Medical fluid compounding systems with coordinated flow control

An electronically controlled system configured to transfer fluids from a plurality of source containers to a target container, the system comprising:

• a fluid transfer station comprising:
• an electric motor, the electric motor comprising control circuitry configured to measure a back electromotive force (EMF) voltage during operation of the electric motor and transmit from the electric motor an output signal indicative of the measured back EMF voltage;
• a pump functionally connected to the electric motor, and
• an outlet line in fluid communication with the pump, the pump actuatable via the electric motor to transfer fluid between a source container and the outlet line;
• and
• an electronic controller configured to:
• receive, from the electric motor of the fluid transfer station, the transmitted output signal indicative of the measured back EMF voltage during operation of the electric motor;
• and
• control the operation of the electric motor based at least in part on the received output signal indicative of the measured back EMF voltage.

A method of controlling fluid transfer from at least one source container to a target container, the method implemented by an electronic controller of a fluid transfer system, the method comprising:

• receiving, from an electric motor of a fluid transfer station of the fluid transfer system, the electric motor functionally connected to a pump in fluid communication with an outlet line, an output signal indicative of a back electromotive (EMF) force measured by the electric motor during operation of the electric motor according to at least one initial driving parameter;
• determining at least one updated driving parameter based at least in part on the received output signal indicative of the measured back EMF voltage to adjust a rate of fluid transfer through the fluid transfer station from the source container to the target container;
• and
• controlling the operation of the electric motor of the fluid transfer station based at least in part on the at least one updated driving parameter.