Pat. No. 6,604,903, which is hereby expressly incorporated by reference in its entirety. In addition, the vial cap can be removed by other devices, such as one which has a member with suction (vacuum) capabilities incorporated therein for removing the cap. In this embodiment, the suction member is applied to the vial cap and then the suction is activated and then the robotic arm that is gripping and holds the vial body itself is twisted while the drug vial cap is under suction, thus prying the cap from its seal. The cap is still held by suction on the member until the suction is released at which time the cap falls into a trash bin. 
     The system  100  also preferably includes a fourth station (fluid transfer station)  170  for injecting or delivering a diluent into the medication contained in the sealed container and then subsequently mixing the medication and the diluent to form the medication composition that is to be disposed into the prepared syringe. Alternatively, the station  170  can controllably deliver a predetermined dosage of pre-made medication. At this fluid transfer station  170 , the prepared medication composition is withdrawn from the container (i.e., vial) and is then delivered into the syringe. For example, a cannula can be inserted into the sealed vial and the medication composition then aspirated into a cannula set. The cannula is then withdrawn from the vial and is then rotated relative to the rotary apparatus  130  so that it is in line with (above, below, etc.) the syringe. The unit dose of the medication composition is then delivered to the syringe, as well as additional diluent, if necessary or desired. This is referred to as a vial mode of operation where reconstitution of a drug is performed. The tip cap is then placed back on the syringe at a station  180 . A station  190  prints and station  195  applies a label to the syringe and a device, such as a reader, can be used to verify that this label is placed in a correct location and the printing thereon is readable. Also, the reader can confirm that the label properly identifies the medication composition that is contained in the syringe and thus performs a safety check. The syringe is then unloaded from the rotary apparatus  130  at an unloading station  200  and delivered to a predetermined location, such as a new order bin, a conveyor, a sorting device, or a reject bin. The delivery of the syringe can be accomplished using a standard conveyor or other type of apparatus. If the syringe is provided as a part of the previously-mentioned syringe bandolier, the bandolier is cut prior at a station  198  located prior to the unloading station  200 . 
     It will be appreciated that an initial labeling station  153  prior to the drug delivery station  170  (e.g., a station right after the load station  120 ) can be provided for applying a label with a unique identifier, such as a barcode, that uniquely identifies the syringe so that it can be tracked at any location as it is advanced from one station to another station. In other words, a reader  155  downstream of the initial labeling station  153  reads the unique identifier and associates the unique identifier with this particular syringe  10 . This permits each drug order to be assigned one particular uniquely identified syringe which is logged into and tracked by the computer. 
     A robotic device is provided for moving objects relative to the transporter device (dial  130 ) and in particular, the robotic device can deliver and/or remove objects, such as the syringe  10  or the drug vials  60 , relative to the dial  130 . The robotic device thus typically has a gripper mechanism, such as a pair of grippers, for grasping and holding the object. 
       FIGS. 2-5  illustrate parts of the third station  150  for preparing a syringe  10 , the fluid transfer station  170 , and the station  180  for preparing the syringe for later use. As is known, a conventional syringe  10  includes a barrel  20  into which fluid is injected and contained and at a barrel tip, a cap  40  is provided to close off the barrel  20 . A plunger  50  is slidingly received within the barrel  20  for both drawing fluid into the barrel and discharging fluid therefrom. 
       FIGS. 2-5  thus illustrate in more detail the stations and automated devices that are used in removal of the tip cap  40  from the barrel tip, the filling of barrel chamber with medication and the replacement of the tip cap  40  on the barrel tip.  FIG. 3  is a perspective view of an automated device  300  at station  150  that removes the tip cap  40  from the barrel tip as the syringe  10  is prepared for receiving a prescribed dose of medication at station  170  of the automated medication preparation system  100 . The device  300  is a controllable device that is operatively connected to a control unit, such as a computer, which drives the device  300  to specific locations at selected times. The control unit can be a personal computer that runs one or more programs to ensure coordinated operation of all of the components of the system  100 . The device  300  and other suitable devices described in greater detail in U.S. Ser. No. 10/426,910, which is hereby incorporated by reference in its entirety. 
     As previously mentioned, one exemplary rotary device  130  is a multiple station cam-indexing dial that is adapted to perform material handling operations. The dial  130  has an upper surface  132  and means  134  for securely holding one syringe  10  in a releasable manner and in a spaced relationship. Exemplary means  134  is disclosed in U.S. Pat. No. 6,915,823, which is incorporated herein by reference in its entirety. 
     A post  161  is provided for holding the tip cap  40  after its removal to permit the chamber to be filled with medication. The post  161  can also be formed on the upper surface  132  of the dial  130 . Thus, the precise location of the post  161  can vary so long as the post  161  is located where the tip cap  40  can sit without interfering with the operation of any of the automated devices and also the post  161  should not be unnecessarily too far away from the held syringe  10  since it is desired for the automated devices to travel a minimum distance during their operation to improve the overall efficiency of the system  100 . The specific shape of the post  161  can likewise vary so long as the post  161  can hold the tip cap  40  so that it remains on the post  161  during the rotation of the dial  130  as the associated syringe  10  is advanced from one station to another station. 
     While in one exemplary embodiment, the syringes  10  are fed to the rotary device  130  as part of a syringe bandolier (i.e., multiple syringes  10  are disposed in series and interconnected by a web), it will be appreciated that the syringes  10  can be fed to the rotary device  130  in any number of other ways. For example, the syringes  10  can be fed individually into and held individually on the rotary device  130  from a loose supply of syringes  10 . 
     The automated device  300  is a robotic device and preferably, the automated device  300  is a linear actuator with a gripper. For example, the device  300  has first and second positionable gripping arms  340 ,  350  which are adjustable in at least one direction and which are coupled to and extend downwardly from the block member  330 . For example, each of the gripping arms  340 ,  350  is movable at least in a direction along the y axis which provide the flexibility and motion control that is desirable in the present system  100 . The gripping arms  340 ,  350  are programmed to work together in tandem so that both arms  340 ,  350  are driven to the same location and the same time. This permits an object, such as the cap  40 , to be held and moved to a target holding location. 
     The precise movements of the gripper device  300  are described in the &#39;910 application. In general, the gripper device  300  can be any robotic device that can hold and move an object, such as the tip cap  40 , from one location to another location. 
     Now referring to  FIG. 4 , the system  100  also includes a device  400  for extending the plunger  50  of one uncapped syringe  10  after it has had its tip cap  40  removed therefrom. For ease of illustration, the device  400 , as well as the device  300 , are described as being part of the third station  150  of the system  100 . The device  400  extends the plunger  50  so that the syringe  10  can receive a desired dose based upon the particular syringe  10  being used and the type of application (e.g., patient&#39;s needs) that the syringe  10  is to be used for. The device  400  can have any number of configurations so long as it contains a feature that is designed to make contact with and withdraw the plunger  50 . In one exemplary embodiment, the automated device  400  is a robotic device and preferably, the automated device  400  is a linear actuator with a gripper. For example, one exemplary device  400  is a mechanical device that has a movable gripper  410  that includes a gripping edge  420  that engages the flange  54  of the plunger  50 , as shown in  FIG. 4 , and then the gripper  410  is moved in a downward direction causing the plunger  50  to be moved a predetermined amount. For example, the gripper  410  can be the part of an extendable/retractable arm that includes the gripping edge  420  for engaging the syringe  10  above the plunger flange  54 . When an actuator or the like (e.g., stepper motor) causes the gripper  410  to move in a downward direction, the gripping edge  420  seats against the flange  54  and further movement of the gripper  410  causes the extension of the plunger  50 . Once the plunger  50  has been extended the prescribed precise distance, the gripper  410  moves laterally away from the plunger  50  so that the interference between the flange  54  of the plunger  50  and the gripping edge  420  no longer exits. In other words, the gripper  410  is free of engagement with the plunger  50  and can therefore be positioned back into its initial position by being moved laterally and/or in an up/down direction (e.g., the gripper  410  can move upward to its initial position). An exemplary plunger extending device is described in commonly assigned U.S. patent application Ser. No. 10/457,066, which is hereby incorporated by reference in its entirety. 
     Thus, the device  400  complements the device  300  in getting the syringe  10  ready for the fluid transfer station at which time, a prescribed amount of medication or other medication is dispensed into the chamber  30  of the barrel  20  as will be described in greater detail hereinafter. 
     Of course, it will be appreciated that the syringes  10  can be provided without caps  40  and thus, the device  300  is not needed to remove caps  40  if the syringes  10  are loaded onto dial  130  without caps  40 . 
     The device  400  is part of the overall programmable system and therefore, the distance that the gripper  410  moves corresponds to a prescribed movement of the plunger  50  and a corresponding increase in the available volume of the chamber of the barrel  20 . For example, if the prescribed unit dose for a particular syringe  10  is 8 ml, then the controller instructs the device  400  to move the gripper  410  a predetermined distance that corresponds with the plunger  50  moving the necessary distance so that the volume of the barrel chamber is at least 8 ml. This permits the unit dose of 8 ml to be delivered into the barrel chamber. As described below, the device  400  can be operated multiple times with reference to one syringe  10  in that the plunger  50  can be extended a first distance during a first operation of the device  400  and a second distance during a subsequent second operation of the device  400 . 
     In one example, after the syringe  10  has been prepared by removing the tip cap  40  and extending the plunger  50  a prescribed distance, the syringe  10  is then delivered to the fluid transfer station  170  where a fluid transfer device  500  prepare and delivers the desired amount of medication. 
     Now turning to  FIG. 5  in which a drug preparation area is illustrated in greater detail to show the individual components thereof. More specifically, a drug transfer area for the vial mode of operation of the system  100  is illustrated and is located proximate the rotary dial  130  so that after one drug vial  60  is prepared (reconstituted), the contents thereof can be easily delivered to one or more syringes  10  that are securely held in nested fashion on the rotary dial  130 . As previously mentioned, drug vials  60  are stored typically in the storage cabinet  110  and can be in either liquid form or solid form or even be empty. A driven member, such as a conveyor belt  111 , delivers the drug vial  60  from the cabinet  110  to a first robotic device (e.g., a pivotable vial gripper mechanism)  510  that receives the vial  60  in a horizontal position and after gripping the vial with arms (grippers) or the like, the mechanism  510  is operated so that the vial  60  is moved to a vertical position relative to the ground and is held in an upright manner. 
     The mechanism  510  is designed to deliver the vial  60  to a rotatable pedestal  520  that receives the vial  60  once the grippers of the mechanism  510  are released. The vial  60  sits upright on the pedestal  520  near one edge thereof that faces the mechanism  510  and is then rotated so that the vial  60  is moved toward the other side of the pedestal  520 . It will be understood that any number of different robotic mechanisms can be used to handle, move and hold the vial. 
     As the pedestal rotates, the vial  60  is scanned as by a barcode reader  151  or the like and preferably a photoimage thereof is taken and the vial  60  is identified. If the vial  60  is not the correct vial, then the vial  60  is not used and is discarded using a gripper device that can capture and remove the vial  60  from the pedestal before it is delivered to the next processing station. The central control has a database that stores all the identifying information for the vials  60  and therefore, when a dose is being prepared, the controller knows which vial (by its identifying information) is to be delivered from the cabinet  110  to the pedestal  520 . If the scanning process and other safety features does not result in a clear positive identification of the vial as compared to the stored identifying information, then the vial is automatically discarded (e.g., returned to a further inspection station) and the controller will instruct the system to start over and retrieve a new vial. 
     The reader, such as a scanner,  151  can also read the vial  60  to ensure that the proper vial  60  has been delivered and gripped by the robotic device. This is another safety check and can be implemented with barcodes or the like. The reader  151  initially reads the barcode or other identifying information contained on the vial  60  and this read information is compared to a stored database that contains the inputted drug information. If the product identification information does not match, the operator is notified and the vial  60  is not advanced to the next station. 
     If the vial  60  is identified as being the correct vial, then a vial gripper device (robotic device)  530  moves over to the pedestal for retrieving the vial  60  (alternatively, this robotic device can be the same robotic device that delivers the vial  60  to the pedestal). The vial gripper device  530  is configured to securely grip and carry the vial in a nested manner to the next stations as the drug is prepared for use. Details and operation of the vial gripper device  530  are described in detail in U.S. patent application Ser. No. 11/434,850, which is hereby incorporated by reference in its entirety. The robotic device  530  includes a pair of grippers or arms  539  (gripper unit) that are positionable between closed and open positions with the vial  60  being captured between the arms in the closed position in such a manner that the vial  60  can be securely moved and even inverted and shaken without concern that the vial  60  will become dislodged and fall from the arms. The arms thus have a complementary shape as the vial  60  so that when the arms close, they engage the vial and nest around a portion (e.g., neck portion) of the vial  60  resulting in the vial  60  being securely captured between the arms. As with some of the other components, the arms can be pneumatically operated arms or some other mechanical devices. 
     In order to retrieve the vial  60  from the pedestal  520 , the device  530  is driven forward and then to one side so that it is positioned proximate the pedestal  520 . The gripper unit  539  is then moved downward so that the arms, in their open position, are spaced apart with the vial  60  being located between the open arms. The gripper unit  539  is then actuated so that the arms close and capture the vial  60  between the arms. Next the robotic device  530  is moved upward and the device  530  is driven back to the opposite side so as to introduce the vial  60  to the next station. The vial  60  is also inverted by inversion of the gripper unit  539  so that the vial  60  is disposed upside down. 
     The vial  60  can then be delivered to a weigh station  540  ( FIG. 8 ) where the weight of the vial with solid medication (or an empty vial or any other object) is measured and stored in the computer system. Any number of different devices, such as scales, can be used to weigh the vial; however, one exemplary device for weighing the vial  60  and any other object for that matter, is a load cell  542 . Load cell  542  is a transducer for the measurement of force or weight, usually based on a strain gauge bridge or vibrating wire sensor. In particular and as shown in  FIG. 8 , the load cell  542  includes a housing or body  544  that contains the working components and electronics of the load cell  542  and a platform  546  on which the item, in this case, the vial, to be weighed is placed. 
     The load cell  542  is part of an overall automated and integrated system and therefore, it contains software that communicates with the master controller so that the operation of the complete system  100  can be controlled, including the movement of the robotic device  530  that holds and transport the vial  60  from one location to another location. As shown in  FIG. 8 , the vial  60  is held by the robotic device about the neck portion and can therefore be delivered onto the load cell platform  546 . In one embodiment, the robotic device moves the vial  60  from the pedestal  520  to the platform  546 . 
     The software controlling the robotic device is configured so that the vial grippers of the robotic device are first approximately level with the standby pedestal  520  and at this point, the software of the load cell gather a predetermined number, such as 10-15 (e.g., 15) weights from the load cell  542  which are considered the tare weight. The vial  60  is then shuttled down to a predetermined distance, such as 2.5 mm, above the load cell platform  546 . From this predetermined distance (e.g., 2.5 mm), the load cell software shuttles the vial  60  down towards the load cell platform  546  very slowly, while monitoring the weights returned by the load cell  542  to determine the exact moment the vial makes contact with the platform  546  (i.e., which will register a marked increase in observed weight). At the moment the vial contact the platform, the software instructs the vial grippers to open and all vertical movement of the vial is stopped. A predetermined time, such as 0.5 seconds, after the vial grippers open, the software collects a predetermined number, such as 10-15 (e.g., 15) weight measurements from the load cell, which shall be considered the weight of the vial and the load cell platform. 
     The data collected by the load cell can be processed in any number of different ways and in one embodiment, as shown in  FIG. 15 , a graph is created where the x axis is the measured amplitude (AtoD counts) and the y axis is the time (ms). The point at which the vial makes contact with the load cell  542  is indicated at line  545 . The vial weight (AtoD counts) is equal to the measured weight-tare. The vial weight (grams) is equal to (vial weight (AtoD counts)*slope)+intercept. In another embodiment, data is not displayed but is manipulated inside the master controller and final results are used for system reaction. 
     As will be described below, since the initial weight of the vial is measured and stored and later, the weight of the reconstituted drug in the vial is calculated, a safety check can be performed to determine if the proper drug product was fabricated. 
     In another embodiment, e.g., serial dilution, an empty child vial is weighed and diluent is added and weighed. The required amount of drug is then added into the vial and weighed. The master controller can now verifies the amount of diluent and drug that is in the child vial and if the combined measured weight is not within prescribed limits, then the system can take remedial action, such as weighing the sample again or rejecting the sample for further inspection, etc. 
     Yet in another embodiment, the diluent amount in an empty child vial is calculated using one system or device, such as a load cell, and verification of the drug amount introduced into the vial is verified using a second system, such as a Kloehn pump. 
     Prior to the vial  60  being delivered to the weigh station  540 , the inverted vial  60  is delivered to a station  550  where the vial  60  is prepared by removing the safety cap from vial  60 . This station  550  can therefore be called a vial decapper station. Any number of devices can be used at station  550  to remove the safety cap from the vial. For example, several exemplary decapper devices are disclosed in commonly-assigned U.S. Pat. No. 6,604,903 which is hereby incorporated by reference in its entirety. After the vial  60  is decapped, the vial is then delivered, still in the inverted position, to a cleaning station  560  where the exposed end of the vial is cleaned. For example, underneath the removed vial safety cap, there is a septum that can be pierced to gain access to the contents of the vial. The cleaning station  560  can be in the form of a swab station that has a wick saturated with a cleaning solution, such as an alcohol. The exposed area of the vial  60  is cleaned by making several passes over the saturated wick which contacts and baths the exposed area with cleaning solution. After the vial  60  is cleaned at the station  560 , the gripper unit  539  rotates so that the vial  60  is returned to its upright position and remains held between the gripper arms. 
     The device  530  then advances forward to the fluid transfer station  170  according to one embodiment. The fluid transfer station  170  is an automated station where the medication (drug) can be processed so that it is in a proper form for delivery (injection) into one of the syringes  10  that is coupled to the rotary dial  130 . As mentioned before, the fluid transfer station  170  is used during operation of the system, at least partially, in a vial mode of operation. When the vial  60  contains only a solid medication and it is necessary for a diluent (e.g., water or other fluid) to be added to liquify the solid, this process is called a reconstitution process. Alternatively and as will be described in detail below, the medication can already be prepared and therefore, in this embodiment, the fluid transfer station is a station where a precise amount of medication is simply aspirated or withdrawn from the vial  60  and delivered to the syringe  10 . 
     For purpose of illustration, the reconstitution process is first described. After having been cleaned, the vial  60  containing a prescribed amount of solid medication is delivered in the upright position to the fluid transfer station  170  by the device  530 . As will be appreciated, the device  530  has a wide range of movements in the x, y and z directions and therefore, the vial  60  can easily be moved to a set fluid transfer position. At this position, the vial  60  remains upright and a fluid transfer device  580  is brought into position relative to the vial  60  so that an automated fluid transfer can result therebetween. More specifically, the fluid transfer device  580  is the main means for both discharging a precise amount of diluent into the vial  60  to reconstitute the medication and also for aspirating or withdrawing the reconstituted medication from the vial  60  in a precise, prescribed amount. The device  580  is a controllable device that is operatively connected to a control unit, such as a computer, which drives the device  580  to specific locations at selected times and controls with a high degree of precision the operation and discharge of medication. The control unit can be a personal computer that runs one or more programs to ensure the coordinated operation of all of the components of the system  100 . 
     As illustrated in  FIGS. 1 and 6 , one exemplary fluid transfer device  580  is a robotic device having a movable cannula unit  590  that can be moved in a controlled up and down and side-side, etc., manner so to either lower it or raise it relative to the vial  60  in the fluid transfer position and to move it into the proper position. For example, the cannula unit  590  can be pneumatically operated or operated by an electric motor or some other means to cause the controlled movement of the cannula unit  590 . 
     At one end of the cannula unit  590 , a cannula  610  is provided. The cannula  610  has one end that serves to pierce the septum of the vial  60  and an opposite end that is connected to a main conduit  620  that serves to both deliver diluent to the cannula  610  and ultimately to the vial  60  and receive aspirated reconstituted medication from the vial  60 . Preferably, the cannula  610  is of the type that is known as a vented cannula which can be vented to atmosphere as a means for eliminating any dripping or spattering of the medication during an aspiration process. More specifically, the use of a vented needle to add (and withdraw) the fluid to the vial overcomes a number of shortcoming associated with cannula fluid transfer and in particular, the use of this type of needle prevents backpressure in the vial (which can result in blow out or spitting or spraying of the fluid through the piercing hole of the cannula). The venting takes place via an atmospheric vent that is located in a clean air space and is formed in a specially designed hub that is disposed over the needle. By varying the depth that the needle penetrates the vial, the user can control whether the vent is activated or not. It will be appreciated that the venting action is a form of drip control (spitting) that may otherwise take place. Drip control is a process after aspiration where fluid is sucked back up into the tube to prevent dripping of the drug and then the cannula is transferred to the syringe for dispensing. 
     Moreover, the cannula  610  is also preferably of the type that is motorized so that the tip of the cannula  610  can move around within the vial  60  so that cannula  610  can locate and aspirate every last drop of the medication. In other words, the cannula  610  itself is mounted within the cannula unit  590  so that it can move slightly therein such that the tip moves within the vial and can be brought into contact with the medication wherever the medication may lie within the vial  60 . Thus, the cannula  610  is driven so that it can be moved at least laterally within the vial  60 . 
     An opposite end of the main conduit  620  is connected to a fluid pump system  630  that provides the means for creating a negative pressure in the main conduit  620  to cause a precise amount of fluid to be withdrawn into the cannula  610  and the main conduit  620 , as well as creating a positive pressure in the main conduit  620  to discharge the fluid (either diluent or medication) that is stored in the main conduit  620  proximate the cannula  610 . One exemplary fluid pump system  630 , as well as the operation thereof, is described in great detail in the &#39;823 patent, which has been incorporated by reference. The net result is that the prescribed amount of diluent that is needed to properly reconstitute the medication is delivered through the cannula  610  and into the vial  60 . Accordingly, the cannula  610  pierces the septum of the vial and then delivers the diluent to the vial and the vial  60  can be inverted to cause agitation and mixing of the contents of the vial or the vial can be delivered to a separate mixing device to cause the desired mixing of the contents. 
     After the medication in the vial  60  has been reconstituted as by inversion of the vial and/or mixing, as described herein, the fluid pump system  630  is then operated so that a prescribed amount of medication is aspirated or otherwise drawn from the vial  60  through the cannula  610  and into the main conduit  620 . Before the fluid is aspirated into the main conduit  620 , an air bubble is introduced into the main conduit  620  to serve as a buffer between the diluent contained in the conduit  620  to be discharged into one vial and the aspirated medication that is to be delivered and discharged into one syringe  10 . It will be appreciated that the two fluids (diluent and prepared medication) can not be allowed to mix together in the conduit  620 . The air bubble serves as an air cap in the tubing of the cannula and serves as an air block used between the fluid in the line (diluent) and the pulled medication. According to one exemplary embodiment, the air block is a 1/10 ml air block; however, this volume is merely exemplary and the size of the air block can be varied. 
     After aspirating the medication into the main conduit  620 , the fluid transfer device  580  is rotated as is described below to position the cannula  610  relative to one syringe  10  that is nested within the rotary dial  130 . The pump mechanism  630  is actuated to cause the controlled discharge of the prescribed amount (dosage) of medication through the cannula  610 . As the pump mechanism  630  is operated, the air block continuously moves within the main conduit  620  toward the cannula  610 . When all of the pulled (aspirated) medication is discharged, the air block is positioned at the end of the main conduit signifying that the complete pulled medication dose has been discharged; however, none of the diluent that is stored within the main conduit  620  is discharged into the syringe  10  since the fluid transfer device  580 , and more particularly, drivers or the like of the system, operate with such precision that only the prescribed medication that has been previously pulled into the main conduit  620  is discharged into the vial  60 . 
     It will be appreciated that the fluid transfer device  580  may need to make several aspirations and discharges of the medication into the vial  60  in order to inject the complete prescribed medication dosage into the vial  60 . In other words, the cannula unit  590  can operate to first aspirate a prescribed amount of fluid into the main conduit  620  and then is operated so that it rotates over to and above one syringe  10  on the rotary dial  130 , where one incremental dose amount is discharged into the vial  60 . After the first incremental dose amount is completely discharged into the syringe  10 , the cannula unit  590  is brought back the fluid transfer position where the fluid transfer device is operated so that a second incremental dose amount is aspirated into the main conduit  620  in the manner described in detail hereinbefore. The cannula unit  590  is brought back to the rotary dial  130  above the syringe  10  that contains the first incremental dose amount of medication. The cannula  610  is then lowered so that the cannula tip is placed within the interior of the syringe  10  and the cannula unit  590  is operated so that the second incremental dose amount is discharged into the syringe  10 . The process is repeated until the complete medication dose is transferred into the syringe  10 . 
     It will further be appreciated that the cannula unit  590  can be configured so that it can be operated at varying speeds of aspiration. For example, the software associated with the cannula unit  590  can offer the operator a number of different aspiration programs to choose from or the operator can program the unit  590  with a unique aspiration process or program by entering or inputting aspiration instructions. For example, the unit  590  can operate by first aspirating the medication at a first speed and for a first time period and then aspirating the medication at a second speed for a second time period. According to one embodiment, the first speed is greater than the second speed and the first time period is greater than the second time period; however, the opposite can be equally true and it will further be appreciated that there may be more than 2 distinct aspiration phases. For example, there can be a first aspiration phase that operates at a first aspiration speed, a second aspiration phase that operates at a second speed and a third aspiration phase that operates at a third aspiration speed. The speed of the aspiration can be varied by simply varying the speed of the pump. In this manner, the initial aspiration of the medication can operate at a higher speed and then when only a small amount of medication remains, the aspiration speed can be reduced so as to controllably withdraw the last portion of the medication that is contained in the container. 
     In addition, the reconstitution equipment, including the cannula unit  590 , can possess various motions, including a gentle inversion to “wet” the solid drug in the vial  60  with the diluent that was added to the vial  60  and an agitation motion which causes the drug to go into solution. The system  100 , and in particular, the reconstitution module thereof, is configured to operate in this manner since the reconstitution process uses both motions based upon key drug characteristics. A database controls the differences observed from drug to drug. In one embodiment, the robotic gripper holds the drug vial  60  during the agitation cycle so that is does not become dislodged. The associated software preferably possesses a QA function that enables the drug to be tested under various conditions to assure that the settings effect putting the drug into solution, and the ability to have the reconstituted drug manually observed, by the robotic gripper removing the drug from the reconstitution station  170  and presenting the vial  60  to a window (when the system  100  is contained within an enclosed structure as described below) for an operator to look at the vial  60  and enter their observations into a reconstitution QA database. If the drug was not fully in solution, the entry into the QA database can be used to adjust the formulary to require an additional increment of agitation time. 
     In other words, the software is designed so that once the operator enters the drug order, the master controller accesses the reconstitution database that includes detailed instructions as to how to prepare the reconstituted drug of the order and part of these instructions include instructions on the aspiration process as discussed below. In particular, once the drug type of the order is identified, the aspiration instructions are determined, including the number, length and characteristics of the agitation phases and motions, and then the controller instructs the equipment to execute these instructions. 
     In yet another embodiment, a prescribed dosage of medication can be drawn from the vial  60  by mating a syringe  10  with the vial  60  as by inserting the needle (vented cannula) of the syringe into and through the septum of the vial  60  and then extending the plunger a predetermined, precise distance so as to draw a precise amount dosage into the syringe from the drug vial  60 . The device and method for controlling the extension of the plunger is described in great detail herein. 
     Once the syringe  10  receives the complete prescribed medication dose, the vial  60  that is positioned at the fluid transfer position can either be (1) discarded or (2) it can be delivered to a holding station  700  where it is cataloged and held for additional future use. More specifically, the holding station  700  serves as a parking location where a vial that is not completely used can be used later in the preparation of a downstream syringe  10 . In other words, the vials  60  that are stored at the holding station  700  are labeled as multi-use medications that can be reused. These multi-use vials  60  are fully reconstituted so that at the time of the next use, the medication is only aspirated from the vials  60  as opposed to having to first inject diluent to reconstitute the medication. The user can easily input into the database of the master controller which medications are multi-use medications and thus when the vial  60  is scanned and identified prior to being delivered to the fluid transfer position, the vial  60  is identified and marked as a multi-use medication and thus, once the entire medication dose transfer has been performed, the vial gripper device  530  is instructed to deliver the vial  60  to the holding station  700 . Typically, multi-use medications are those medications that are more expensive than other medications and also are those medications that are used in larger volumes (quantities) or are stored in larger containers and therefore come in large volumes. 
     The holding station  700  is simply a location where the multi-use vials can be easily stored. For example, the holding station  700  is preferably a shelf or even a cabinet that contains a flat surface for placing the vials  60 . Preferably, there is a means for categorizing and inventorying the vials  60  that are placed at the holding station  700 . For example, a grid with distinct coordinates can be created to make it easy to determine where each vial  60  is stored within the holding station  700 . 
     Once the device  530  has positioned the vial  60  at the proper location of the holding station  700 , the gripper unit is operated so that the arms thereof release the vial  60  at the proper location. The device  530  then returns back to its default position where it can then next be instructed to retrieve a new vial  60  from the pedestal  520 . 
     If the vial  60  is not a multi-use medication, then the vial  60  at the fluid transfer position is discarded. When this occurs, the device  530  moves such that the vial  60  is positioned over a waste chute or receptacle and then the gripper unit is actuated to cause the vial  60  to drop therefrom into the waste chute or receptacle. The device  530  is then ready to go and retrieve a new vial  60  that is positioned at the pedestal  520  for purposes of either reconstituting the medication or simply aspirating an amount of medication therefrom or a vial from the holding station  700  can be retrieved. 
     As previously mentioned, during the reconstitution process, it is often necessary or preferable to mix the medication beyond the mere inversion of the vial and therefore, the vial  60  can be further agitated using a mixing device or the like  710 . In one embodiment, the mixing device  710  is a vortex type mixer that has a top surface on which the vial  60  is placed and then upon actuation of the mixer, the vial  60  is vibrated or otherwise shaken to cause all of the solid medication to go into solution or cause the medication to be otherwise mixed. In yet another embodiment, the mixing device is a mechanical shaker device, such as those that are used to hold and shake paint cans. For example, the vial  60  can be placed on support surface of the shaker and then an adjustable hold down bar is manipulated so that it travels towards the vial and engages the vial at an end opposite the support surface. Once the vial  60  is securely captured between these two members, the shaker device is actuated resulting in the vial  60  being shaken to agitate the medication and ensure that all of the medication properly goes into solution. In addition, the mixing device  710  can also be configured so that it is in the form of a robotic arm that holds the vial by means of gripper members (fingers) and is operatively connected to a motor or the like which serves to rapidly move the arm in a back and forth manner to cause mixing of the medication. In yet another embodiment, reconstitution is done using a process commonly called “milking”. In this process, diluent is added to the drug vial to be reconstituted and with a series of “pull and push” motion of fluid, reconstitution is achieved. In this process, a non-vented needle is preferably used. 
     As briefly mentioned before, the entire system  100  is integrated and automated and also utilizes a database for storing identifying data, mixing instructions, and other information to assist in the preparation of the medication. There are also a number of safety features and check locations to make sure that the medication preparation is proceeding as it should. 
     For example, the database includes identifying information so that each vial  60  and syringe  10  can be carefully kept track of during each step of the process. For example, the reader (e.g., barcode scanner)  151  and the photoimaging equipment serve to positively identify the vial  60  that is delivered from the drug storage  110 . Typically, the user will enter one or more medication preparation orders where the system  100  is instructed to prepare one or more syringes that contain specific medication. Based on this entered information or on a stored medication preparation order that is retrieved from a database, the vial master controller determines at which location in the cabinet the correct vial  60  is located. That vial  60  is then removed using a robotic gripper device (not shown) and is then placed on the conveyor belt  111  and delivered to the mechanism  510  pivots upright so that the vial  60  is moved a vertical position relative to the ground and is held in an upright manner and is then delivered to the rotatable pedestal  520 . At the pedestal  520 , the vial  60  is scanned to attempt to positively identify the vial  60  and if the scanned identifying information matches the stored information, the vial  60  is permitted to proceed to the next station. Otherwise, the vial  60  is discarded. 
     Once the vial  60  is confirmed to be the right vial it proceeds to the fluid transfer position. The master controller serves to precisely calculate how the fluid transfer operation is to be performed and then monitors the fluid transfer operations has it is occurring. More specifically, the master controller first determines the steps necessary to undertake in order to perform the reconstitution operation. Most often during a reconstitution operation, the vial  60  that is retrieved from the drug storage  110  contains a certain amount of medication in the solid form. In order to properly reconstitute the medication, it is necessary to know what the desired concentration of the resulting medication is to be since this determines how much diluent is to be added to the vial  60 . Thus, one piece of information that the user is initially asked to enter is the concentration of the medication that is to be delivered to the patient as well as the amount that is to be delivered. Based on the desired concentration of the medication, the master controller is able to calculate how much diluent is to be added to the solid medication in the vial  60  to fully reconstitute the medication. Moreover, the database also preferably includes instructions as to the mixing process in that the mixing device is linked to and is in communication with the master controller so that the time that the mixing device is operated is stored in the database such that once the user inputs the medication that is to be prepared and once the vial  60  is scanned and identified, the system (master controller or CPU thereof) determines the correct of time that the vial  60  is to be shaken to ensure that all of the medication goes into solution. 
     Once the master controller determines and instructs the working components on how the reconstitution operation should proceed, the master controller also calculates and prepares instructions on how many distinct fluid transfers are necessary to deliver the prescribed amount of medication from the vial  60  to the syringe  10 . In other words, the cannula unit  590  may not be able to fully aspirate the total amount of medication from the vial  60  in one operation and therefore, the master controller determines how many transfer are needed and also the appropriate volume of each aspiration so that the sum of the aspiration amounts is equal to the amount of medication that is to be delivered to the syringe  10 . Thus, when multiple aspiration/discharge steps are required, the master controller instructs and controls the operation of the pump mechanism so that the precise amounts of medication are aspirated and then discharged into the syringe  10 . As previously described, the pump mechanism operates to cause the proper dose amount of the medication to be first aspirated from the vial and then discharged into the syringe. This process is repeated as necessary until the correct dose amount is present in the syringe  10  in accordance with the initial inputted instructions of the user. Yet in another embodiment, multiple doses are aspirated from the vial and smaller doses are dispensed into multiple syringes. 
     After transferring the proper precise amount of medication to one syringe  10 , the master controller instructs the rotary dial to move forward in an indexed manner so that the next empty syringe  10  is brought into the fluid transfer position. The cannula  610  is also preferably cleaned after each medication dose transfer is completed so as to permit the cannula  610  to be reused. There are a number of different techniques that can be used to clean the cannula  610  between each medication transfer operation. For example, the cleaning equipment and techniques described in commonly assigned U.S. Pat. No. 6,616,771 and U.S. patent application Ser. No. 10/457,898 (both of which are hereby incorporated by reference in their entireties) are both suitable for use in the cleaning of the cannula  610 . 
     In one embodiment, the cannula  610  is rotated and positioned so that the needle of the cannula  610  is lowered into a bath so that fluid is expelled between the inside hubs of the syringe  10  for cleaning of the interior components of the cannula  610 . The cannula  610  is then preferably dipped into a bath or reservoir to clean the outside of the cannula  610 . In this manner, the cannula  610  can be fully cleaned and ready for a next use without the need for replacement of the cannula  610 , which can be quite a costly endeavor. 
     In yet another embodiment, a medication source, such as a bag that is filled with liquid medication that has already been properly reconstituted, is connected to an input portion of a peristaltic pump by means of a first conduit section. A second conduit section is connected to an output port of the pump and terminates in a connector. The connector is of the type that is configured to hermetically seal with an open barrel tip of the syringe  10  that is nested within the rotary dial  130  and is marked to receive medication. The connector typically includes a conduit member (tubing) that is surrounded by a skirt member or the like that mates with the outer hub of the syringe barrel. A flange or diaphragm can be provided for hermetically sealing with the syringe barrel (outer hub). 
     In commonly assigned U.S. patent Ser. No. 11/434,850 (which is hereby incorporated by reference in its entirety), it is described how the plunger  50  of the syringe  10  can be extended with precision to a prescribed distance. In that application, the plunger  50  is extended to create a precise volume in the barrel that is to receive a precise prescribed dosage of medication that is injected therein at a downstream location. However, it will be appreciated that the action of extending the plunger  50  can serve more than this purpose since the extension of the plunger  50  creates negative pressure within the syringe barrel and thus can serve to draw a fluid therein. For example, once the connector is sealingly mated with the open syringe tip end, the medication source (e.g., an IV bag) is fluidly connected to the syringe  10  and thus can be drawn into the syringe barrel by means of the extension of the plunger  50 . In other words, the plunger  50  is pulled a precise distance that results in the correct size cavity being opened up in the barrel for receiving the fluid but also the extension of the plunger creates enough negative pressure to cause the medication to be drawn into the syringe barrel. This is thus an alternative means for withdrawing the proper amount of medication from a member (in this case the source) and transferring the desired, precise amount of medication to the syringe  10 . The operation of this alternative embodiment can be referred to as operating the system in reservoir mode and is shown in  FIG. 12 . One advantage of this embodiment is that multiple syringe drivers or the like or some type of pump mechanism are not needed to pump the medication into the syringe  10  but rather the drawing action is created right at the rotary dial  130 . This design is thus fairly simple; however, it is not suitable for instances where drug reconstitution is necessary. 
     It will also be appreciated that the source does not have to be a medication source in that it does not have to contain an active drug but instead, the source can contain diluent that is to be drawn in a prescribed volume into the syringe, especially for purposes of serial dilution, as described below. More specifically and as illustrated in  FIGS. 1 and 6 , in the reservoir mode, the fluid source can consist of a number of drug delivery bags  750  that are already filled either premixed medication or with only diluent that is later used to dilute medication as described in detail below. The filled drug delivery bags (e.g., IV bags)  750  can be hung in a select area, with each bag  750  having an outlet conduit through which the fluid contained in the bag is drawn. It will be appreciated that the outlet conduits associated with the drug delivery bags  750  can be interconnected as by connecting each of the bag outlet conduits to a common line  754  with one or more valves or the like being used to selectively control which bag outlet line is in directly fluid communication with the common line  754 . In this manner, a number of different medications can be hung and be ready for use and the user of the system merely has manipulate the valve (either manually or automatically using a computer, etc.) to connect the selected bag  750  to the common line  754 . 
     The computer that operates the entire system can be in communication with the valves to permit and to control the flow of the prescribed desired fluid from one bag  750  to the common line  754 . The common line  754  is thus in communication at a first end with the outlet conduit of the select bag  750  that contains the desired fluid and another end of the common line  754  is configured to mate with a syringe inlet port to permit the fluid in the bag  750  to be drawn into the bag by extending the plunger  50  a predetermined distance as described above to cause a precise, target volume of fluid to be drawn into the barrel of the syringe  10 . For example, the free end of the common line (conduit)  754  can contain a connector or adapter (e.g., a stopper element)  760  that is configured to mate with the inlet opening (port) of the syringe barrel in a sealed manner. Since it is the extension of the plunger  50  that generates the means of drawing a prescribed volume of fluid into the syringe barrel, the connection between the end of the common line (e.g., the connector thereof) and the syringe barrel is such that the creation of negative pressure in the syringe barrel  20  causes the fluid to be drawn into the barrel. In other words, it is desirable to establish a seal or the like between the end of the common line  754  and the syringe barrel so that negative pressure can be established and maintained in the syringe barrel. 
     For purpose of illustration, the delivery of fluid from one source during operation of the reservoir mode to one syringe  10  is performed at the reservoir mode fluid delivery station  770  that is arranged relative to the other stations of the system  100 . 
     According to one embodiment, the free end of the common line  754  is secured to a controllable, movable device  765 , such as a robotic arm or an automated arm, that can be controllably moved. In particular, the movable device is moved vertically at least along a linear axis so as to drive the free end of the common line  754  (the connector) into a sealed coupling with the syringe barrel when it is driven in one direction or when it is driven in the opposite direction, the common line disengages from the barrel of the syringe  10  to permit the syringe to be advanced to another station, such as the fluid transfer station  170  described above where reconstituted drug can be delivered into a syringe  10  that was previously injected with fluid through the common line  754  from the fluid source when operating in reservoir mode. 
     It will be appreciated that the reservoir drug delivery station  770  and the fluid transfer station  170  are different stations that are located at different locations, such as adjacent stations along the dial  130 . 
     According to one aspect of the present invention, a serial dilution operation can be performed by the system  100  by performing one or more operations at the reservoir drug delivery station  770 , where fluid is delivered to a syringe from a source, such as one bag  750 , and the drug delivery station  170  where a drug can be reconstituted in a drug vial  60  before injection into a drug delivery device (syringe  10 ). Preferably, the station  170  is downstream of the station  770  so that loaded syringes  10  are first processed at station  770  and then is processed at station  170 . In general, serial dilution involves and provides a process by which a commercially available injection is diluted to a lower concentration to produce doses smaller than could otherwise be measured by the device that prepares the medication. Pediatric hospitals often must produce doses of injectable medications that are immeasurably small when prepared with commercially available medications. This requires that the drug therefore be diluted to a concentration where the required dose becomes measurable. This can require one or more dilution steps to reach a required concentration. 
     The system  100  of the present invention, along with other similar devices, has practical measurement limitations based on its delivery technology. For example, doses that are aspirated from a vial with a pump, such as a Kloehn type pump, at the drug delivery station  170  can be reliably measured down to a volume of 0.5 ml; doses delivered at the reservoir mode drug delivery station  770  from the reservoir (bag  750 ) can be accurately delivered down to a volume of approximately 2 ml with a ±0.125 ml margin of error. 
     Since the reservoir mode is designed to batch fill a series of identical syringes  10 , reservoir mode restrictions can be overcome in the process of preparing the reservoir itself. That is, the reservoir can be prepared in a more dilute state, and any dilution necessary to achieve the final concentration are performed during preparation of the reservoir prior to mounting the reservoir (bag) within the system  100  at the station  770 . 
     When a syringe  10  is prepared from a vial  60 , as in reconstitution mode, at the drug delivery station  170 , it is ordinarily filled from the vial at its commercial concentration, which can be determined at the manufacturer (because it is already a liquid) or can be determined by the reconstitution for the vial in the formulary. If further dilution is required, it cannot be performed in advance because doing so severely limits the shelf of the product. It must either be diluted in the syringe  10  (this is referred to as QSing the syringe  10 ), or the additional dilution must be prepared “on the fly” within the system  100 . Currently, there is a mechanism to perform additional dilution in the syringe  10 , but there is no mechanism to perform additional dilution in another vial. 
     The solution to the above deficiency that is achieved and provided by the system  100  is to permit the system  100  itself to prepare a dilution as needed. The process involves having the system  100  prepare an injectable product by further diluting the original available product and then using the dilution to prepare the dose. The system  100  is thus configured to store and manipulate sterile empty vials  60  within the vial cabinet at station  110 , and to maintain knowledge of both the original and diluted products until they are discarded or consumed. 
     In other words, if the manufacturer&#39;s product is available as a fluid, of concentration X, and the dose required a concentration X/10, the software would cause the device to aspirate 1 ml of the original drug from the original container, deliver that 1 ml into an empty container, and then deliver 9 ml of diluent to product a final concentration of X/10. This presumes that the original drug solution and the diluent mix volumetrically (e.g., that 1 ml of drug and 9 ml of diluent mix to create a total volume of 10 ml). In practice, pediatric applications can require dilutions of 10- to 30-fold. The requirement for the ability to perform dilutions must accommodate the fact that not all immeasurable doses are intended since a dose may be immeasurable because it was entered incorrectly. Since, in at least one embodiment of the system  100 , the system  100  lacks the information necessary to determine whether a dose is clinically appropriate for a given patient, the system  100  is configured to permit dilution only when one is required to prepare a dose in measurable range and there is a pre-defined dilution product that can be prepared from a commercially available product defined for that purpose in the formulary. 
     For the purpose of the present application, the term “parent vial” refers to a vial containing a commercially available concentration of a drug that is either supplied as a fluid from the manufacturer, or was reconstituted according to its formulary definition within the system  100 . The term “child vial” refers to a vial containing a concentration of a drug that is not commercially available that is prepared by diluting an aliquot from a parent vial with sufficient diluent to create a new, lower concentration of drug. 
     According to one embodiment of the present invention and based on the specifications of one system  100 , preparation of the diluted product is required if at least one syringe requires a dose volume of less than 0.5 ml from the parent drug. For example, if a syringe  10  requires a 1:10 dilution for a 2 ml dose, the 0.2 ml to be taken from the parent vial is too small. As a result, if dilution is required, then it is preferred to use up the dilution before using up the contents in the parent vial. This can be accomplished by sorting the syringes within a drug in ascending order by dose. This way, the smaller doses will force creation of the diluted product (if required) and subsequent syringes  10  will use that product until it is consumed. 
     One will appreciate that there is a parent-child relationship between the diluted product and the non-diluted product from which it can be made. The commercially available product from which the dilution is to be prepared is the parent and the resulting diluted drug solution is the child. The process of creating the child product should be sufficiently flexible that the system  100  is able to use the best available parent for the process and in particular, the system  100  (and the software thereof) is able to handle the following scenarios: (1) there is no parent vial already available on the hold location—the software should drop a new parent vial from the drug cabinet  110  choosing the smallest vial that can deliver the quantity of parent medication needed to prepare the child; (2) there is no parent vial available on the hold location—there are additional syringes that will be prepared directly from the parent vial, in which case the software of the system  100  should drop a new parent vial from the drug cabinet  110  choosing the smallest vial that can deliver the quantity of parent medication needed to prepare the child and the additional syringes; (3) a parent vial for the drug to be diluted is already on the hold location and has sufficient supply to create the dilution—the software of the system  100  should use the parent vial on the hold location to prepare the child; and (4) a parent vial for the drug to be diluted is already on the hold location and does not contain sufficient drug to prepare the child—the software should drop a new parent vial from the drug cabinet and should choose the smallest vial that will permit preparation of the child. These aspects of the present system  100  are described in greater detail below. 
     According to one embodiment of the present invention, the system  100  includes a method of dilution in which a formulary contains a product definition and a container definition for each child product (dilution) that can be prepared by the system  100 . For example, a Clindamycin 5 mg/ml dilution in a 30 ml vial will exist in the formulary as Clindamycin 150 mg container and a Clindamycin 5 mg/ml, 30 ml product vial. The vial product will be a specially marked product whose formulary definition contains: (i) the product ID of a commercially available product from which it is prepared, (ii) the volume of the commercial product needed to prepare the dilution, and (iii) a volume of diluent needed to prepare the final dilution. 
     The system  100  and in particular, the inventory tracking software thereof, assigns each child product to a specific column in the drug cabinet  110 . That column in the drug cabinet  110  stores a sterile, empty vial for use in preparing the dilution that is labeled with the drug name, concentration, volume and bar code. The system  100  includes a vial routine that assigns a vial to a syringe  10  when it is loaded onto the dial  130  and has additional logic that determines vial suitability based on the dose volume and concentration. This routine of the system  100  searches each product in the inventory for the requested drug and then select the product that will provide the drug in the smallest measurable volume. 
     If the selected drug is a dilution, the software of the system  100  will first cause the automated components of the system  100  to locate and acquire the parent commercially available vial, reconstitute it, if necessary, aspirate the defined volume from the parent vial and then park the parent vial in an available hold location. If there are previously loaded syringes  10  that will use an already-defined child vial that has not yet been created but for which the entire vial has not been committed, the software will assign the syringe  10  to that vial  60 . If there is already a vial  60  on a hold location (station  700 ) that contains the same drug in the same concentration as the designated parent vial, the software will use the vial on the hold location to prepare the child. If there are previously loaded, unfilled syringes that are to be filled from the parent vial directly, and there is spare capacity in the parent vial, the software of the present system  100  prepares the child from the parent vial assigned to those previously loaded syringes  10 . If a new child vial is needed, and a new parent vial is needed, the software of the system  100  will query the queue for other syringes that can be prepared from the parent vial. If a new child vial is needed, and a new parent vial is needed, and no other parent supply is needed, the software will drop a parent vial as the assigned parent from the formulary. If the particular assigned parent is not available, the software of the system  100  locates another vial of the same drug and concentration that can be used to prepare the child. 
     The software of the present invention then causes the automated system  100  to “drop” an empty vial from the dilution product volume, and inject the defined volume of drug followed by the required amount of diluent to prepare the requested dilution. To speed up the operation, the parent vial can be agitating while the empty is vial is dropped and verified. If a child already exists on the hold location and it has available capacity, no new child vial is dropped from the drug cabinet  110 . If the child vial is not on the hold location, or if such a vial on the hold location lacks capacity to fill the syringe  10 , the software of the system  100  drops a new child vial and prepares it from the parent vial contents and diluent. For example, to prepare a 5 mg/ml solution of Clindamycin from a commercially available 150 mg/ml solution, the present system  100  injects 1 ml of the commercially available Clindamycin and 29 ml of diluent into a 30 ml empty vial labeled for the dilution. Similarly, to prepare a 10 mg/ml Cefazolin solution from a 1 gm/5 ml (200 mg/ml solution), the system  100  is instructed to reconstitute the Cefazolin at the fluid delivery station  170  as described herein, aspirate 1 ml from the reconstituted vial, acquire a 20 ml sterile empty vial, inject the 1 ml of Cefazolin 200 mg/ml, followed by 19 ml of water to create a 20-fold dilution. After agitating, the fluid in the mixer, the software of the present system  100  then aspirates the final dose out of the vial  60  and injects the dose into the syringe  10 . Agitating the vial in the mixer or between the grippers of the robotic transporter is likely inadequate because the drug is already a liquid and would only require flipping the vial once or twice. 
     The above process is described in detail with reference to  FIG. 13  which shows a flowchart of the dilution process. It will be appreciated that there are a number of advantages of the serial dilution capabilities of the system  100  and in particular, the serial dilution functionality permits customized drug solutions to be prepared from commercial drug solutions and the need for such customized drug preparation can be determined at run time (in real time) and if so, the automated system  100  can react to that need by preparing (if needed) the commercial drug product and then using the commercial drug product (e.g., a reconstituted medication) to prepare the custom drug solution. 
     It will be appreciated that in the above dilution process, each dilution consumes two positions in the “parking lot” or holding station  700 , one for the parent vial and one for the diluted vial. This makes it likely that prepared dilutions that are not used immediately will be discarded before they are consumed to make way for preparation of other diluted products. One exception to this would be to store the parent vial in the mixer  710  when it&#39;s not being used, especially, when the mixer  710  includes a pair of gripping elements between which the vial is received and held. If all of the drug is used up in either of the vials (parent and child), only one of the hold areas would need to be used. If both of the vials (parent and child) are used up, none of the hold areas would be used. Space in the drug cabinet  110  is to be committed for the vials labeled for the diluted product. A column will be required for each drug/concentration combination. 
     In another aspect of the present invention, a pharmacy-managed method for labeling sterile empty vials for use in preparation of diluted product as described above is preferable provided. The pharmacy requires a separate process for printing labels with appropriate bar codes and human-readable text on the labels, applying those labels to vials used for dilution of the correct size, and verifying that the correct labels were correctly applied. 
     In one embodiment of the present invention, the serial dilution functionality of the present system  100  permits definition of a product that can be prepared by diluting another product and includes the following functionality: (a) only commercially available injections can be used to prepare a dilution (that is, one cannot prepare one dilution from another dilution); (b) the software of system  100  permits dilutions up to 100-fold (e.g., a dilution containing 1 ml of commercially available drug and 99 ml diluent); (c) the system software provides traceability of both the diluted product and the parent product in a preparation history log and optionally, a verification tab of the software allows the user to view the parent vial images and child vial images; (d) the system  100  scan inventoried products and selects the product that provides the ordered drug in the smallest volume greater than or equal to 0.5 ml and less than or equal to 10 ml; (e) the system  100  determines if the total amount of the drug and diluent is less than a maximum final volume (e.g., a maximum of 11.5 ml)—and if it is, the syringe can be used to prepare the dose (this can result in mixture ratios of up to 23 to 1); (f) the system  100  shall maintain at least one column of empty vials for each dilution product and dilution ratio that can be prepared; (g) the system  100  detects the condition in which the selected product is a diluted product and shall cause the dilution to be prepared from a parent product; (h) if available, the system  100  uses a partial vial from a hold location (hold station) or from the grippers of the mixer if the vial is contained therein to prepare a diluted product; (i) if needed, the system  100  reconstitutes the parent product according to the instructions in its formulary record; (j) if needed, the system  100  clears two hold locations (at station  700 ) for dilution activities by removing their current occupants and placing them in the restocking bin; (k) the software of the system  100  aspirates the parent product volume from the parent vial; (l) the system  100  injects the parent product volume into the child vial; (m) the system  100  injects the prescribed diluent volume into the child vial; (n) the system  100  is configured to invert the vial three times to ensure mixing (this can be done in the grippers of the robotic device to save time or in a mixer); (o) the system  100  aspirates the required dose from the child vial and inject it into the syringe; and (p) if there is more than the minimum residual volume of the child product remaining after preparation of pending doses, the system  100  stores the child product up to its expiration time at an available location of the hold station  700 . 
     The system  100  also is configured to reject the drug order and print a pass-through label if: (1) there is no source container that can provide the dose in a volume between 0.5 ml and 11.5 ml; (2) there is no inventory of a parent drug for a selected diluted drug; (3) there are no more vials in which to prepare a diluted drug; (4) the ordered final volume is less than the required dose volume for all available products of the specified drug. 
     More specifically,  FIG. 13  sets forth a flowchart detailing one exemplary process for performing serial dilution with the system  100  of the present invention at the various stations thereof. At step  1000 , a vial order is received. At step  1002 , it is determined whether a diluted product is needed. If the product is not a diluted product, then at step  1004 , it is determined whether the drug is to be reconstituted. If the drug is to be reconstituted, then it is done so at step  1006 . If the drug is not to be reconstituted, then at step  1008 , a dose volume of drug is aspirated. At step  1010 , it is determined whether additional dilution of the aspirated dose volume is to be performed in the syringe. If so, then the dose is diluted in the syringe itself at step  1012  and then the process ends at step  1014 . If additional dilution in the syringe is not required, then the process ends at step  1014 . 
     If at step  1002 , it is determined that a diluted product is needed, then at step  1016 , it is determined whether the diluted product is being held in the gripper (robotic arm or mixer). If so, then at step  1008 , a dose volume is aspirated therefrom. The process then goes to step  1010 , to determine whether additional dilution of the aspirated dose volume is to be performed in the syringe. If so, then the dose is diluted in the syringe itself at step  1012  and then the process ends at step  1014 . If additional dilution in the syringe is not required, then the process ends at step  1014 . 
     If the diluted product is not present in the gripper (step  1016 ), then the system determines at step  1020  if the diluted product is present on the hold platform (station  700 ). If the diluted product is at the hold platform, then a diluent vial is retrieved at step  1022  and then the process continues to steps  1008 - 1014 . 
     If the diluted product is not present on the hold platform in step  1020 , then the system  100  determines at step  1022  whether the parent product is being held in the gripper (robotic arm). If the answer to step  1022  is yes, then the system determines at step  1024  whether the product be diluted in the syringe (QSing the syringe) and if so, the process continues to steps  1008 - 1014 . If the product cannot be diluted in the syringe, then at step  1026 , an empty vial is dropped; at step  1028 , the dose volume is aspirated from the parent product; at step  1030 , the dose volume and diluent are injected into the empty vial and at step  1032 , the product is agitated in the grippers before the process continues to steps  1008 - 1014 . 
     If the answer to step  1022  is no, then the system determines at step  1034  whether the parent product is present on the hold platform (station  700 ) and if so, then at step  1036 , the parent vial is retrieved from the hold platform before process continues to step  1024 . If the answer to step  1034  is no, then the parent vial is dropped at step  1038  and at step  1040 , it is determined whether to reconstitute the drug. If the drug is to be reconstituted, then it is done so at step  1042  before the process continues to step  1024 . If the drug is not to be reconstituted, the process continues to step  1024 . 
       FIG. 14  shows an exemplary computer screen display  1100  for entering diluted product information. In this example, a diluted product is being added to the software and in particular, in box  1101 , the user enters a drug description, in this case, “Oxacillin 100 mg Dilution” and then the user in box  1102  selects an appropriate drug container, in this case, “Oxacillin 100 mg”. In box  1104 , the user enters a unique drug code, in this case, “12345678” and in box  1106 , a bar code for the diluted product is entered, in this case “12345678”. In box  1107 , the reconstituted volume is entered, in this case, 10 ml and in box  1108 , the reconstituted concentration is added, in this case, 10 mg/ml. To add this product to the software, a button  1110 , such as an Add button, is selected. 
     After this information is inputted, a series of formulary tests for the diluted product entry is performed and in particular, the drug name is looked up from the container. The system  100  searches all products which are not dilutions and are the specified drug. A search is also performed for a dilution ratio, such as a ratio between 1≦ratio≦100 (the ratio is equal to the concentration of the parent/concentration of child in base units). A first match is accepted on the first round if it passes all quality control inquiries. It will also be appreciated that the software can be configured so that a formulary product editor and verify screens shall limit the products that can be used to serve as parent products to those that do not have the dilution field selected as TRUE (products that are commercially available and are not diluted products). Safety feature are preferably incorporated into the software to restrict the manner in which a formulary upgrade is performed. For example, an updated product file shall require verification by a user, who is allowed to verify formulary changes (e.g., a pharmacist), before the update can be completed. 
     After the medication is aspirated into the barrel  20 , the dial  130  is advanced so that the filled syringe  10  is delivered to the sixth station  180  ( FIG. 2 ). For example, the dial  130  is preferably advanced so that the filled syringe  10  is delivered to a station where the removed tip cap  40  is replaced back onto the barrel tip  28  by a device  900 . The device  900  can be similar or identical to the device  300  that removes the tip cap  40  from the barrel tip  28  at an earlier station or the device  900  can be different from the device  300  so long as the device  900  is configured to grasp the tip cap  40  from the post  161  and then place the tip cap  40  back on the barrel tip  28 . 
     It will be appreciated, and as described above, that the system  100  and in particular, the reservoir mode station  770  thereof, is configured to perform multiple plunger extension operations (sequential plunger extensions) as illustrated in  FIG. 7 . For example, the syringe  10  is delivered to the station  770  in an empty form and then the device  400  engages the plunger  50  and based on instructions and commands received from the master controller, the device  400  extends the plunger  50  a first predetermined distance (distance Y in  FIG. 7 ) to draw in a prescribed amount of a first fluid from a first fluid dispensing mechanism, such as device  400 , and then once the prescribed amount of first fluid is delivered into the syringe  10 , the device  400  operates to extend the plunger  50  a second predetermined distance (distance X in  FIG. 7 ) that corresponds to a load volume or space that is intended to receive a second fluid from a second fluid dispensing mechanism which is different from the first fluid dispensing mechanism. Typically, the second fluid dispensing mechanism is located downstream of the first fluid dispensing mechanism and is configured to be able to reconstitute the medication. The first fluid dispensing mechanism is preferably a device that is not of the type that reconstitutes medication but instead, is of a type that can deliver the first fluid (e.g., diluent for diluting a drug) in a pumpless manner and the second fluid dispensing mechanism delivers the second fluid without means of extending the plunger of the syringe. 
     While, in one embodiment, the extension of the plunger  50  is controlled to a high degree of precision by using a servo motor (e.g., stepper motor) that is operated to cause movement of the plunger the precise distance which results in the proper amount of fluid being drawn into the syringe, other mechanisms are available to perform the same function. In particular, a laser unit can be provided and positioned so that a laser beam generated thereby is positioned and set to the fluid level desired and then the fluid is added to the syringe until the laser beam is broken at which time, the delivery of the fluid is stopped. Both methods provide precise manners for delivering a prescribed, precise volume of fluid to the syringe. 
     The first fluid is preferably a diluent that dilutes the drug concentration in the second fluid to produce a final drug product that has the precise concentration of medication. However, it will also be understood that the first and second fluids contain two different drugs and therefore, the final drug product is a combination of two drugs that are drawn from two separate sources by means of extension of the plunger. 
     The capped syringe  10  can then be transferred to other stations, such as a station where the syringe in bandolier form is cut into individual syringes  10  that are labeled for particular patients. The syringes  10  can then be unloaded from the dial  130  and then further processed, as for example, by being delivered to a storage receptacle where it is stored or by being delivered to a transporting device for delivery to the patient or the filled syringes  10  can be cataloged and packaged in different boxes or the like for delivery to one more locations. For example, in a batch type process, which is typically more common with the reservoir mode type of operation, a number of syringes  10  can be prepared and delivered into a single box or receptacle. 
     In yet another aspect of the present invention illustrated in  FIGS. 9-11 , the system  100  includes software that permits the user to enter (input) drug vial information which is then used to calculate and control the movement and position of the vented cannula  610  with respect to a septum  61  of the drug vial  60 . As previously mentioned, the vented cannula  610  includes the drug delivery cannula portion and a separate air vent channel that terminates in a vent port proximate the open cannula portion. In order for the vent portion to be in an active, open position, the vent port must be positioned within the interior chamber of the drug vial  60  below the septum  61  so as to permit atmospheric air to travel into the interior chamber (i.e., the interior is vented), thereby allowing fluid (e.g., diluent) to be injected into the interior chamber or reconstituted medication to be aspirated therefrom. It will be appreciated that if the vent port is not positioned within the interior chamber, then the vent feature is not active and diluent cannot be easily added to the drug vial  60  to reconstitute the medication and reconstituted cannot be easily aspirated from the interior chamber. 
     Thus, in order for the vent feature to be active, the cannula  610  must be positioned so that the vent port clears the septum and is positioned below the septum  61  inside the interior chamber. 
     There are a number of different vial types  60  that are commercially marketed by a number of different manufacturers. Not only do drug vials  60  come in different sizes (e.g., different volume sizes) and shapes, but also, the drug vials  60  have different septum types  61 . For example and importantly, the thickness of the septum  61  can vary from one application to another (e.g., from one vial  60  to another vial  60 ). Thus, if the thickness of septum A is 5 units and the thickness of the septum B is 10 units, the computer control system and positioning system of the drug delivery device and in particular, the cannula control unit, must take this difference into account into to properly position the vent in the correct location where it is active. For example, if the control system simply moved and positioned the cannula in the same position for the septums A and B, the vent port may clear the septum A but in the case of septum B, the vent port may not clear the lower surface of the septum  61  but instead is located within the septum  61  itself and thus, be in an inactive or closed position. Thus, it is clearly desirable for the control and positioning system to be able to recognize the type of septum  61  that is being used with the particular drug vial  60  that is being operated on by the system  100 . 
     In accordance with one embodiment of the present invention, the software of the control and positioning system includes a database that stores pertinent information about the drug vial and in particular, pertinent information about the septum  61 . As shown in  FIG. 14 , the computer screen  1100  can include a number of input boxes in which the operator can enter certain vial characteristics, such as the vial width, height, and septum distance (thickness). The database can store the dimensions of the septum  61 , especially, the thickness of the septum  61 . This stored information is used to control the positioning of the cannula  610  and in particular, to control the precise location of the open tip and vent port of the cannula  610  with respect to the septum contained in the drug vial  60 . 
     More specifically and during the initial input of information (e.g., using a keyboard, etc.), the user can enter not only information about the drug product order but also information about the drug vial  60 . For example, the user can enter that the drug vial  60  is a 50 ml vial type X from company Y. Alternatively, the type of drug vial  60  can be inputted by means of scanning the barcode or the like that is contained on the drug vial  60 . In the embodiment, the initial scan of the barcode transfers to the master controller not only information about the contents of the drug vial  60  but also transfers to the master controller information about the drug vial type. 
     Once the master controller receives the inputted or read information about the vial type, the master controller searches the database for this particular vial type and once it is found in the database, the related stored information in the database is retrieved and is used to control the positioning of the cannula unit. In particular, the dimensions, and particularly, the thickness and diameter of the septum  61 , are used in the calculation of how far the cannula is lowered with respect to the drug vial  60  so as to ensure that not only the open drug delivery portion of the cannula  610  but also the vent port of the cannula  610  completely clear the septum so that both of these features are positioned within the interior chamber of the drug vial  60  ( FIG. 11 ). This results in the vent port being in an active position to ensure proper venting of the interior chamber of the drug vial  60  to atmospheric air to permit either diluent to be added to the drug vial  60  to reconstitute the medication or the aspiration of the fluid (e.g., reconstituted medication) from the drug vial  60 . 
     Accordingly, by accessing the vial characteristics stored in memory based on the inputted or read vial identifying information, the computer system determines a precise load location where the vent port is open (active venting) by being located completely within the interior chamber below the septum  61  as in  FIG. 11  and a second position where the vent port is closed as in the case where venting of the interior chamber is not desired as in  FIG. 10 . The computer software can use a coordinate mapping system or other drive technology to position the cannula with preciseness at one of these positions. This permits the position of not only the open end tip of the cannula, but also the vent port, to be tracked at all times relative to the septum  61  since the thickness of the septum  61  is stored in the database and thus, it can easily be calculated the precise location where the cannula tip needs to be driven in order to clear the septum  61  and similarly, the location that the vent port needs to be driven to in order to clear the septum  61  and be engaged (open or active). 
     It will be appreciated that the above process is not limited to the use of the vented cannula  610  but applies instead to the use of any vented instrument, such as a vented syringe tip, etc. 
     In another aspect, the stored vial characteristic information can contain information about the angle draw of the fluid (reconstituted medication) contained in the vial  60 . For example, different septum designs have different preferred positions of an angle of drawing the reconstituted medication from the drug vial interior. For example, one draw angle is 90 degrees in which the cannula  610  is inserted through the septum  61  at a 90 degree angle and then the medication is drawn through the cannula  610  from the interior chamber. If the draw angle is 45 degrees for a particular vial and septum  61 , then the cannula  610  is inserted through the septum  61  and the vial  60  (with cannula) is rotated to a 45 degree angle relative to a ground surface, etc. The reconstituted medication is then drawn from the vial  60  at this angle. 
     Once again, it will be appreciated that in a typical drug drawing operation, the vented needle  610  (cannula) is placed in a multitude of positions in order to optimize the amount of drug that is being drawn from the vial  60 . For example, in the initial drug drawing operation, the vent is engaged by clearing the septum  61  to permit the medication (e.g., reconstituted medication) to be drawn from the drug vial  60 . The computer system can be programmed so that once a substantial amount of the drug has been drawn and only a small amount remains in the vial  60 , the vent is not engaged to permit the last small amount of drug to be drawn from the vial  60 . In other words, the automated positioning system (e.g., coordinate tracking system) can be used to position the tip of the cannula just through the septum  61  in order to get every last drop of medication from the vial  60 . 
     It will be appreciated by persons skilled in the art that the present invention is not limited to the embodiments described thus far with reference to the accompanying drawings; rather the present invention is limited only by the following claims.