Methods, systems, and computer program products for detecting formation of a droplet at a distal end of a pipette tip attached to a pipette. The methods, systems, and computer program products provide dispensing a fluid from the pipette tip, measuring pipette pressure in real time at an internal portion of the pipette while the fluid is dispensed, determining a plurality of pressure differences, estimating a plurality of rate of change in pipette pressure values during a given time interval, detecting formation of the droplet responsive to determining certain conditions are met, and stopping the dispensing of the fluid from the pipette tip or moving the pipette when the droplet is detected.