Remodulin Injection is indicated to treat patients with pulmonary arterial hypertension (PAH) via a pre-filled semi-disposable pump system.
The company intends to launch the new subcutaneous Remodulin delivery system between 2016 and 2018.
United Therapeutics chairman and co-CEO Martine Rothblatt said: "The new DEKA semi-disposable pump system will advance the convenience and delivery of subcutaneous Remodulin.
"In addition, it may bring the benefits of parenteral prostacyclin therapy to the thousands of PAH patients who are using the current delivery system or for those patients who no longer receive adequate benefit from oral and inhaled treatments."
Both the parties have not disclosed the financial terms of the agreement.
DEKA president Dean Kamen said: "We are pleased to advance the state of technology and engineering in subcutaneous drug delivery systems.
"Our mastery of precision fluid dynamics, coupled with drug pre-filled in special modules, has enabled an unparalleled reduction in pump size for the benefit of patients."