An Automated Pharmacy Admixture System (APAS) may include a manipulator
that transports medical containers such as bags, vials, or syringes about
a substantially aseptic admixing chamber. In a preferred implementation,
a gripper assembly is configured to substantially universally grasp and
retain syringes, IV bags, and vials of varying shapes and sizes. In an
illustrative embodiment, a gripping device may include claws configured
to grasp a plurality of different types of IV bags, each type having a
different fill port configuration. Embodiments may include a controller
adapted to actuate a transport assembly to place a fill port of the bag,
vial or syringe into register with a filling port such as a cannula
located at a filling station, or be equipped with carousel transport
systems that are adapted to convey bags, vials, and syringes to the
admixture system and deliver constituted medications in bags, vials or
syringes to an egress area.