You get the Medical Supplies mission from Dan Hagar in the Hagar's Hideout after completing the quest Quell the Bandit Thread and returning from the Ghost Hideout.
Dan Hagar tells you that while you were away, the hideout was attacked by bandits and now they are in desperate need of medical supplies:
Bandits raided the settlement, and we need your help again.
We held them off, and, thank God, no one was killed. But we are in
desperate need of medical supplies. I need you to head west to the
Outrigger Settlement and give this letter to their leader, Rikter:
he'll know what to do.
You make it back with my medical
supplies, and I'll have our local mechanic fix up a buggy for you.
Before you leave, visit Halek to sell him any junk you got from the ghost hideout, and to stock up on ammo and supplies.
Take the buggy and follow the dotted line to get to the outrigger camp in the outrigger territory.
Locate Rikter (climb some stairs/platforms to get to him) and give him the note from Dan. He will tell you to take the note to Janus, so locate Janus and show her the list.
Janus will tell you that they will help you if you help them, and that she needs you to do something for her while she tracks down the supplies you need. Accept the mission she gives you, "Where's Juno"