Design and prototyping exploration of an end effector for automated drug compounding

Chemotherapy (CTX) is essential for cancer treatment, yet its cytotoxic properties pose significant risks to clinicians. As cancer incidence rises, demand for safe and reliable CTX preparation methods intensifies; Automated Drug Compounding (ADC) promises to address these issues. Nonetheless, technical and operational barriers limit adoption. Foremost, the reliable manipulation of syringes by robotic end effectors remains a challenge. This paper examines limitations of current end effectors for ADC systems, identifies design requirements necessary, and proposes a novel design to address them.