In one exemplary embodiment, an automated syringe preparation mechanism for an automated medication preparation system is provided and the mechanism includes (1) a first automated gripping mechanism having a pair of adjustable gripper arms for removing a tip cap from a barrel of one syringe and placing...http://www.google.de/patents/US20040104243?utm_source=gb-gplus-sharePatent US20040104243 - Automated means for removing, parking and replacing a syringe tip cap from a syringe
