Dialysis systems comprising actuators that cooperate to perform dialysis functions and sensors that cooperate to monitor dialysis functions are disclosed. According to one aspect, such a hemodialysis system comprises a user interface model layer, a therapy layer, below the user interface model layer, and a machine layer below the therapy layer. The user interface model layer is configured to manage the state of a graphical user interface and receive inputs from a graphical user interface. The therapy layer is configured to run state machines that generate therapy commands based at least in part on the inputs from the graphical user interface. The machine layer is configured to provide commands for the actuators based on the therapy commands.

A hemodialysis system is disclosed. The hemodialysis system includes a disposable set including a blood pumping tube, a fresh dialysate pumping tube, and a spent dialysate pumping tube. The hemodialysis system also includes a dialysis instrument including a blood pump head, a fresh dialysate pump head, a spent dialysate pump head, a first motor positioned and arranged to operate the blood pump head, a second motor positioned and arranged to operate the fresh dialysate pump head, and a third motor positioned and arranged to operate the spent dialysate pump head. When the disposable set is loaded into the dialysis instrument, the blood pumping tube comes into registry with the blood pump head, the fresh dialysate pumping tube comes into registry with the fresh dialysate pump head, and spent dialysate pumping tube comes into registry with the spent dialysate pump head.

A vacuum device for a material handling system includes a vacuum device body and a sealing element. The vacuum device body has a vacuum passageway in which a vacuum is generated in response to activation of a pressurized air supply that forces pressurized air through a venturi device. The sealing element moves to a sealing position to substantially seal the vacuum passageway when the air supply is activated, and is urged toward the sealing position via pressurized air that is diverted from an inlet of the vacuum device to the sealing element. The sealing element moves to substantially vent the vacuum passageway when the air supply is deactivated. The vacuum passageway may be in fluid communication with a vacuum cup, which seals against the object when the sealing element is at the sealing position and the vacuum generating device generates at least a partial vacuum in the vacuum passageway.

A method for priming a renal therapy machine is disclosed. The method includes communicating a source of a physiologically compatible solution with a blood circuit and moving the physiologically compatible solution from the source to the blood circuit. The method also includes moving the physiologically compatible solution through the blood circuit to prime the blood circuit. The method further includes moving the physiologically compatible solution from the blood circuit though porous fibers of a blood filter, causing air to be purged from the blood circuit and into a dialysis fluid circuit portion of the blood filter.

Dialysis systems comprising actuators that cooperate to perform dialysis functions and sensors that cooperate to monitor dialysis functions are disclosed. According to one aspect, such a hemodialysis system comprises a user interface model layer, a therapy layer, below the user interface model layer, and a machine layer below the therapy layer. The user interface model layer is configured to manage the state of a graphical user interface and receive inputs from a graphical user interface. The therapy layer is configured to run state machines that generate therapy commands based at least in part on the inputs from the graphical user interface. The machine layer is configured to provide commands for the actuators based on the therapy commands.

A vacuum device for a material handling system includes a vacuum device body and a sealing element. The vacuum device body has a vacuum passageway in which a vacuum is generated in response to activation of a pressurized air supply that forces pressurized air through a venturi device. The sealing element moves to a sealing position to substantially seal the vacuum passageway when the air supply is activated, and is urged toward the sealing position via pressurized air that is diverted from an inlet of the vacuum device to the sealing element. The sealing element moves to substantially vent the vacuum passageway when the air supply is deactivated. The vacuum passageway may be in fluid communication with a vacuum cup, which seals against the object when the sealing element is at the sealing position and the vacuum generating device generates at least a partial vacuum in the vacuum passageway.

An irrigation column for a drip irrigation system has a fluid conducting line for receiving fluid from a fluid source upstream. The irrigation column further includes a plurality of drip line segments extending alongside the fluid conducting line, a plurality of zone valves located along the fluid conducting line, and a plurality of control tubes extending alongside the fluid conducting line. And each control tube is in fluid communication with a respective one of the zone valves for actuating the zone valve.

Hemodialysis systems are described. A hemodialysis system may include a dialysate flow path through which dialysate is passed from a dialysate reservoir, which includes a valved vent to atmosphere, to an ultrafilter. The dialysate flow path includes a pneumatically actuated diaphragm-based dialysate pump for pumping fluid from the dialysate reservoir to the ultrafilter. The hemodialysis system may include a controller for controlling pneumatic actuation pressure delivered to the dialysate pump and at least one valve connecting the dialysate reservoir vent to the atmosphere. The hemodialysis system may be configured to actuate the dialysate pump and the at least one valve to introduce air into the dialysate flow path and expel liquid from the dialysate flow path to a drain.

A vacuum device for a material handling system includes a vacuum device body and a sealing element. The vacuum device body has a vacuum passageway in which H vacuum is generated in response to activation of a pressurized air supply that forces pressurized air through a venturi device. The sealing element moves to a sealing position to substantially seal the vacuum passageway when the air supply is activated, and is urged toward the sealing position via pressurized air that is diverted from an inlet of the vacuum device to the sealing element. The sealing element moves to substantially vent the vacuum passageway when the air supply is deactivated. The vacuum passageway may be in fluid communication with a vacuum cup, which seals against the object when the sealing element is at the sealing position and the vacuum generating device generates at least a partial vacuum in the vacuum passageway.

Disclosed are hemodialysis and similar dialysis systems including fluid flow circuits. Hemodialysis systems may include a blood flow path, and a dialysate flow path including balancing, mixing, and/or a directing circuits. Preparation of dialysate may be decoupled from patient dialysis. Circuits may be defined within one or more cassettes. The fluid circuit and/or the various fluid flow paths may be isolated from electrical components. A gas supply may be provided that, when activated, is able to urge dialysate through the dialyzer and blood back to the patient. Such a system may be useful during a power failure. The hemodialysis system may also include fluid handling devices, such as pumps, valves, mixers, etc., actuated using a control fluid. The control fluid may be delivered to the fluid handling devices using a detachable external pump. The fluid handling devices may have a spheroid shape with a diaphragm dividing it into two compartments.