Patent Publication Number: US-10758679-B2

Title: Linear rotation stabilizer for a telescoping syringe stopper driverdriving assembly

Description:
CROSS-REFERENCE TO RELATED APPLICATION 
     This application is a divisional application of similarly titled U.S. application Ser. No. 14/725,009, filed on May 29, 2015, the entire contents of which are incorporated by reference herein. 
    
    
     BACKGROUND OF THE INVENTION 
     The present invention, in some embodiments thereof, relates to a stopper driver for a drug delivery device and, more particularly, but not exclusively, to a telescoping stopper driver of a drug cartridge. 
     U.S. Pat. No. 6,800,071 discloses, “an improved pump, reservoir and reservoir piston for,” “controlled delivery of fluids. A motor is operably coupled to a drive member, such as a drive screw, which is adapted to advance a plunger slide in response to operation of the motor. The plunger slide is removably coupled to the piston. The piston comprises a first member and a second member. The first member has an external proximate side and an external distal side. The external proximate side is adapted to contact the fluid and is made of a material having a first stiffness. The second member has a first side and a second side and is at least partially disposed within the first member. The first side of the second member is adjacent to the external proximate side of the first member and is made of a material having a stiffness which is greater than the first stiffness.” 
     International Patent Application Publication No. WO/2011/090956 by the instant applicant (Cabiri) and/or U.S. Patent Application Publication No. 2009/0093792 to Gross. 
     Additional background art includes U.S. Patent Application Publication 20130304021, U.S. Patent Application Publication 20130296799, U.S. Patent Application Publication 20130245596, U.S. Pat. No. 8,465,455, International Patent Application Publication No. WO/2011/090956 and U.S. Patent Application Publication No. 2009/0093792. 
     BRIEF SUMMARY OF THE INVENTION 
     According to an aspect of some embodiments of the invention, there is provided an assembly for driving a stopper in a drug reservoir of a drug delivery device comprising: a telescoping assembly that telescopes by relative rotation between at least a proximal shaft and a distal shaft oriented along and axis of the reservoir; the distal shaft configured to engage the stopper of the drug reservoir; an anti-rotational guide sized to move along the axis of the reservoir; the anti-rotational guide slidably and anti-rotationally coupled to a housing of the drug delivery device; a coupling slidably and anti-rotationally linking the anti-rotational guide to the distal shaft; the sliding and anti-rotation with respect to the axis of the reservoir such that rotating the proximal shaft with respect to the anti-rotational guide moves the distal shaft along the axis and moves the distal shaft with respect to the anti-rotational guide the anti-rotational guide also moving along the axis. 
     According to some embodiments of the invention, a maximum axial movement of the distal shaft with respect to the reservoir is greater than a maximum axial movement of the guide with respect to the reservoir. 
     According to some embodiments of the invention, the assembly further comprises: an intermediate shaft threadably engaged to the proximal shaft and to the distal shaft such that the telescoping assembly also telescopes by rotating the proximal shaft with respect to the intermediate shaft. 
     According to some embodiments of the invention, a maximum axial movement of the distal shaft with respect to the reservoir is greater than a maximum axial movement of the intermediate shaft with respect to the reservoir. 
     According to some embodiments of the invention, the assembly further comprises: a linear stabilizer coupled to the proximal shaft, inhibiting axial movement of the proximal shaft in a proximal direction with respect to the linear stabilizer, the linear stabilizer coupled to the reservoir inhibiting axial movement of the linear stabilizer in a proximal direction with respect to the reservoir, such that the rotation of the proximal shaft causes the distal shaft to advance distally inside of the drug reservoir. 
     According to some embodiments of the invention, the linear stabilizer includes a connecter shaped to attach to a proximal portion of the reservoir. 
     According to some embodiments of the invention, the connecter is shaped to attach to a flange of the reservoir. 
     According to some embodiments of the invention, the linear stabilizer includes an anti-rotational connector fitting to the housing for preventing rotation of the linear stabilizer with respect to the housing and wherein the anti-rotational guide slidably engages to the housing by means of the linear stabilizer. 
     According to some embodiments of the invention, the reservoir and the assembly form a cartridge and wherein the housing includes an opening fitting the cartridge and wherein the anti-rotational connector is shaped to connect to the housing to limit rotation of the anti-rotational connector with respect to the housing when the cartridge is inserted into the opening. 
     According to some embodiments of the invention, the assembly further comprises: a bearing preventing proximal movement of the proximal shaft with respect to the housing and allowing rotation of the proximal shaft with respect to the housing. 
     According to some embodiments of the invention, the assembly further comprises a stopper interface for driving the stopper; the interface is optionally connected to the distal shaft. 
     According to some embodiments of the invention, the coupling includes a protrusion slidably inserted into a track. 
     According to an aspect of some embodiments of the invention, there is provided a method of supplying a drug to a delivery device comprising: providing a reservoir containing a drug and sealed with a stopper and a telescoping assembly that telescopes by rotating a proximal shaft with respect to a distal shaft; the distal shaft configured to engage the stopper; slidably and anti-rotationally engaging an anti-rotational guide to a housing of the delivery device; preventing rotation of the distal shaft with respect to the housing by slidably guiding the distal shaft along the anti-rotational guide, and extending the distal shaft and the anti-rotational guide linearly inside a cavity of the reservoir toward a distal end of the reservoir by rotating the proximal shaft wherein a distance of the extending of the distal shaft is greater than a distance of the extending of the anti-rotational guide. 
     According to some embodiments of the invention, the method further includes: driving the rotating of the proximal shaft with a motor of the drug delivery device. 
     According to some embodiments of the invention, the distal shaft is initially distanced proximally from the stopper and the extending is toward the stopper. 
     According to some embodiments of the invention, the distal shaft abuts against the stopper and further comprising driving the stopper inside the cavity toward the distal end of the reservoir by the extending of the distal shaft. 
     According to some embodiments of the invention, the method further comprises: attaching a linear stabilizer to the reservoir and inhibiting proximal movement of the proximal shaft with respect to the linear stabilizer. 
     According to some embodiments of the invention, the method further comprises: forming a cartridge including the reservoir, the stopper, the distal shaft, the anti-rotational guide, and the linear stabilizer and inserting the cartridge as a single unit into the drug delivery device. 
     According to some embodiments of the invention, the method further comprises: coupling the housing to the proximal shaft and inhibiting proximal movement of the proximal shaft with respect to the housing. 
     According to some embodiments of the invention, the preventing includes inserting a protrusion into a track. 
     According to some embodiments of the invention, the inserting includes elastically deforming at least one of the distal shaft and the anti-rotational guide. 
     Unless otherwise defined, all technical and/or scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which the invention pertains. Although methods and materials similar or equivalent to those described herein can be used in the practice or testing of embodiments of the invention, exemplary methods and/or materials are described below. In case of conflict, the patent specification, including definitions, will control. In addition, the materials, methods, and examples are illustrative only and are not intended to be necessarily limiting. 
    
    
     
       BRIEF DESCRIPTION OF THE SEVERAL VIEWS OF THE DRAWINGS 
       Some embodiments of the invention are herein described, by way of example only, with reference to the accompanying drawings. With specific reference now to the drawings in detail, it is stressed that the particulars shown are by way of example and for purposes of illustrative discussion of embodiments of the invention. In this regard, the description taken with the drawings makes apparent to those skilled in the art how embodiments of the invention may be practiced. 
       In the drawings: 
         FIG. 1A  is a block diagram of a stopper driver in accordance with an embodiment of the present invention; 
         FIG. 1B  is a block diagrams of a cartridge inserted into a drug delivery device in accordance with an embodiment of the present invention; 
         FIG. 2  is a flow chart illustrating a method of driving a stopper in accordance with an embodiment of the present invention; 
         FIG. 3  is a flow chart illustrating a method of assembling a stopper driver in accordance with an embodiment of the present invention; 
         FIG. 4A  is an exploded view of a reservoir and a stopper driver including sliding sleeve anti-rotational guides in accordance with an embodiment of the present invention; 
         FIG. 4B  is cross sectional view of a stopper driver including sliding sleeves in an extended configuration in accordance with an embodiment of the present invention; 
         FIG. 4C  is a perspective view of a reservoir and a stopper driver including sliding sleeves in an retracted configuration in accordance with an embodiment of the present invention; 
         FIG. 4D  is a perspective view of insertion of a cartridge including a stopper driver and a reservoir into a drug delivery device in accordance with an embodiment of the present invention; 
         FIG. 4E  is a perspective view of a linkage between a cartridge and a motor of a drug delivery device in accordance with an embodiment of the present invention; 
         FIG. 5A  is a perspective view of a stopper driver including sliding post anti-rotational guides in a retracted configuration in accordance with an embodiment of the present invention; 
         FIG. 5B  is a cross sectional view of a stopper driver including sliding post anti-rotational guides in an extended configuration in accordance with an embodiment of the present invention; 
         FIG. 6A  is a close up cross sectional view of a stopper driver stabilized by a device housing in a retracted configuration in accordance with an embodiment of the present invention; 
         FIG. 6B  is a cross sectional view of a reservoir and a stopper driver stabilized by a device housing in a retracted configuration in accordance with an embodiment of the present invention; and 
         FIG. 6C  is a cross sectional view of a reservoir and a stopper driver stabilized by a device housing in a retracted configuration in accordance with an embodiment of the present invention. 
     
    
    
     DETAILED DESCRIPTION OF THE INVENTION 
     The present invention, in some embodiments thereof, relates to a stopper driver for a drug delivery device and, more particularly, but not exclusively, to a telescoping stopper driver of a drug cartridge. 
     Overview 
     An aspect of some embodiments of the present invention relates to an anti-rotational guide for stopper driving assembly of a drug delivery device. Optionally, a distal shaft of the driver assembly is held rotationally stationary by the guide while being driven distally into the reservoir by relative rotation of a rotating proximal element. As the distal element progresses distally into the reservoir, the shaft may slide distally with respect to the guide. Additionally or alternatively, the guide and shaft may slide together distally into the reservoir. In some embodiment, the proximal element and the distal shaft may telescope when rotated in relation to one another. The proximal element may be held axially immobile with respect to the reservoir such that the telescoping of the proximal and distal elements forces the distal shaft into the reservoir. 
     Some embodiments may include a linear and/or a rotational stabilizer. For example a rotational stabilizer may be supported by a housing of the drug delivery device and/or a motor mount such that torque on the telescoping assembly is balanced against the anti-rotational guide and/or the motor and/or the housing of the delivery device. Optionally the torque will not be applied to the drug reservoir and/or the stopper and/or any part that is in contact with the drug. 
     In some embodiments, a linear force between the stopper and the driver assembly is balanced against the reservoir. Optionally the linear stress between the pushing assembly and the stopper is balanced with negligible or no external linear stresses on the drug delivery device and/or between the reservoir and the drug delivery device. 
     In some embodiments, the driver assembly may be attached to a drug reservoir to form a cartridge. The entire cartridge is optionally inserted as a unit into the drug delivery device. In some embodiments, the cartridge may meter out a drug while producing negligible or no external axial forces on the drug delivery device. For example, the cartridge assembly may include a linear stabilizer connecting the TSA to the drug reservoir. For example, the linear stabilizer may connect to the reservoir near a proximal opening of the reservoir and/or on a proximal flange thereof. Optionally, linear forces between a stopper and the TSA may be balanced by forces between the linear stabilizer and the reservoir. Optionally, the entire cartridge assembly is inserted into a proximal opening in a drug delivery device. Optionally when the cartridge is inserted into the proximal opening of the drug delivery device, a cannula pierces a septum creating a fluid path between the reservoir and the drug delivery device. For example the septum may be located on and/or near the distal end of the cartridge. Alternatively or additionally example the septum may be located on and/or near the distal portion of the drug delivery device. 
     In some embodiments a cartridge pushing assembly may be attached to a proximal opening of a reservoir without regard to the precise longitudinal position of a stopper in the reservoir. Optionally, after connecting the stopper pushing assembly to the reservoir, the TSA may be extended until the pushing assembly contacts the stopper. For example, the TSA may be extended before inserting the cartridge assembly into a drug device. Alternatively or additionally, The TSA may be extended after inserting the cartridge assembly into the drug delivery device. 
     In some embodiments, the stroke length of the TSA may be greater than the minimum length of the TSA. For example a TSA may have three telescoping shafts and/or three telescoping guides. For example a telescoping shaft may include an extension rod. Alternatively or additionally a TSA may have four telescoping shafts and/or four telescoping guides. Alternatively or additionally a TSA may have five telescoping shafts and/or five telescoping guides. For example a TSA may have a contracted configuration with length ranging between 0.8 and 1.6 cm and/or an extended configuration with length ranging between 2.0 to 4.0 cm. Optionally, the extended length of the TSA may range between 2.0 to 3.0 times the contracted length and/or between 3.0 to 5.0 times the contracted length. 
     Before explaining at least one embodiment of the invention in detail, it is to be understood that the invention is not necessarily limited in its application to the details of construction and the arrangement of the components and/or methods set forth in the following description and/or illustrated in the drawings and/or the Examples. The invention is capable of other embodiments or of being practiced or carried out in various ways. 
     Cartridge Assembly 
     Referring now to the drawings,  FIG. 1A  is a block diagram of a stopper driving assembly  150  in accordance with an embodiment of the present invention. Driving assembly  150  optionally includes a linear stabilizer  106  supporting a driver assembly  150  and/or balancing linear forces between driver assembly  150  and a stopper (for example stopper  140  of  FIG. 1B ). Driver assembly  150  optionally includes an anti-rotational guide, for example guide  104 . Anti-rotational guide  104  optionally supports the driver assembly and/or balances torque between the driver assembly and a motor (for example motor  108  of  FIG. 1B ). 
     In some embodiments, stopper driver assembly  150  may include a telescoping assembly (for example TSA  152 ). Optionally, TSA  152  includes a proximal shaft, for example a threaded drive shaft  110  and/or a threaded mid shaft  112  and/or a distal shaft, for example a threaded pushing shaft  114 . Shafts  110 ,  112  and/or  114  may be coupled such that rotating drive shaft  110  with respect to pushing shaft  114  causes TSA  152  to lengthen and/or shorten. Optionally axial movement of drive shaft  110  is limited by linear stabilizer  106  such that rotating drive shaft  110  with respect to pushing shaft  114  causes pushing shaft  114  to move linearly with respect to linear stabilizer  106 . Optionally, a coupling links pushing shaft  114  to anti-rotational guide  104 . For example, rotation of pushing shaft  114  may be limited by anti-rotational guide  104  such that rotating drive shaft  110  with respect to anti-rotational guide  104  causes TSA  152  to lengthen and/or shorten. Alternatively or additionally, drive shaft  110  and/or pushing shaft  114  may be replaced by a nut and/or threaded disk and/or ring. 
       FIG. 1B  is a block diagram of a cartridge  153  inserted into a drug delivery device  122  in accordance with an embodiments of the present invention. Optionally, cartridge  153  includes driving assembly  150 , a drug reservoir  120  and/or a stopper  140 . Optionally drug delivery device  122  includes a motor  108 . Alternatively or additionally motor  108  may include a DC electric motor, a chemical engine, a brushless motor, and AC motor, an actuator etc. 
     In some embodiments, linear stabilizer  106  may be attached to drug reservoir  120  and/or pushing shaft  114  may abut against stopper  140  such that extending TSA  152  moves stopper  140  axially with respect to reservoir  120 . Axial back forces of stopper  140  with respect to reservoir  120  (for example due to friction between stopper and reservoir and/or due to flow resistance) are optionally balanced within cartridge  153  by a linear force between linear stabilizer  106  and reservoir  120 . 
     In some embodiments, motor  108  may apply a torque to drive shaft  110 . Optionally, anti-rotational guide  104  may be attached to drug reservoir  120  such that activating motor  108  moves pushing shaft  114  axially with respect to drive shaft  110 . Friction between driving shaft  110  and pushing shaft  114  are optionally balanced by an anti-torque between motor  108  and anti-rotational guide  104  such that TSA  152  acts as a linear actuator putting a net linear force (and/or a negligible torque) on the parts of the device that are in contact with the drug (for example stopper  140  and/or reservoir  120 ). 
     In some embodiments, any or all of linear stabilizer  106 , drive shaft  110 , mid shaft  112 , pushing shaft  114  and/or anti-rotational guide  104  may be partially and/or wholly located inside reservoir  120 . Alternatively or additionally, any or all of linear stabilizer  106 , drive shaft  110 , mid shaft  112 , pushing shaft  114  and/or anti-rotational guide  104  may be wholly or partially located outside reservoir  120  when TSA  152  is contracted and/or may move wholly or partially into reservoir  120  when TSA  152  expands. 
     In some embodiments, mid-shaft  112  and/or anti-rotational guide  104  may move axially. For example mid-shaft  112  and/or anti-rotational guide  104  may move into and/or out of reservoir  120 . Optionally mid-shaft  112  may float. In the current disclosure, in some configurations (for example when TSA  152  is partially extended) the position of a floating part may be indeterminate. For example the part may move without changing the length of TSA  152 . For example the order of movement of parts of TSA  152  may be not fixed. Optionally, driver shaft  110  may be an inner shaft and the pushing shaft  114  may be an outer shaft. Alternatively or additionally driver shaft  110  may be an outer shaft and the pushing shaft  114  may be an inner shaft. Any or all of the components of the current invention may be made of plastic and/or metal and/or another material. 
     Driving a Stopper 
       FIG. 2  is a flow chart illustrating a method of driving a stopper in accordance with an embodiment of the present invention. In some embodiments, a TSA may be extended or retracted by more than 100% its minimum length by rotating  210  a single shaft and/or by inhibiting rotation of a single shaft. For example, a TSA may be opened by rotating  210  a drive shaft. Optionally a proximal drive shaft may be located proximally to a distal pushing shaft. For example, the drive shaft may be rotated  210  with respect to a drug delivery device by a motor mounted on the device. For example rotation  210  of the drive shaft may be with respect to the housing of the drug delivery device and/or with respect to a mount of the motor. Optionally, while the drive shaft is rotating, a pushing shaft may be inhibited  202  from rotating. For example, an anti-rotational guide may prevent the pushing shaft from rotating with respect to the drug delivery device housing and/or with respect to the motor and/or with respect to a motor mount. Rotating  210  the drive shaft with respect to the pushing shaft optionally extends the TSA and/or the pushing shaft and/or a stopper. 
     In some embodiments, the mid shaft may axially float. For example, when the TSA is extended the mid shaft may either extend linearly  212  with the pushing shaft and/or rotate  213  with the drive shaft. Optionally, for some lengths of the TSA, the position of the mid shaft may be indeterminate. For example, rotating  210  the drive shaft may, for example, extend  212  a mid-shaft into a reservoir (for example when the drive shaft rotates faster than the mid-shaft and/or by means of threading coupling the drive shaft to the mid shaft). Optionally, extending  212  the mid-shaft into the reservoir simultaneously extends  214  the pushing shaft into the reservoir. Alternatively or additionally, rotating  210  the drive shaft may rotate  213  the mid-shaft. Optionally, rotating  213  the mid-shaft extends  214  a pushing shaft into the reservoir (for example by means of threading coupling the drive shaft to the mid shaft). Rotation and/or extension of the mid shaft may occur concurrently and/or sequentially. 
     In some embodiments, the anti-rotational guide may axially float. For example, when the TSA is extended the anti-rotational guide may either extend  204  (for example moving axially with respect to and/or into the reservoir) along with the pushing shaft and/or the anti-rotational guide may remain stationary with respect to the reservoir and/or the pushing shaft may extend  214  axially with respect to the anti-rotational guide. Optionally, for some lengths of the TSA, the position of the anti-rotational guide may be indeterminate. In some embodiments, a pushing shaft may rotate while another element of the TSA is anti-rotationally stabilized (inhibited from rotating with respect for example to a drug delivery device housing and/or a motor). 
     Assembly and/or Installation of a Stopper Driver 
       FIG. 3  is a flow chart illustrating a method of assembling a stopper driver in accordance with an embodiment of the present invention. For example the stopper driver, may fit a reservoir fillable with standard pharmaceutical equipment (for example in an existing clean room with filling equipment made for a standard syringe and/or cartridge). Optionally, the stopper driver engages the stopper located at an arbitrary position within the reservoir. In some embodiments the stopper driver may be assembled with snap together parts. The parts are optionally made of molded materials such as plastic, for example polyoxymethylene (POM) resin. 
     In some embodiments a drug reservoir is supplied  320 . Optionally the reservoir may be prefilled. For example, the reservoir may be filled using standard filling equipment. For example, the reservoir may have a cylindrical and/or tubular body of arbitrary cross section. For example the body may be in the form of a right circular cylinder. The reservoir optionally includes an internal cavity. Optionally, the internal cavity may be of arbitrary shape. For example, the internal cavity may have a smooth wall over at least half its length and/or over at least 90% of its length. For example the cavity of the reservoir may be substantially a right circular cylinder over at least half its length and/or over at least 90% of its length. For example the internal cavity may be coaxial with the outer walls of the reservoir over at least half its length and/or over at least 90% of its length. For example the cross section of the cavity may be uniform over at least half its length and/or over at least 90% of its length. Optionally the reservoir may include a distal opening. For example the distal end of the reservoir may include cannula for example a hypodermic needle and/or a mount for such. Alternatively or additionally the distal end of the reservoir and/or the distal opening may include a seal, for example a septum and/or sterile cover for example a needle cover. The proximal end of the reservoir may include a proximal opening. Optionally the proximal opening may be larger than the distal opening. For example the cross sectional area of the proximal opening may range between 5 to 50 times the cross sectional area of the distal opening and/or 50 to 500 times the cross sectional area of the distal opening. Optionally the cross sectional opening may be beveled and/or may smoothly connect to the internal cavity of the reservoir. Optionally, a stopper may be inserted into the proximal opening. Optionally the stopper may seal and/or preserve sterility of the contents of the reservoir. Optionally the position of the stopper may vary dependent on the volume of the contents of the reservoir. Optionally the proximal end of the reservoir may include a flange. For example the flange may extend from the between 20% to 100% of the perimeter of the reservoir. For example the flange may extend between 1 mm and 2 cm from the internal walls of the proximal opening. Optionally the reservoir may be made as a single integral unit for example of molded glass or plastic and/or cut and/or processed tubing. 
     In some embodiments a TSA is assembled in a simple manner. Optionally, assembly may be unidirectional. Unidirectional assembly may include, for example, insertion of all or most shafts from the same end of the TSA. Unidirectional assembly may include, for example, threading some most and/or all shafts in the same direction. Optionally, assembly may be accomplished without reversing orientation of the parts during assembly and/or adding without other complimentary work such as welding, riveting, plastic deformation etc. 
     In some embodiments, a series of shafts may be threaded together. For example for a leading end of an interior shaft may be inserted through a rear (distal) end of a more exterior shaft. For example a leading end of an interior shaft may be threaded into a more exterior shaft and/or a distal end of the more exterior shaft. As used herein, the term/phrase leading end means the end of a TSA from which the inner shaft projects in the extended state. As used herein, the term/phrase rear end means the end of a TSA from which the outer shaft projects in the extended state. As used herein, the term/phrase threading means screwing the more interior shaft towards the leading direction (in some embodiments threading is used to assemble and/or extend the TSA). As used herein, the term/phrase de-threading means screwing the more interior shaft towards the rear of the outer shaft (in some embodiments dethreading is used to contract the TSA). Alternatively or additionally, in some embodiments dethreading may be used to assemble and/or extend the TSA and/or threading may be used to contract the TSA. Optionally, the leading end of the most inner shaft may include a fastener and/or the rear end of the most external shaft may include a fastener. 
     In some embodiments of the invention a TSA resists disengagement and/or detaching of shafts upon extension. For example, an internal shaft of the TSA may include a flange and/or a step on its rear end. The flange may prevent disengagement from a more outer shaft. Alternatively or additional the flange may be replaced by a protrusion of a different geometry. 
     In some embodiments, a TSA may be simple assembled unidirectionally from a reverse extended position. The assembled TSA may optionally resist dis-assembly by extension. 
     In some embodiments a TSA is assembled from molded parts. In some embodiments, molding provides highly precise part geometries. Molded parts may optionally be assembled with minimal modifications during assembly. For example, the assembly of the TSA may be include minimal or no adhesion of parts, and/or changing of part geometries by heat and/or ultrasonic means and/or by force (for example by crimping). The molded parts may optionally include features to facilitate proper orientation. The molded parts may optionally include built in connectors and/or fasteners (for example snaps, latches, catches, hooks, clasps and the like). In some embodiments that parts may be molded of plastic. For example plastic may include low friction materials. Examples of such materials include a Polybutylene terephthalate (PBT) resin (for example CELANEX® resin available from TICONA) and/or a POM resin (for example Delrin® resin DuPont™). 
     In some embodiments an internal shaft may be molded in a single piece with the rear flange and/or projections. The flange and/or projection may optionally impede unintentional disengagement of the shaft. In some embodiments a part may be molded in a single piece with a fastener. In some embodiments a part may be molded in a single piece with a thread stopper and/or an interference element. 
     In some embodiments, some or all of the shafts of the assembly may optionally be supplied disassembled from an end cap. For example, the some or all of the shafts and/or end caps may include fasteners. The shafts may optionally be supplied with flanges inhibiting disassembly due to overextension. For example, an internal shaft may have a flange on a rear end. The flanges and/or fasteners may optionally be intrinsic. For example, the shafts and/or caps may be molded in a single piece with the fasteners and/or flanges. 
     In some embodiments, some or all of the shafts may be assembled together by reverse extension. For example, a leading end of an internal shaft may be inserted into a rear end of a more external shaft. For example, the internal shaft may be threaded from a disassembled (reverse extended) position through its contracted position out the leading end of a mating shaft to an extended position. In some embodiments, flanges which prevent the shafts from disattaching in the extended state may also prevent attaching the shafts from the extended state and threading them to the contracted state. 
     In some embodiments, a fastener may be supplied on a leading end of an inner shaft. Once the leading end of an inner shaft extends beyond the mating shaft, an end cap (for example a driver and/or an actuator) may be fastened to the fastener. Optionally an interference element may be supplied. For example the interference element may include a flange that blocks dethreading back to the reverse extended position and/or may include one or more protrusions that prevent thread lock resulting from collision between a shaft and an end cap. 
     Referring now to  FIG. 3 , the figure illustrates an exemplary method for assembling a TSA. In some embodiments, the leading end of an inner shaft (for example drive shaft  410  illustrated of  FIG. 4A ) may be threaded  310  into the rear end of a mid shaft (for example mid shaft  412  of  FIG. 4A ). Optionally the leading end of the inner shaft may be threaded all the way through a mid shaft until the leading end of the inner shaft protrudes from the leading end of the mid shaft. 
     In some embodiments, the leading end of the mid shaft along with the inner shaft may be threaded  312  into a rear end of a distal outer shaft (for example pushing shaft  414  of  FIG. 4A ). Threading  312  may continue until the leading end of the inner shaft protrudes out the leading end of the outer shaft. Optionally, the assembly may include only two shafts and/or three shafts and/or more than three shafts (for example four, five, six or more shafts). In some embodiments, regardless of the number of shafts, the assembly of shafts may have a fastener of the inner shaft protruding from the leading end and a fastener of an outer shaft protruding from the rear end. 
     In some embodiments, an actuator cap (for example distal cap  424  of  FIG. 4A ) may be attached  324  to the fastener of the outer shaft. For example, an actuator cap may include a syringe stopper and/or a fitting to attach to a syringe stopper. Examples of syringe stoppers actuated by telescopic assemblies can be found for example in International Patent Application Publication No. WO/2011/090956 to Cabiri and/or U.S. Patent Application Publication No. 2009/0093792 to Gross which are herein incorporated in their entirety by reference. 
     In some embodiments, an outer shaft may be connected  304  to a first anti-rotational guide (for example anti-rotational guide  404  of  FIG. 4A ). For example the first guide and the outer shaft may move axially with respect to each other, but may be inhibited from rotation with respect to each other around the axis. Optionally the first guide may be connected  302  to a second guide (for example stabilizer  402  of  FIG. 4A ). For example the second guide and the first guide may move axially with respect to each other, but may be inhibited for rotating with respect to one another around the axis. The linear stabilizer in some embodiments is also an anti-rotational stabilizer. In some embodiments, the first anti-rotational guide and the second anti-rotational guide may be collapsed such that the proximal end of the drive shaft protrudes beyond the proximal ends of the guides. The proximal end of the drive shaft may be connected to a transmission. For example, the proximal end of drive shaft  410  may be inserted  326  through a slot in a gear (for example connector  432   a  of drive shaft  410  may be inserted into slot  432   b  of a cartridge gear  426  of  FIG. 4A ). Optionally, the proximal end of the assembly will be held together  327  by a proximal end cap (for example an end cap  438  may snap to a retainer  437  which may hold to a fastener  430  on the proximal end of drive shaft  410  in  FIG. 4A ). 
     In some embodiments, after assembly, the TSA may be contracted and/or rewound  328  (for example by dethreading) to a stop position. Optionally, the TSA may include one or more thread stoppers. For example, a thread stopper may include an interference element and/or a protrusion on a rotating shaft (for example mid shaft  412  and/or drive shaft  410 ) and/or on an end cap (for example actuator cap  424 ). One or more interference elements may meet at a predefined point in the contraction of the TSA and prevent further relative rotation. For example, the interference elements may prevent rotation in the dethreading direction of the inner shaft with respect to the outer shaft thereby inhibiting further contraction and/or thread lock (for example see interference elements  436  and  434  of  FIG. 4A ). 
     In some embodiments a stopper driver is attached to a drug reservoir to form a cartridge. For example, a linear stabilizer (for example stabilizer  402 ) may be attached to the reservoir (for example, connectors  421   a  may be attached to flange  421   b  as illustrated in  FIGS. 4A and 4C ). A connector that inhibits linear movement of linear stabilizer may be called a linear connector. For example linear connector  421   a  inhibits linear movement of stabilizer  402  with respect to cartridge  420 . Alternatively or additionally, the stopper driver and/or the linear stabilizer may be attached to the housing of a drug delivery device (for example as illustrated in  FIGS. 6A-6C ). 
     In some embodiments before inserting the cartridge into a drug delivery device, the TSA may be extended  314  to contact the stopper in the reservoir. Contacting the stopper with the TSA before engaging the TSA to the delivery device may make it easy to determine the volume of drug injected (based on the distance that the stopper has moved which may be proportional to the number of revolutions of the motor and/or drive shaft [for example the pitch of the threading on all of the shafts may be adjusted so that the ratio of revolutions to volume discharged is constant]). Alternatively or additionally, in some embodiments, the reservoir and/or the stopper driver and/or a complete cartridge may be inserted into a drug delivery device before the TSA has contacted the stopper. For example the motor of the drug delivery device may first drive the drive shaft to expand  314  the TSA until it contacts the stopper and then continue to drive the drive shaft to discharge the drug. Allowing the TSA to not contact the stopper until after insertion in the drug delivery device optionally simplifies production and or shipping of the cartridge. In some embodiments, the drug delivery device may deliver the entire content of the cartridge without tracking the quantity delivered. For example in some cases a cartridge may include exactly one dose. In some embodiments, the drug delivery device may include a sensor (for example a load sensor) that senses when the TSA is expanding  314  toward the stopper and/or when the TSA engages the stopper and/or when the TSA is pushing the stopper against a resistance (for example discharging the drug). Alternatively or additionally, the stopper may be placed into the reservoir in an exact position such that the TSA contacts the stopper exactly upon installation. For example it may be unnecessary to expand  314  the TSA after installation to contact the stopper. 
     In some embodiments, an anti-rotational guide is attached  322  to a housing of the drug delivery device. For example, in  FIG. 4D  when the cartridge is inserted into the device, connectors  421   a  fit into slots  421   c  preventing rotation of stabilizer  402  with respect to a housing of a drug delivery device  422  and/or a motor  408  (for example see  FIG. 4E ) attached thereto. In some embodiments when cartridge  453  is inserted into delivery device  422 , housing  422  may engage the cartridge. For example interference elements  439  may snap to cartridge  453  and/or retain cartridge  453  in the delivery devices. Alternatively or additionally, an anti-rotational guide may be attached to the reservoir and/or the reservoir may be attached to the housing and/or motor of the delivery device. A connector that inhibits rotational movement of an anti-rotational stabilizer may be called an anti-rotational connector. For example anti-rotational connector  421   a  inhibits rotational movement of stabilizer  402  with respect to the housing deliver device  422 . 
     A Stopper Driver with Sliding Sleeve Anti-Rotational Guide 
     Referring now to  FIG. 4A , the figure is an exploded illustration of an embodiment of a reservoir and a stopper driver including sliding sleeves in a reverse extended state. In some embodiments a reservoir  420  is supplied sealed with a stopper  440 . Optionally reservoir  420  is prefilled and/or stopper  440  is sealed in place using standard filling equipment. In some embodiments, a stopper driver  450  may be assembled from simple and/or snap together parts. 
     In some embodiments a reservoir  420  may include a proximal opening  454 , and/or a distal opening  456 . Stopper  440  optionally seals the cavity of reservoir  420 . Optionally the stopper may be placed at an arbitrary longitudinal position depending on, for example the volume of the drug distal to stopper  440  and/or space needed for the contracted stopper driver proximal to stopper  440 . 
     In some embodiments, reservoir  420  may include a distal opening  456  and/or a proximal opening  454 . For example, proximal opening  454  may be large enough to insert stopper  440 . Optionally, distal opening may be configured with a neck and/or a mount for a needle and/or a septum. 
     In some embodiments, stopper driver  450  includes a TSA  452 . TSA  452  is optionally assembled from the reverse expanded state (e.g. as illustrated in  FIG. 4A ). For example, the proximal end of drive shaft  410  is inserted into mid-shaft  412  until external screw threads  411   a  of drive shaft  410  engage internal threads  411   b  near the proximal end of mid shaft  412 . Optionally drive shaft  410  is threaded through mid shaft  412  until the proximal end of drive shaft  410  projects out the proximal end of mid shaft  412 . Optionally, the proximal end of the combined assembled mid shaft  412  and/or drive shaft  410  is inserted into pushing shaft  414  until external screw threads  413   a  of mid shaft  412  engage internal threads  413   b  near the proximal end of pushing shaft  414 . Optionally mid shaft  412  is threaded through pushing shaft  414  until the proximal end of drive shaft  410  projects out the proximal end of pushing shaft  414 . Optionally a locking and/or snap element prevents TSA  452  from becoming disassembled. For example, a distal cap  424  may include an interference element which locks (e.g. snap fits) to a constraining element, for example a hole in pushing shaft. Alternatively or additionally distal cap  424  may prevent de-threading of the TSA  452 . For example, once distal cap  424  is in place, when drive shaft  410  is de-threaded from mid-shaft  412 , a receptor on distal cap  424  blocks further movement by a matching interference element thread lock protector on pushing shaft  414  inhibiting further de-threading. For example once distal cap  424  is in place, when mid shaft  412  is de-threaded from pushing shaft  414 , an interference element thread lock protector interference element  436  on the distal end of mid shaft  412  is blocked by a matching interference element on distal cap  424  inhibiting further de-threading. Optionally, a TSA may include more than three shafts. For example there may be more than 1 mid shaft. In some embodiments drive shaft  410  may be an inner shaft and pushing shaft  414  may be an outer shaft. Optionally or additionally a drive shaft may be an outer shaft and a pushing shaft may be an inner shaft. In some embodiments, the assembled TSA  452  is assembled into a stopper driver  450 . 
     In some embodiments, TSA  452  is engaged to an anti-rotational guide and/or a transmission element. For example, a coupling including a projection  415   a  engaged to a track  415   b  may link pushing shaft  414  to an anti-rotational guide  404 . Anti-rotational guide is optionally engaged to a stabilizer  402 . For example, a projection  405   a  of anti-rotational guide  404  may be engaged to a track  405   b  (for example see  FIG. 4B ) in stabilizer  402 . Optionally, pushing shaft  414 , anti-rotational guide  404  and/or stabilizer  402  are slidably engaged. For example, pushing shaft  414 , anti-rotational guide  404  and/or stabilizer  402  may slide axially with respect to each other, but are inhibited from rotating one with respect to the other around the axis. In some embodiments, guide elements may snap together. For example, track  415   b  and/or track  405   b  may include an interference element (for example at a distal end thereof and/or at a proximal end thereof). Projection  415   a  is optionally inserted over the distal interference element into track  415   b  by elastically deforming anti-rotational guide  404  as projection  415   a  is inserted. Once projection  415   a  is inside track  415   b , anti-rotational guide  404  optionally returns to its original shape and/or projection  415   a  is inhibited from exiting track  415   b  by the interference element. Alternatively or additionally, pushing shaft  414  may be elastically squeezed to retract projections  415   a  at they are fit into track  415   b . Projection  405   a  is optionally inserted over the distal interference element into track  405   b  by elastically deforming anti-stabilizer  402  as projection  405   a  is inserted. Once projection  405   a  is inside track  405   b , stabilizer  402  optionally returns to its original shape and/or projection  405   a  is inhibited from exiting track  405   b  by the interference element. Alternatively or additionally, rotational guide  404  may be elastically squeezed to retract projections  405   a  at they are fit into track  405   b.    
     In some embodiments, once TSA  452  is connected its anti-rotational guides (for example anti-rotational guide  404  and/or stabilizer  402 ) the guides are slid together and/or collapsed such that the proximal end of drive shaft  410  projects out of a proximal opening  403  in stabilizer  402  and/or until a coupler (for example a shoulder bearing  406 ) of drive shaft  410  rests against stabilizer  402 . Optionally, drive shaft  410  rotates freely inside of opening  403 . Optionally the transmission element includes for example a cartridge gear  426 . The transmission element is optionally engaged to the projecting proximal portion of drive shaft  410 . For example, a non-rotational fitting  432   a  may be inserted through a slot and/or a receptor  432   b  of cartridge gear  426  such that drive shaft  410  is firmly engaged and/or aligned to gear  426  and/or rotates with gear  426 . Optionally a fastener and/or a snap element prevent disassembly of stopper driver  450 . For example an end cap  438  may snap to a retainer  437  which may hold to a fastener  430  on the proximal end of drive shaft  410  in  FIG. 4A . In some embodiments, the assembled stopper driver  450  is rewound for example by rotating gear  426  with respect to stabilizer  402  and/or drive shaft  410  is rotated with respect to pushing shaft  414 . Optionally rotation is in a direction to de-thread TSA  452  until it has contracted and/or until de-threading is stopped by thread stopping elements. The contracted stopper driver  450  is optionally attached to reservoir  420  to form a cartridge  453  (for example see  FIG. 4C ). 
     Referring now to  FIG. 4B , the figure is a cross sectional illustration of an embodiment of stopper driver  450  in an extended state. For example, after assembly of stopper driver  450 , cartridge gear  426  is rotated with respect to stabilizer  402  and/or drive shaft  410  is rotated with respect to pushing shaft  414 . Optionally rotation is in a direction to thread drive shaft  410  and/or mid shaft  412  proximally through the proximal end of pushing shaft  414  thereby expanding TSA  452  into an extended configuration, for example as illustrated in  FIG. 4B . 
     In some embodiments a shaft may include a member to prevent disengagement of the shaft during over threading and/or over extension of the TSA. For example drive shaft  410  includes a rear flange  482  and mid shaft  412  includes a rear flange  484 . When shaft  410  reaches full extension, flange  482  optionally contacts interior threads  411   b  of mid shaft  412  preventing further extension. When shaft  412  reaches full extension, flange  484  optionally contacts interior threads  413   b  of pushing shaft  414  preventing further extension. Alternatively or additionally an element to prevent disengagement of shafts due to over extension (for example flange  482  and/or  484 ). Optionally the element preventing over extension may include an interference element and/or a protrusion and/or another element of any geometry for example an annular element. 
     In some embodiments, a linear stabilizer will block movement of a drive shaft in a proximal direction. For example, shoulder bearing  406  is supported against stabilizer  402 . Optionally, drive shaft  410  can rotate with respect to stabilizer  402  around the longitudinal axis of stopper driver  450  but is inhibited from moving axially in a proximal direction with respect to stabilizer  402 . 
       FIG. 4C  is a perspective view of a cartridge  453  including reservoir  420 , stopper  440  and/or stopper driver  450  in accordance with an embodiment of the present invention. In some embodiments, the assembled stopper driver  450  may be attached to reservoir  420 . For example, connectors  421   a  may clip stabilizer  402  onto rear flange  421   b  of reservoir  420 . Optionally, stabilizer  402  is a linear stabilizer linearly stabilizing and/or retaining TSA  452  inside the cavity of reservoir  420  and/or inhibiting proximal movement of driver  410  (for example by means of shoulder bearing  406  as illustrated in  FIG. 4B ). When TSA  452  is expanded pusher shaft  414  moves distally with respect to stabilizer  402  and/or reservoir  420  until pusher shaft  414  contacts stopper  440 . Further expansion of TSA  452  pushes stopper  440  distally and/or discharges the drug. 
     In some embodiments, Cartridge  453  is inserted as a single element into a drug delivery device. Optionally, when stopper driver  450  is installed to cartridge  453  in a contracted state, a large portion of driver  450  (for example ranging between 50% to 75% and/or ranging between 75% to 90% and/or ranging between 90% to 100%) is positioned inside reservoir  420 . Alternatively or additionally most or all of the stopper driver may be on the outside of the reservoir when the driver is in a contracted state and/or when the driver is attached to the reservoir. 
       FIG. 4D  is a perspective view of insertion of cartridge  453  into a drug delivery device  422  in accordance with an embodiment of the present invention. In some embodiments, inserting a cartridge into drug delivery device  422  will open a fluid flow path between reservoir  420  and device  422  and/or engage a transmission element of cartridge  453  to a motor of device  422  and/or rotationally stabilize the cartridge. For example, cartridge  453  is inserted linearly into a guide path in device  422 . As cartridge  453  is inserted, a cannula inside device  422  pierces a septum on the distal end of cartridge  453  creating a fluid path between device  422  and reservoir  420 . Alternatively or additional, a cannula on the distal end of cartridge  453  may pierce a septum of device  422  forming the fluid path. Alternatively or additional, a hypodermic needle on the distal end of cartridge  453  be inserted directly into a subject. 
     In some embodiments, linear stabilizer  402  (as explained above) is also an anti-rotational stabilizer  402 . Optionally, stabilizer  402  connects directly to device  422  to compensate for torque applied by a motor  408  to cartridge gear  426  without applying significant torque to reservoir  420 . For example, connectors  421   a  of stabilizer  402  fit into slots  421   c  in drug delivery device  422 . Slots  421   c  prevent stabilizer  402  from rotating with respect to device  422 . Slots  421   c  are angled to lead connectors  421   a  and/or rotationally align cartridge  453 . For example cartridge  453  may be inserted into device  422  without require angular alignment by the operator. Alternatively or additionally a cartridge may have a specific insertion alignment. In some embodiments, a linear stabilizer may be separate from an anti-rotational stabilizer. 
       FIG. 4E  is a perspective view of a linkage between a stopper driver and a motor of a drug delivery device in accordance with an embodiment of the present invention. As cartridge  453  is inserted into drug delivery device  422 , gear  426  optionally slides into engagement and/or meshes with a transmission  474  (for example including a drive gear  473 ). Transmission  474  and/or drive gear  473  are optionally driven by a motor  408 . In some embodiments motor mounts  472  may connect motor  408  to the housing of the drug delivery device  422 . For example, as the motor applies torque to transmission  474 , the body of motor  408  is anti-rotationally stabilized against the housing of device  422  by motor mounts  472 . Optionally, anti-rotational torque is transferred by the housing of device  422  and/or connectors  421   a  to anti-rotational stabilizer  402  and/or anti-rotational guide  404  and/or pushing shaft  414  (for example as explained herein above). 
     A Stopper Driver with Sliding Post Anti-Rotational Guide 
       FIG. 5A  is a perspective view of a stopper driver  550  including sliding post anti-rotational guides in a retracted configuration in accordance with an embodiment of the present invention. Optionally, an anti-rotational stabilizer  502  is connected to a stopper adapter  542  by a guide assembly including hollow guide tracks  505   b  and/or sliding posts  515   a . In some embodiments, a cartridge gear  526  drives a TSA  552 . Optionally connectors  521  connect anti-rotational stabilizer  502  to a drug delivery device. For example, the driver may be slid longitudinally into a drug delivery device. Optionally cartridge gear  526  meshes to a transmission of the device and/or connectors  521  slide into slots in the device. Torque is optionally supplied to gear  426  for example to extend TSA  552  and/or to push a stopper. In some embodiments, anti-rotational stabilization is supplied to connectors  521  and/or guide elements (for example stabilizer  502 , track  505   b  and/or post  515   a ). 
       FIG. 5B  is a cross sectional view of stopper driver  550  in an extended configuration in accordance with an embodiment of the present invention. TSA  552  optionally includes a proximal drive shaft  410 , a mid shaft  412  and/or a distal stopper pushing shaft  514 . For example stopper adapter  542  and/or posts  515   a  link pushing shaft  514  to a sliding guide post  505   a  and/or fixed guide track  505   b  and/or stabilizer  502 . The assembled TSA  552  may optionally be held together by a distal end cap  524 . The anti-rotational guides of driver  550  optionally include telescoping posts, for example an inner post  515   a  may slide into a hollow mid post  505   a  which may slide into a hollow track  505   b . Drive shaft  410  is optionally linearly stabilized by a coupler, for example a shoulder bearing  506 . Bearing  506  optionally rest on stabilizer  502 . 
     A Stopper Driver with Anti-Rotational Guide Stabilized by the Device Housing 
       FIG. 6A  is a close up cross sectional view of a stopper driver stabilized by a device housing in a retracted configuration in accordance with an embodiment of the present invention. In some embodiments, TSA  452  is stabilized by a housing of a drug delivery device  622 . For example, projection  405   a  of anti-rotational guide  404  connects to a guide track  605  that is attached to and/or intrinsic to the housing of device  622 . Drive shaft  410  is optionally linearly stabilized against the housing of device  422 . For example, linear stabilization may be via a coupler (for example a bearing  606 ). For simplicity the transmission and motor assembly are not shown in the  FIGS. 6A-6C . 
       FIG. 6B  is a perspective view of a reservoir and a stopper driver stabilized by a device housing in a retracted configuration and engaged with stopper  440  and reservoir  620  in accordance with an embodiment of the present invention. For example, reservoir  620  may be shorter than reservoir  420 . In the contracted state, TSA  452  remains outside of the distal end of reservoir  420 . Optionally, in the embodiment of  FIGS. 6A-6C , reservoir  620  and TSA  452  are built into drug delivery device  622  rather than being inserted as a cartridge into the device by a user. The housing of device  622  optionally includes a shoulder  621  which linearly stabilizes reservoir  620  (for example locking it in an axial position with respect to the housing). For simplicity, the fluid path connecting distal opening  456  to device  622  is not shown in the  FIGS. 6A-6C . 
       FIG. 6C  is a perspective view of a reservoir and a stopper driver stabilized by a device housing in a retracted configuration in accordance with an embodiment of the present invention. Optionally drive shaft  410  is rotated expanding TSA  452 . For example TSA  452  expands into reservoir  620  and/or pushes stopper  440  into reservoir  620  and/or discharges a drug from reservoir  620 . Optionally as TSA  452  expands, an anti-rotational guide moves into reservoir  620 . For example projection  405   a  may slide down track  605  as anti-rotation guide  404  may slide into reservoir  620  and/or projection  415   a  may slide down track  415   b  as pushing shaft  414  slides with respect to anti rotation guide  404 . 
     Exemplary Dimensions of a Drug Delivery Device 
     In some embodiments the payload of a reservoir (for example a syringe) may include, for example between 0.5 and 3 ml and/or between 3 and 6 ml and/or between 6 and 10 ml and/or between 10 and 15 ml of a drug and/or more. In some embodiments, the injector may discharge the entire payload as a single dose. A drug delivery device may include, for example, a pen injector and/or a patch injector, and/or an internally powered driver to drive the stopper and/or discharge the payload. The reservoir of the injector may be oriented parallel to the skin of a subject and/or perpendicular to the skin and/or at an angle between parallel and perpendicular, for example between 60 to 90 degrees and/or between 30 to 60 degrees and/or between 0 to 30 degrees. For the sake of this application an internally powered injector driver may be defined as a drive mechanism powered by energy stored at least temporarily within the injector. Power may be stored in a power supply, for instance as chemical potential (for example a chemical that produces an expanding gas and/or a battery) and/or mechanical potential (for example stored in an elastic member and/or a spring and/or a pressurized gas). For example the driver may be designed to discharge the payload over a time period ranging between 20 and 120 seconds and/or between 120 and 600 seconds and/or between 600 and 7200 seconds and/or longer. In some embodiments, discharge may be driven by a driver. An internally powered driver may be powered by various mechanisms including for example a motor (including for example a DC motor, an actuator, a brushless motor) and/or a transmission including for example a telescoping assembly and/or a threaded element and/or a gear and/or a coupling and/or an elastic mechanism (for example a spring and/or a rubber band) and/or an expanding gas and/or a hydraulic actuator). 
     A drug delivery device in accordance with some embodiments of the current invention may include reservoir. For example a reservoir may include a medicine container and/or a standard type syringe. Optionally a standard type syringe may be preloaded with medicine using standard equipment and/or in an aseptic room. A preloaded standard type syringe may optionally include a proximal opening. A stopper may optionally seal the proximal opening and/or protect the sterility of the contents of the syringe. A sterile needle (for example a hollow needle) may optionally be connected to the syringe barrel. For example, the hollow of the needle may be in fluid communication with the interior of the barrel. The needle may optionally be rigidly attached to the distal end of the barrel. The sterility of all and/or part of the needle may for example be protected by a sterile cover. The sterile cover may remain on the needle when the syringe is supplied and/or installed into an injector. For example, the medicine container may optionally include a cylindrical barrel rigidly attached to a needle. Optionally, the long axes of the needle and barrel of the syringe may be parallel and/or coaxial. Optionally, the needle may be mounted on the distal end of the barrel. Optionally the needle point may be pointing in the distal direction. In some embodiments a stopper may slide axially along the inside of the barrel to discharge a medicine payload. For example, the medicine may be discharged through the hollow needle. 
     In some embodiments, a TSA may produce a force ranging for example between 0.02 to 0.2 N and/or between 0.2 and 0.5 N and/or between 0.5 to 5 N and/or between 5 to 60 N and/or between 60 to 90 N. For example the force required to inject the drug may depend on the injection rate and/or the viscosity of the drug and/or the syringe geometry and/or the needle dimensions. 
     In some embodiments, the stress to inject a medicine may include a torque. For example, injection of medicine may be driven by a stopper. The stopper may optionally be driven by a threaded assembly, for example a threaded screw and/or teeth and/or a telescoping assembly. Optionally the pitch of the teeth and/or an associated screw may range for example between 0.5 and 2 mm. The diameter of the screw may range for example between 3 and 15 mm. The torque to power injection may range for example between 0.2 and 1.0 N*cm. 
     During injection, the linear movement of a stopper may range for example between 5-40 mm and/or between 40-50 mm. The length of movement of the stopper may vary for example with the volume of medicine to be injected that may range for example between 0.5 to 3 ml and/or between 3 to 10 ml. 
     It is expected that during the life of a patent maturing from this application many relevant technologies will be developed and the scope of the terms is intended to include all such new technologies a priori. 
     As used herein the term “about” refers to ±5%. 
     The terms “comprises”, “comprising”, “includes”, “including”, “having” and their conjugates mean “including but not limited to”. 
     The term “consisting of” means “including and limited to”. 
     The term “consisting essentially of” means that the composition, method or structure may include additional ingredients, steps and/or parts, but only if the additional ingredients, steps and/or parts do not materially alter the basic and novel characteristics of the claimed composition, method or structure. 
     As used herein, the singular form “a”, “an” and “the” include plural references unless the context clearly dictates otherwise. For example, the term “a compound” or “at least one compound” may include a plurality of compounds, including mixtures thereof. 
     Throughout this application, various embodiments of this invention may be presented in a range format. It should be understood that the description in range format is merely for convenience and brevity and should not be construed as an inflexible limitation on the scope of the invention. Accordingly, the description of a range should be considered to have specifically disclosed all the possible subranges as well as individual numerical values within that range. For example, description of a range such as from 1 to 6 should be considered to have specifically disclosed subranges such as from 1 to 3, from 1 to 4, from 1 to 5, from 2 to 4, from 2 to 6, from 3 to 6 etc., as well as individual numbers within that range, for example, 1, 2, 3, 4, 5, and 6. This applies regardless of the breadth of the range. 
     Whenever a numerical range is indicated herein, it is meant to include any cited numeral (fractional or integral) within the indicated range. The phrases “ranging/ranges between” a first indicate number and a second indicate number and “ranging/ranges from” a first indicate number “to” a second indicate number are used herein interchangeably and are meant to include the first and second indicated numbers and all the fractional and integral numerals therebetween. 
     It is appreciated that certain features of the invention, which are, for clarity, described in the context of separate embodiments, may also be provided in combination in a single embodiment. Conversely, various features of the invention, which are, for brevity, described in the context of a single embodiment, may also be provided separately or in any suitable subcombination or as suitable in any other described embodiment of the invention. Certain features described in the context of various embodiments are not to be considered essential features of those embodiments, unless the embodiment is inoperative without those elements. 
     All publications, patents and patent applications mentioned in this specification are herein incorporated in their entirety by reference into the specification, to the same extent as if each individual publication, patent or patent application was specifically and individually indicated to be incorporated herein by reference. In addition, citation or identification of any reference in this application shall not be construed as an admission that such reference is available as prior art to the present invention. To the extent that section headings are used, they should not be construed as necessarily limiting.