Devices, systems and methods for automatically positioning a syringe in a target orientation suitable for withdrawing medication from a container, and for filling the syringe with the medication. The device comprises a syringe conveyor, which is configured to receive the syringe in an initial orientation, and to bring the syringe to a target orientation by being translated and rotated while holding the syringe in a steady orientation relative to the syringe conveyor. The device further comprises a supporting module, configured to support the syringe conveyor while allowing a translation and a rotation thereof. The device comprises a syringe holder configured to hold the syringe, and a gripper coupled to the syringe holder. The gripper is configured to engage the plunger and to enable the automatic displacement.