US20180055738A1 - Dispenser system and methods for medication compliance - Google Patents

Abstract

Systems and methods are provided for dispensing medication in a predetermined amount. An exemplary system and method may include operations and/or instructions comprising dispensing medicine from a first medicine container to a transfer device; dispensing medicine from the transfer device to a second medicine container, monitoring a medicine distribution relative to the first medicine container, the second medicine container, and the transfer device by way of at least one monitoring device, and automatically adjusting the medicine distribution among the first medicine container, the second medicine container, and the transfer device.

Description

CROSS-REFERENCE TO RELATED APPLICATIONS
• This non-provisional application is based on and claims priority to PCT Application No. PCT/US2017/048643 filed Aug. 25, 2017, which is based on and claims priority to U.S. Provisional Patent Application No. 62/379,866 filed Aug. 26, 2016, and claims priority to U.S. Provisional Patent Application No. 62/416,251 filed Nov. 2, 2016. This non-provisional application also incorporates by reference PCT Application PCT/US2017/040863 filed Jul. 6, 2017, which claims priority to U.S. Non-Provisional patent application Ser. No. 15/613,852 filed Jun. 5, 2017, which is a continuation of and claims priority to U.S. Non-Provisional patent application Ser. No. 15/613,675 filed Jun. 5, 2017, which is based on and claims priority to U.S. Provisional Patent Application No. 62/392,621 filed Jun. 6, 2016. This non-provisional application is also based on U.S. patent application Ser. No. 15/395,076 filed Dec. 30, 2016, and based on U.S. patent application Ser. No. 15/202,778 filed Jul. 6, 2016. All of the above-referenced applications are hereby incorporated by reference in their entirety.
BACKGROUND
• Improving medical adherence and compliance is an area of interest for medical practitioners and patients alike. Traditional solutions, like the various types of pill boxes and smart caps, may fail to address the root causes of medical non-adherence completely and effectively.
• For instance, in an attempt to improve patient compliance, some systems may include timer-like functions or smart phone applications to remind patients when to take specific medications. However, these solutions may not effectively monitor whether the right dosage has been taken. For instance, tracking each time a bottle has been opened may not account for, for instance, how many pills are taken at a time. Furthermore, pharmacists or clinicians may not properly preprogram a patient's drug routine into a solution (e.g., in the form of programming a traditional RF tag, as an example). Such can limit accessibility of solutions to a minority of the population and may prevent proper usage for many patients and caregivers. For people taking multiple medications, there is always a possibility of mixing-up pills between reminders. For instance, a physical reminder device initially set-up to remind and track pill A may not track a second pill B if misplaced in a bottle.
• Pre-sorting pill devices (e.g., pill boxes) may help manage complex medicine regimens. For instance, a user may actively prepare the medications to be taken over a coming week or even a month. However, these solutions may include significant cognitive effort, and pre-sorting the medications can be both cumbersome for the user, and prone to errors in sorting the medications correctly (i.e., the user may not correctly sort out the correct medication, in the right dosage, for the right time, all the time). Other solutions may fail to effectively remind or notify the patient when to take a certain dosage of medication.
• There have also been numerous attempts to develop automatic dispensing systems. However, previous medicine-dispensing devices may fail to reliably dispense medications when needed.
• Therefore, a need in the field exists for a solution that can not only dispense and remind patients when to take specific medications, but also track that the correct dosages have been taken by the patient at the correct time and ensure that the right medication is taken. A need also exists for a dispensing system to successfully determine whether there has been a mistake in the dispensing process without intervention from the patient; this need exists to increase operational reliability to extremely high levels. A further need exists for a reminder system notifying patients to bring their medications along when they leave their homes. A need also exists for a solution for the above, while still remaining accessible to an average patient (i.e., having only minimal changes to the patient's lifestyle) since some solutions rely on pharmacists or clinicians to program the device, which can limit accessibility of the solution to limited populations with access to the technology.
BRIEF DESCRIPTION OF THE DRAWINGS
• The above, as well as other advantages of the present disclosure will become readily apparent to those skilled in the art from the following detailed description when considered in light of the accompanying drawings, in which:
• FIG. 1 is a schematic diagram of an exemplary system;
• FIG. 2 is a perspective view of an exemplary dispensing unit of the system as shown inFIG. 1;
• FIG. 3 is a perspective view of an exemplary sub-assembly of the dispensing unit as shown inFIG. 2;
• FIG. 4A illustrates a medicine container with a storage nest;
• FIG. 4B illustrates the medicine container with storage nest ofFIG. 4A in an exploded view;
• FIG. 5 is a schematic block diagram illustrating an exemplary system;
• FIG. 6 is a flow diagram illustrating an exemplary process for setting up the system ofFIG. 1 for operation;
• FIG. 7 is a flow diagram illustrating an exemplary process for inputting prescription information;
• FIG. 8 is a flow diagram illustrating an exemplary process for inputting medicine container information;
• FIG. 9A is a flow diagram illustrating an exemplary process for dispensing a dose of medicine;
• FIG. 9B is a flow diagram illustrating an exemplary process for continuing to iterate beyondFIG. 9A for dispensing a dose of medicine;
• FIG. 10 is a flow diagram illustrating an exemplary process for dispensing a dose of medicine via the exemplary sub-assembly ofFIG. 3;
• FIG. 11A is a perspective view of a sub-assembly according to another exemplary approach;
• FIG. 11B illustrates the exemplary system ofFIG. 11A during operation;
• FIG. 11C illustrates a top view of the exemplary system ofFIG. 11B;
• FIG. 12 is a flow diagram illustrating an exemplary process for dispensing a dose of medicine via the exemplary sub-assembly ofFIGS. 11A-11C;
• FIG. 13A is a perspective view of a sub-assembly according to another exemplary approach;
• FIG. 13B illustrates the exemplary system ofFIG. 13A during operation;
• FIG. 14 is a flow diagram illustrating an exemplary process for dispensing a dose of medicine via the exemplary sub-assembly ofFIG. 13A-13B;
• FIG. 15A is a perspective view of a sub-assembly according to another exemplary approach;
• FIG. 15B illustrates the exemplary system ofFIG. 15A during operation;
• FIG. 16 is a flow diagram illustrating an exemplary process for dispensing a dose of medicine via the exemplary sub-assembly ofFIG. 15A-15B;
• FIG. 17A is a perspective view of a sub-assembly according to another exemplary approach;
• FIG. 17B illustrates the exemplary system ofFIG. 17A during operation;
• FIG. 17C illustrates a top view of the exemplary system ofFIG. 17B;
• FIG. 18 is a flow diagram illustrating an exemplary process for dispensing a dose of medicine via the exemplary sub-assembly ofFIG. 17A-17C;
• FIG. 19A is a perspective view of a sub-assembly according to another exemplary approach;
• FIG. 19B illustrates the exemplary system ofFIG. 19A during operation;
• FIG. 20 is a flow diagram illustrating an exemplary process for dispensing a dose of medicine via the exemplary sub-assembly ofFIG. 19A-19B;
• FIG. 21A is a perspective view of a sub-assembly according to another exemplary approach;
• FIG. 21B illustrates the exemplary system ofFIG. 19A during operation; and
• FIG. 22 is a flow diagram illustrating an exemplary process for dispensing a dose of medicine via the exemplary sub-assembly ofFIG. 21A-21B.
DETAILED DESCRIPTION
• The present disclosure relates to devices supporting medication compliance. More specifically, this may include an automatic medicine dispensing system with a portable monitoring device for notifying users when to take their medications and for logging when medications have been taken automatically through a programmable patient apparatus.
• The present disclosure includes a system and method and a set of devices which, when used together, assist people in managing either their medications or the medications of somebody they are taking care of. By using the disclosed medicine dispensing method the disclosed device dispenses medications automatically and more accurately than other available dispensing devices, notifying patients when to take specific medications and track the exact dosage taken by a patient at a given time, all while ensuring the notification is for the originally intended medication. For example, by using the prescription data input method of this disclosure, the systems herein may be readily programmable by individual patients. Also, the use of a location tracking method creates a way to remind patients when medications may have been forgotten at home.
• Further areas of applicability will become apparent from the description provided herein. It should be understood that the description and specific examples are intended for purposes of illustration only and are not intended to limit the scope of present disclosure.
• The following description is merely exemplary in nature and is not intended to limit the present disclosure, application, or uses. It should be understood that throughout the drawings, corresponding reference numerals indicate corresponding parts and features. The terms “device,” “unit” and “module” may be used interchangeably. The terms “robot” means a complete robot system and/or different sub-system of the same robot or any type of machines. The term “medicine” means any form of medicine that may include a pill or capsule.
• The systems and methods herein may include one or more of a station door or a medicine container loading station door (MCLSD), a storage container or medicine storage container (MSC), a loading station or medicine container loading station (MCLS), a reminder device or medicine reminder unit (MRU), a travel device or medicine travel unit (MTRU), a container transfer device or medicine container transfer unit (MCTU), a storage nest or medicine container storage nest (MCSN), a loading point or medicine container loading point (MCLP), a discharge point or medicine discharge point (MDP), a medicine transfer device or medicine transfer unit (MTU), a medicine container or dispensed medicine container (DMC), a transfer container or medicine transfer container (MTC), an identification device or medicine container identification unit (MCIU), a standard container or original medicine container without cap (OMC), a detecting device or weight detecting device (WDD), an arm tool or end of arm tool (EOAT), an alert device or travel alert unit (TAU), and a checking station or weight checking station (WCS).
• Referring now to the figures,FIG. 1 illustrates anexemplary system100 that is configured to receive, store, monitor, display and transfer medication information. Thesystem100 may be configured for monitoring the dosage and usage of prescription medication. Thesystem100 may also be configured to dispense the prescription medication according to required dosages. Thesystem100 may include adispensing device102 and at least one ofassemblies140,150a-d,160, and170. Generally,assembly140 may be a travel alert device,assemblies150a-dmay be medicine travel devices, andassemblies160 and170 may be medicine reminder devices, for example, as described in detail in U.S. patent application Ser. Nos. 15/613,675 and 15/613,852. Thedispensing device102 may include aprocessor106, amemory108 with aprogram110 stored thereon, adisplay112, at least one input/output (I/O)device114, and acommunication device116, as described in more detail with respect toFIG. 5.
• Medication information may include any information associated with medication or medicine. Medication information may be associated with or include a prescription (e.g., patient name, prescriber name, strength, dosage, quantity, expiration, use directions, or drug or diet interactions), a container type (e.g., shape, size, or color), patient information (e.g., name or history), or a combination thereof. Medication information may include other information associated with a patient or medication.
• Prescription information may include medication information associated with a patient or as prescribed or defined by a user such as medical professional or a patient. Container information may include medication information associated with a medication container or according to an identifier on a medication container. As such, the prescription information and container information may or may not match depending on whether the prescription was properly and accurately fulfilled or not. The container information may match the medication information if the content of the medicine container complies with the prescription, and thus the system may generate a notification or alert indicating compliance. The container information may not match the medication information if the contents of the medicine container do not comply with the prescription, and thus the system may generate a notification or alert indicating non-compliance. Accordingly, the systems herein may compare the prescription information and the container information to determine medication compliance or non-compliance.
• Embodiments may utilize and compare multiple types of information, e.g., related information received from distinct sources, including, but not limited to, hospitals, pharmacies, doctors' offices, the National Drug Code (NDC), and the like. For example, the system may receive information associated with a prescription (e.g., as defined by a user such as medical professional or patient), a medication or medicine (e.g., as defined by the contents of a medication container or by a manufacturer), and a medication container (e.g., as defined by the size and shape of the container or as labeled on the container). These types of information should be the same if everything was entered and received correctly, but because the information is input separately, the information from various sources may not be the same. For example, errors may be introduced by way of manual inputs, user mismatches, computer transfer, RF reader, OCR, etc. As such, the system herein leverages the information from various sources to increase the accuracy of the medication actually taken by the patient. More specifically, the information is received from distinct sources and compared to determine compliance or non-compliance, thereby reducing the likelihood of error with multiple ways of receiving the same types of information. Depending on whether there is a match or mismatch, the system may alert or notify the user regarding the same to reduce the possibility of the patient taking the wrong medication. Accordingly, the system may be advantageous in increasing the effectiveness of treatment, e.g., by information redundancy and monitoring information with respect to at least two sources.
• System100 may further include at least one of adevice103, aserver104, anetwork118, adatabase122, andconnections124. Anexemplary device103 may include any computing device including, but not limited to, a mobile device, cellular phone, smartphone, tablet computer, next generation portable device, handheld computer, notebook, or laptop. Thedevice103 may include aprocessor106 that executesprogram110 to provide the operations herein. Thedevice103 may include amemory108 that stores medication information andprogram110. Thedevice103 may include acommunication device116 that communicates with at least one of thedispensing device102, the assemblies150-170,server104,network118, anddatabase122. Thedevice103 may provide operations to and control the functionality of thedispensing device102. In addition or alternatively, thedispensing device102 may be controllable via itsown processor106.
• Server104 may include any computing system. For example,server104 may include a user profile server for generating and storing a user profile for each user,server104 may be configured to generate and store medication information. Theserver104 may be configured to communicatively connect with and transfer medication information between with respect to any of dispensingdevice102 andassemblies140,150a-d,160, and/or170,network118, anddatabase122.Server104 may be in continuous or periodic communication with dispensingdevice102, assemblies140-170,network118, and/ordatabase122.Server104 may include a local, remote, or cloud-based server or a combination thereof and may be in communication with and provide medication information (e.g., as part ofmemory108 or database122) to any of dispensingdevice102, assemblies102-170,network118, and/ordatabase122. Theserver104 may further provide a web-based user interface (e.g., an internet portal) to be displayed bydisplay112. Theserver104 may communicate the medication information with dispensingdevice102, assemblies140-170,network118, and/ordatabase122 using a notification. In addition,server104 may be configured to store medication information as part ofmemory108 ordatabase122.Server104 may include a single or a plurality of centrally or geographically distributedservers104.Server104 may be configured to store and coordinate medication information with any portion of the systems herein.
• Thesystem100 may include an overall network infrastructure through which thedispensing device102, assemblies140-170,server104, anddatabase122 may communicate, for example, to transfer medication information between each other, e.g., usingconnections124. In general, a network (e.g.,system100 or network118) may be a collection of computing devices and other hardware to provide connections and carry communications. As an example, each device may communicate with every other device through the use of a wired or wireless network or a combination thereof, e.g., using any wired or wireless connection including direct wiring, Ethernet wiring, radio frequency (RF), cellular phone service, GPS, Bluetooth, infrared (IR) signals, or any other connection.
• Theconnections124 may be any wired or wireless connections between two or more endpoints (e.g., devices or systems), for example, to facilitate transfer of medication information.Connections124 may include a local area network (LAN) connection, for example, to communicatively connect the devices/assemblies102-170,server104, anddatabase122 withnetwork118.Connections124 may include a wide area network (WAN) connection, for example, to communicatively connectserver104 withnetwork118.Connections124 may include a radiofrequency (RF), near field communication (NFC), Bluetooth®, Wi-Fi, or a wired connection, for example, to communicatively connect assemblies102-170.
• Referring toFIG. 2, dispenser or dispensingdevice102 ofFIG. 1 is shown.Dispenser102 includes adisplay200, aninput device202, a loading door or medicine container loading station door (MCLSD)204, a storage container or medicine storage container (MSC)206, and a loading station or medicine container loading station (MCLS)208.Display200 may be used to present, illustrate or display medication information including, for example, instructions for operation ofdispenser102. The medication information, e.g., ondisplay200, may include instructions to prepare one ormore storage containers206 having a medical dose for a patient or user. Medicinecontainer loading station208 may rotatemedicine storage container206 on a carousel so that a machine vision system or ascanner220, for instance, to take images (e.g., 360 degree pictures) ofmedicine storage container206 to read information from a label onMSC206.MSC206 may be operated automatically or manually, may be operated by user inputs to display200 or a button on aface210 ofdispenser100, or may be operated viainput device202.Machine vision system220 may be positioned to view withinMCLSD204 so that a position ofMSC206 and other storage devices therein may be determined.
• FIG. 3 is a perspective view of anexemplary sub-assembly300 illustrating the disclosed system or dispenser.Sub-assembly300 is a view of inside elements ofdispenser102 and includes acarousel310.Sub-assembly300 includes a loading station orMCLS325, a first transfer device or first medicine container transfer unit (MCTU)330, and a storage device or medicine container storage nest (MCSN)335. A loading point or medicine container loading point (MCLP)340 may be proximate a second transfer device or second medicine container transfer unit (MCTU)345. A first medicine discharge point (MDP)350 includes, for example, a medicine transfer unit (MTU)355 that may include a ramp or conveyor for transporting or otherwise conveying medicine from medicinecontainer transfer unit345 to a second medicine discharge point (MDP)380.MTU355 may include one or more devices for measuring a weight or amount of medicine positioned thereon, as will be further described in further examples.Sub-assembly300 includes a weight checking station (WCS)360, dispensed medicine container (DMC)365, medicine transfer containers (MTC)370 and375.Weight checking station360 may determine an amount of weight contained thereon.Sub-assembly300 includes a calibration andverification device382 to automatically calibrate weight detecting devices. The calibration andverification device382 may include, but is not limited to, a calibrator, and multiple calibration weights with different masses.
• The system may include and utilize one or a plurality of dispensed medicine containers (DMC). For example, a first medicine container may have a final or prescribed dosage for patient to take and a second medicine container may be for system to use to transfer medicine. Medicine transfer unit (MTU), medicine transfer container (MTC), dispensed medicine container (DMC), and medicine storage containers (MSC) may or may not be separated physical devices. The medicine containers may have any shape, size, and may differ from those illustrated. One device or container may have multiple functions. The Medicine Storage Container (MSC) may include an original or standard container received with medicine from pharmacies, hospitals, etc., the medicine storage container may be integrated with or provided with the system, or may be a combination thereof. The medicine transfer unit (MTU) may have different forms and designs, may be a chute, a container of any shape, a plate, a conveyor, a moving surface, a robot, a sub assembly (machine), although examples of the medicine transfer unit are shown in examples as a linear conveyor and a rotating disc. A medicine quantity sensing unit may include visual sensors, or any monitoring device that may count or otherwise determine a quantity of medicine, and may include scales, load cells, sensors, images, and other means. The medicine container transfer unit (MCTU) moves the medicine containers. The devices herein may have many different forms and designs, including a conveyor, a carousel, a robot, a walking beam, a dial table, a rotary table, a sub assembly (machine). The systems herein may have multiple layers (such as additional medical transfer units (MTUs), and may have multiple carousels.
• In addition, in one example, containers used are original containers received from, for instance, a pharmacy with the medicine. However, the system may have its own containers and the system transfers medicines from the original containers to the system containers. As such, the system may keep original containers. The disclosed system can transfer medicines back from system containers to original containers if needed, e.g., switch to a different medicine because of, for instance, any allergy to a medicine.
• The disclosed system may have a cleaning device to clean the surfaces after each dispensing cycle for those surfaces contacted with medicine during the disclosed dispensing processes.
• During operation a user may attach medicinecontainer identification unit385 tooriginal medicine container390, and together they formmedicine storage container320. Medicinecontainer identification unit385 may be a physical device, a RF tag, a near field communication (NFC) device, a bar code, a sensor, and the like. Medicinecontainer storage nest335 is able to communicate wirelessly with medicinecontainer identification unit385 and can both read and write information. Medicinecontainer storage nest335 is also able to communicate with the control unit of thedispenser100, and medicinecontainer storage nest335 may have, for instance,memory108.
• Referring back toFIG. 3,medicine storage container320, ororiginal medicine container390, either of which may have medicine provided from for instance a pharmacy, may be loaded intodispenser102 from medicinecontainer loading station325, andmedicine storage container320 is transferred to medicinecontainer loading point340 by medicinecontainer transfer unit330.Medicine storage container320 may include medicine in the form of a pill or a capsule, as examples, and a dose of medicine for a user may include one or more of the pills or capsules. Medicinecontainer transfer unit330 is illustrated as havingcarousel310, but may instead include a conveyor, a robot, or any device that can movemedicine storage container320 from one position to another, and discharge medicine frommedicine storage container320.
• Medicine transfer unit355 moves medicine from one position to another, accepts medicine frommedicine storage container320, andmedicine transfer unit355 also discharges medicine intomedicine storage container320 or any container when positioned atmedicine discharge point380.Medicine transfer unit355 may have a linear moving surface such as a walking beam, a conveyor, or a rotating surface such as a rotating disc or other shape.
• In operation,dispenser102 moves, viacarousel310,medicine storage container320 to aloading point312, andloading point312 is proximate medicinecontainer transfer unit345. Medicinecontainer transfer unit345 engages withmedicine storage container320 by attaching thereto, and movingmedicine storage container320 to firstmedicine discharge point350.Medicine storage container320 is, in one example, a medicine storage container which may have an amount of medicine that is in excess of a dose, or an amount of medicine that is desired to be distributed into dispensedmedicine container365. Medicinecontainer transfer unit345 turnsmedicine storage container320 such that at least a predetermined amount of medicine spills or otherwise pours frommedicine storage container320 ontomedicine transfer unit355.Carousel310 may rotate to movemedicine transfer container370 to secondmedicine discharge point380. Whenmedicine transfer container370 is positioned atmedicine discharge point380, and when medicine has been discharged ontomedicine transfer unit355,medicine transfer unit355 thereby conveys the discharged medicine frommedicine transfer unit355 intomedicine transfer container370 until at least a second predetermined amount of medicine is contained inmedicine transfer container370, as determined byweight determining device395 and medicinecontainer storage nest335, which weigh and transmit weight information to for instance a controller ofdispenser102. Other methods may be used to determine amount of medicine is contained inmedicine transfer container370, e.g. sensor, and image.
• Medicine is transferred frommedicine transfer unit355 intomedicine transfer container370, and a weight of the medicine is determined viaweight determining device395. If the measured weight is less than a given or desired dose, and if medicine is still on medicine transfer unit355 (i.e., has not been fully discharged), thenmedicine transfer unit355 further conveys more medicine intomedicine transfer container370. On the other hand, if no medicine is onmedicine transfer unit355, then additional medicine is discharged tomedicine transfer unit355 frommedicine storage container320. The process of discharging frommedicine storage container320 tomedicine transfer unit355, and frommedicine transfer unit355 tomedicine transfer container370 continues until at least a dose of medicine is contained inmedicine transfer container370. That is,medicine transfer container370 may include an exact or desired dose, or may include an amount of medicine that is in excess of an exact dose.
• If an exact dose is present inmedicine transfer container370, thendispenser102 operates to conveymedicine transfer container370 to firstmedicine discharge point350 via medicinecontainer transfer unit345, any remaining medicine onmedicine transfer unit355 is discharged back intomedicine storage container320 at secondmedicine discharge point380, and the medicine inmedicine transfer container370 is discharged into dispensedmedicine container365 that is positioned at secondmedicine discharge point380.
• On the other hand, in one examplemedicine transfer container370 may include an amount of medicine that is in excess of an exact dose. In such an example,medicine transfer container370 is thereby conveyed to firstmedicine discharge point350 and operations described above are repeated. That is, medicinecontainer transfer unit345 discharges medicine frommedicine transfer container370 ontomedicine transfer unit355, andmedicine transfer container375 is conveyed viacarousel310 to secondmedicine discharge point380. Medicine discharged frommedicine transfer container370 tomedicine transfer unit355 is thereby conveyed tomedicine transfer container375 until at least the exact dose is present inmedicine transfer container375. And, again, ifmedicine transfer container375 includes medicine equal to the dose, then the medicine inmedicine transfer container375 is discharged into dispensedmedicine container365, and any excess medicine onmedicine transfer unit355 is returned tomedicine storage container320.
• The aforementioned steps continue until a dose of medicine is contained within dispensedmedicine container365, and any additional medicine is returned tomedicine storage container320. In such fashion,dispenser102 includes a feedback mechanism, ensuring a proper dose, and only a proper dose, is contained in dispensedmedicine container365. That is, feedback is provided in the form of a weight of pills or capsules, corresponding to a dose, measured viaweight detecting device395. The feedback may also be provided in other forms, e.g. pill numbers determined by sensors, or images.Dispenser102 is caused to operate using such feedback to ensure that a correct dose is provided in dispensedmedicine container365.
• Referring now toFIG. 5, a schematic diagram of asystem500 of the interaction betweensystem100, users502-508, and databases510-516. The users may include, but are not limited to, family member(s)502, caregiver(s)504, doctor(s)506, and other(s)508. The databases may include, but are not limited to,cloud storage510, hospital(s)512, e.g., hospital servers or databases, remote server(s)514, which may include, but is not limited to,server104, National Drug Code (NDC) database(s), and the like, and pharmacy(ies)516. Information may be retrieved from, stored on, and/or accessed by the databases510-516.
• System500 may includesystem100, including a hardware structure of thedispensing unit102. The hardware structure may include control unit orprocessor106,memory108,display112, I/O device(s)114,communication device116, and apower device118. Theprocessor106 may be any type of general or specific purpose processor, including, but not limited to, a controller. Thepower device118 may be configured to either AC and or DC power, such as a lithium ion battery system. If thesystem100 uses rechargeable batteries, the power source may monitor the power remaining and give reminder signals to recharge batteries once the batteries are low. Thememory108 may store medication information including prescription information, medicine container identification information and patient's medical history information. The I/O device114 may include, but is not limited to, an RF reader, one or more cameras, scanner, barcode reader (e.g., 1d or 2d), one or more lights, one or more sensors, one or more speakers, one or more buttons, keyboard, mouse, touch screen, microphone, one or more scales, or a combination thereof.
• Thecommunication device116 may communicatively connect the devices ofsystem100 or500, for example, using any type of wired or wireless network connection. Thecommunication device116 may include a single transceiver or a combination of transmitters and receivers. The wireless network may utilize a wireless transmitter (e.g., cellular, radiofrequency (RF) or Wi-Fi transmitter) of thecommunication device116. Thecommunication device116 may be configured to communicatively connect thedispensing unit102 with any or all of assemblies140-170,server104, andnetwork118. Thecommunication device116 may be used for digital or analog signal transfers. For instance, thecommunication device116 may include any antenna technology including cellular, V2V communication, radiofrequency (RF), near field communication (NFC), Bluetooth®, Wi-Fi, or the like. Thecommunication device116 may include any technology that implements a wireless exchange of occupant information by converting propagating electromagnetic waves to and from conducted electrical signals. Thecommunication device116 may include any technology that is used to exchange medication information wirelessly using radio waves over a radio range or network that enables communication.
• Any portion ofsystem100 or500, e.g., the dispensingunit102, assemblies140-170,server104, and databases510-516, may include a computing system and/or device that includes aprocessor106,memory108 andconnection124. Computing systems and/or devices generally include computer-executable instructions, where the instructions may be executable by one or more devices such as those listed below. Computer-executable instructions may be compiled or interpreted from computer programs created using a variety of programming languages and/or technologies, including, without limitation, and either alone or in combination, Java™, C, C++, Visual Basic, Java Script, Perl, SQL, PL/SQL, Shell Scripts, etc. Thesystem100, e.g., assemblies102-170 andserver104 may take many different forms and include multiple and/or alternate components and facilities, as illustrated in the Figures further described below. While exemplary systems, devices, and sub-devices are shown in the Figures, the exemplary components illustrated in the Figures are not intended to be limiting. Indeed, additional or alternative components and/or implementations may be used, and thus the above communication operation examples should not be construed as limiting.
• In general, computing systems and/or devices (e.g., dispensing unit, assemblies140-170,server104, databases512-516) may employ any of a number of computer operating systems, including, but by no means limited to, versions and/or varieties of the Microsoft Windows® operating system, the Unix operating system (e.g., the Solaris® operating system distributed by Oracle Corporation of Redwood Shores, Calif.), the AIX UNIX operating system distributed by International Business Machines of Armonk, N.Y., the Linux operating system, the Mac OS X and iOS operating systems distributed by Apple Inc. of Cupertino, Calif., the BlackBerry OS distributed by Research In Motion of Waterloo, Canada, and the Android operating system developed by the Open Handset Alliance. Examples of computing systems and/or devices such asdevice103 andserver104 may include, without limitation, mobile devices, cellular phones, smart-phones, super-phones, tablet computers, next generation portable devices, mobile printers, handheld computers, notebooks, laptops, secure voice communication equipment, networking hardware, computer workstations, or any other computing system and/or device.
• Further,processor106 may include a microprocessor.Processor106 may receive instructions from memories such asmemory108,database122, orcloud storage510 and execute the instructions, thereby performing one or more operations or processes including those described herein. Such instructions and other medication information may be stored and transmitted using a variety of computer-readable mediums (e.g.,memory108,database122, or cloud storage510). Processors such asprocessor106 may include any computer hardware or combination of computer hardware that is configured to accomplish the purpose of the devices, systems, and processes described herein. For example, theprocessor106 may be any one of, but not limited to single, dual, triple, or quad core microprocessors (on one single chip), graphics processing devices, visual processing devices, and virtual processors.
• Memories such asmemory108 ordatabase122 may include, in general, any computer-readable medium (also referred to as a processor-readable medium) that may include any non-transitory (e.g., tangible) medium that participates in providing medication information or instructions that may be read by a computer (e.g., by theprocessors106 of the assemblies102-170 and server104). Such a medium may take many forms, including, but not limited to, non-volatile media and volatile media. Non-volatile media may include, for example, optical or magnetic disks and other persistent memory. Volatile media may include, for example, dynamic random access memory (DRAM), which typically constitutes a main memory. Such instructions may be transmitted by one or more transmission media, including radio waves, metal wire, fiber optics, and the like, including the wires that comprise a system bus coupled to a processor of a computer. Common forms of computer-readable media include, for example, a floppy disk, a flexible disk, hard disk, magnetic tape, any other magnetic medium, a CD-ROM, DVD, any other optical medium, punch cards, paper tape, any other physical medium with patterns of holes, a RAM, a PROM, an EPROM, a FLASH-EEPROM, any other memory chip or cartridge, or any other medium from which a computer can read.
• Further, databases, data repositories or other medication information stores (e.g.,memory108,database122, or cloud storage510) described herein may generally include various kinds of mechanisms for storing, providing, accessing, and retrieving various kinds of medication information, including a hierarchical database, a set of files in a file system, an application database in a proprietary format, a relational database management system (RDBMS), etc. Each such medication information store may generally be included within (e.g., memory108) or external (e.g.,database122 or cloud storage510) to a computing system and/or device (e.g., dispensingunit102, assemblies140-170,server104, or databases512-516) employing a computer operating system such as one of those mentioned above, and/or accessed via a network (e.g.,system100 or500, or network118) or connection in any one or more of a variety of manners. A file system may be accessible from a computer operating system, and may include files stored in various formats. An RDBMS generally employs the Structured Query Language (SQL) in addition to a language for creating, storing, editing, and executing stored procedures, such as the PL/SQL language mentioned above.Memory108 anddatabase122 may be connected to or part of any portion ofsystem100.
• Referring now toFIG. 6, a flow diagram of anexemplary process600 for setting up thesystem100 is illustrated.Process600 may include operations that may be part ofprogram110 stored onmemory108, and/or executed byprocessor106.Process600 may take many different forms and include multiple and/or alternate steps. While an exemplary process is shown, the exemplary steps illustrated are not intended to be limiting. Indeed, additional or alternative steps and/or implementations may be used.
• Process600 may begin atblock602 at which a medicinecontainer identification unit385 is added to anoriginal medicine container390. The combination of the medicinecontainer identification unit385 and themedicine container390 collectively form themedicine storage container320. Alternatively,process600 may implement theoriginal medicine container390 without the medicinecontainer identification unit385.
• Atblock604, prescription information associated with the patient may be inputted into thedevice100. The information may include, but is not limited to, the patient's name, name of the drug, strength of the drug, direction for use, including, but not limited to, a schedule and/or quantity to take, quantity in themedicine container390, and the like. The information may be inputted via different methods and/or technologies, as illustrated inFIG. 7 and described below.
• Atblock606, theprocessor106 may prompt the user to place themedicine storage container320 into theloading station325. The prompt may be verbal, for example, via speaker(s) of the I/O device(s)114, and/or visual, for example, via thedisplay112. The user may then place themedicine storage container320 into theloading station325.
• Atblock608, theloading station door204 may close. This may be done automatically, for example, but not intended to be limiting, after a set amount of time has passed after the prompt to place themedicine storage container320 into theloading station325, or upon sensing that themedicine storage container320 has been placed into theloading station325. Alternatively, theloading station door204 may be manually closed by the user, for example, but not intended to be limiting, sliding the door closed or pressing a button designated for closing and/or opening the door.
• Atblock610, medicine container information may be inputted. The information may include, but is not limited to, the patient's name, name of the drug, strength of the drug, direction for use, including, but not limited to, a schedule and/or quantity to take, quantity in themedicine container390, and NDC information for the medicine/drug. The information may be inputted via different methods and/or technologies, as illustrated inFIG. 8 and described below.
• Atblock612, theprocessor106 may determine if the prescription and themedicine storage container320 match, for example, by comparing the prescription information and the medicine container information. If they do not match,process600 may proceed to block614 at which theprocessor106 may prompt the user if themedicine storage container320 is correct.
• If themedicine storage container320 is correct,process600 may proceed to block616 at which theprocessor106 may provide a warning message, verbally and/or visually, for example, of the discrepancy between the prescription and themedicine storage container320, after which process600 may end.
• If themedicine storage container320 is not correct,process600 may proceed to block618 at which theprocessor106 may prompt the user to take the correctmedicine storage container320, which includes thecorrect medicine container390, and place it into theloading station325 after removing the incorrectmedicine storage container320.Process600 may then proceed back to block608 at which theloading station door204 may be closed.Blocks610 and612 may be repeated, or alternatively,process600 may end after the repeating ofblock608.
• Referring back to block612, if the prescription and themedicine storage container320 do match, then process600 may proceed to block620 at which a first medicinecontainer transfer unit330 of thedispensing unit102 may transfer themedicine storage container320 to a storage location.
• Atblock622, theprocessor106 may remember the container identification and the storage location of themedicine storage container320, for example, by storing the information in thememory108.
• Atblock624, theprocessor106 may determine if allmedicine storage containers320 and/ormedicine containers390 for the prescription are finished. This may be determined from the prescription information obtained atblock608. In addition or alternatively, theprocessor106 may prompt the user, verbally and/or visually, if allmedicine storage containers320 for the prescription are finished, to which the user may respond tactilely and/or verbally. If the answer is no,process600 may proceed back to606 at which theprocessor106 may prompt the user to place the nextmedicine storage container320 into theloading station325, after which the subsequent blocks ofprocess600 may be repeated.
• If all the containers are finished for the prescription,process600 may proceed to block626 at which theprocessor106 may prompt the user, verbally and/or visually, if there are any more prescriptions, to which the user may respond tactilely and/or verbally. If there are more prescriptions,process600 may proceed back to block604 at which the prescription information for the new prescription may be inputted into thedevice100, after which the subsequent blocks ofprocess600 may be repeated.
• If there are no more prescriptions,process600 may proceed to block628 at which the control unit processor may update the prescription(s) into the patient's account, which, again, may be stored locally in thememory108 and/or remotely at any one of the databases510-516.
• Atblock630, theprocessor106 may retrieve weight for each pill or capsule from databases510-516. Alternatively, theprocessor106 may run dispenser unit to calculate the weight. Theprocessor106 may also check the weight of the medicine in a container to verify the medicine in the container is correct. Atblock632, theprocessor106 may run cleaning logic to clean surfaces contact with medicine according predetermined schedules or as required. Atblock634, theprocessor106 may run calibration and verification logic to calibrate or verify weight detecting devices according to predetermined schedules as required. Atblock636, theprocessor106 may run vision system logic to take images of a medicine and compare them to the image retrieve from databases510-516 to verify medicine in the container is correct.
• At blocks638-642, any one of theassemblies140,150a-d,160, and170 and thedispensing unit102 may now operate according to any one of the processes described in U.S. patent application Ser. Nos. 15/613,675 and 15/613,852 and further below with respect toFIGS. 8-10, 12, 14, 16, 18, and 20.
• Atblock644, theprocessor106 runs dispenser logic as described herein Afterblock644, the process may repeat or end.
• Referring now toFIG. 7, a flow diagram of anexemplary process700 for inputting prescription information is illustrated.Process700 may include operations that may be part ofprogram110, stored onmemory108, and/or executed byprocessor106,Process700 may take many different forms and include multiple and/or alternate steps. While an exemplary process is shown, the exemplary steps illustrated are not intended to be limiting. Indeed, additional or alternative steps and/or implementations may be used.
• Process700 may begin atblock702 at which the user may choose at least one input mode704-714 based at least on the I/O device(s)114 incorporated in thedispensing unit102.
• Input mode704 may include obtaining the prescription information via OCR, for example, but not intended to be limiting, where the I/O device(s)114 includes a machine vision system (e.g., at least one camera) and/or a scanner. As merely one exemplary approach, atblock704a, theprocessor106 may prompt a user to present the prescription, which may include the prescription information, to the camera(s) or scanner. The prompt may include any auditory and/or visual indicator(s), for example, on thedisplay112, the indicator(s) including, but not limited to, specific text instructions to present the prescription, text that the camera(s) or scanner are ready, lights, sounds, and the like. Atblock704b, the user may present the prescription to the camera(s) or scanner. This may include, but is not limited to, placing the prescription in front of or inside of the camera(s) or scanner, feeding the prescription into the camera(s) or scanner, and the like. Atblock704c, the camera(s) or scanner may take pictures of or scan the prescription, and the I/O device(s)114 may read the text of the picture or scanned image of the prescription via an OCR device. In addition or alternatively, the I/O device(s)114 may transmit the picture(s) or scanned image to theprocessor106, which may in turn read the text via an OCR device.
• Input mode706 may include obtaining the prescription information from a network, either local or remote. Atblock706a, the user may log in to an account, which may be associated with the patient and may include the prescription information, via an input device of the I/O device(s)114, including, but not limited to, a keyboard, a keypad, a touch screen, a microphone, a fingerprint scanner, an eye scanner, a facial recognition camera, and the like. The patient log in information and/or the prescription regiment data may be stored locally on thememory108 and/or remotely, including, but not limited to, any one of the databases510-516. Atblock706b, theprocessor106 may retrieve the prescription information from the account.
• Input mode708 may include obtaining the prescription information via a barcode reader or scanner of the I/O device(s)114. Atblock708a, the barcode reader/scanner may scan a barcode of the prescription.
• Input mode710 may include obtaining the prescription information via an RF reader of the I/O device(s)114. Atblock710a, the RF reader may read an RF tag of the prescription.
• Input modes712 and714 may include obtaining the prescription information via direct input from the user, for example, tactilely or verbally. With respect toinput mode712, the user may input the prescription information via a keyboard of the I/O device(s)114, which may be a standalone keyboard or a touch screen keyboard incorporated in thedisplay112, as illustrated inblock712a. With respect toinput mode714, the user may read the prescription via a microphone of the I/O device(s)114, as illustrated inblock714a.
• Atblock716, theprocessor106 may present the prescription information back to the user verbally and/or visually. For example, theprocessor106 may read the prescription information via speaker(s) of the I/O device(s)114 and/or display the prescription information on thedisplay112. The user may then verify the information tactilely, for example, via a keyboard of the I/O device(s)114, which, again, may be a standalone keyboard or a touch screen keyboard, and/or verbally, for example, via a microphone of the I/O device(s)114.
• Atblock718, theprocessor106 may determine if the medicine is new for the patient. This may be determined by prompting the user, which, again, may be verbally via speaker(s) of the I/O device(s)114, or visually on thedisplay112. In addition or alternatively, theprocessor106 may compare the name of the medicine with a list of prior and/or current medicines stored in the patient's account.
• If the medicine is not new,process700 may proceed to block720 at which theprocessor106 may determine if the schedule included with the prescription information is new. This, again, may be determined by prompting the user and/or comparing the schedule to an existing schedule stored in the patient's account. If the schedule is not new,process700 may end. If the schedule is new,process700 may proceed to block722 at which theprocessor106 may warn the user of the schedule change, and block724 at which the user may acknowledge the change, after which process700 may end.
• If the medicine is new,process700 may proceed toblocks726 and728 at which theprocessor106 may check whether the prescription information is consistent with the NDC database(s) and/or the patient's records, and determine if there are any conflicts. If there are no conflicts, then process700 may end. If there are conflicts,process700 may proceed toblocks730 and732 at which theprocessor106 may provide a warning message, verbally and/or visually, and the user may acknowledge the warning, tactilely or verbally, after which process700 may repeat or end.
• Referring now toFIG. 8, a flow diagram of anexemplary process800 for inputting the medicine container information is illustrated.Process800 may include operations that may be part ofprogram110, stored onmemory108, and/or executed byprocessor106.Process800 may take many different forms and include multiple and/or alternate steps. While an exemplary process is shown, the exemplary steps illustrated are not intended to be limiting. Indeed, additional or alternative steps and/or implementations may be used.
• Process800 may begin atblock802 at which the user may choose at least one input mode804-814 based at least on the I/O device(s)114. Input modes804-814 may be similar to input modes704-714 described above.
• Input mode804 may include obtaining the medicine container information via OCR, for example, but not intended to be limiting, where the I/O device(s)114 includes a machine vision system (e.g., at least one camera) and/or a scanner, which may be the same or different from the camera(s) or scanner used ininput mode704. Atblock804a, the camera(s) or scanner may take pictures of or scan themedicine container390, e.g., a label on themedicine container390. The I/O device(s)114 may then read the text of the picture or scanned image of themedicine storage container320 via an OCR device to retrieve the medicine container information, including, but not limited to, the container ID. In addition or alternatively, the I/O device(s)114 may transmit the picture(s) or scanned image to theprocessor106, which may in turn read the text via an OCR device.
• Input mode806 may include obtaining the medicine container information from a network, either local or remote. Atblock806a, theprocessor106 may retrieve an ID of the container. Atblock806b, the user may log in to an account that may have access to certain databases that include the medicine container information, and that may be stored locally, for example, on thememory108, and/or remotely, including, but not limited to, any one of the databases510-516. The log in information may be input by the user via an input device of the I/O device(s)114, including, but not limited to, a keyboard, a keypad, a touch screen, a microphone, a fingerprint scanner, an eye scanner, a facial recognition camera, and the like. After logging in, theprocessor106 may then retrieve the medicine container information from the database(s) on which it is stored.
• Input mode808 may include obtaining the medicine container information via a barcode reader or scanner of the I/O device(s)114. Atblock808a, the barcode reader/scanner may scan a barcode of themedicine storage container320 to retrieve the container information, including, but not limited to, the container ID.
• Input mode810 may include obtaining the medicine container information via a RF reader of the I/O device(s)114. Atblock810a, the RF reader may read an RF tag on themedicine storage container320 to retrieve the container information, including, but not limited to, the container ID.
• Input modes812 and814 may include obtaining the medicine container information, including, but not limited to, the container ID, via direct input from the user, for example, tactilely or verbally. With respect toinput mode812, the user may input the medicine container information via a keyboard of the I/O device(s)114, which may be a standalone keyboard or a touch screen keyboard, as illustrated inblock812a. With respect toinput mode814, the user may read the prescription via a microphone of the I/O device(s)114, as illustrated inblock814a.
• Atblock816, theprocessor106 may present the medicine container information to the user verbally and/or visually for confirmation of its accuracy. For example, theprocessor106 may read the medicine container information via speaker(s) of the I/O device(s)114 and/or thedisplay112 may display the data. The user may then verify the information tactilely, for example, via a keyboard of the I/O device(s)114, which, again, may be a standalone keyboard or a touch screen keyboard, and/or verbally, for example, via a microphone of the I/O device(s)114.
• Atblock818, the user may determine whether or not there are any errors in the medicine container information. If there are no errors,process800 may proceed to block820 at which the user may confirm the accuracy of the medicine container information verbally, for example, via a microphone of the I/O device(s)114 and/or tactilely, for example, via a keyboard and/or button(s). If there are any errors,process800 may proceed toblocks822 and824 at which theprocessor106 may provide a warning message, verbally and/or visually, and the user may acknowledge the warning, tactilely or verbally.
• Atblock826, theprocessor106 may store the medicine container information, for example, locally in thememory device106, after which process800 may end.
• Atblock828, theprocessor106 monitors presentation of the medicine container. If it was removed from the unit, the system will give warning signal.
• Afterblock828, the process may repeat or end.
• Referring now toFIGS. 9A and 9B, a flow diagram of anexemplary process900 is illustrated.Process900 may be for operating thedispensing unit102, e.g., moving a dose (or other predetermined amount) of medicine to a storage container.Process900 may include operations that may be part ofprogram110, stored onmemory108 ordatabase122, and/or executed byprocessor106.Process900 may take many different forms and include multiple and/or alternate steps. While an exemplary process is shown, the exemplary steps illustrated are not intended to be limiting. Indeed, additional or alternative steps and/or implementations may be used. In addition,process900 may be applicable, in whole or in part, to each ofprocesses1000,1200,1400,1600,1800,2000, and2200 and the specific embodiments of thedispensing unit102 incorporated therein, as described in more detail hereinafter.
• Atblock902,processor106, e.g., by way of first medicinecontainer transfer unit330, may move themedicine storage container320 from an initial position, e.g., the storage position, to the medicinecontainer loading point340, which may be stored on and received frommemory108 ordatabase122. The moving of themedicine storage container320 may be performed by the first medicinecontainer transfer unit330, and may generally be in a circumferential direction, as illustrated inFIG. 3. However, it should be appreciated that themedicine storage container320 may be moved to theloading point340 in any linear or non-linear direction.
• Atblock904, theprocessor106 may move, e.g., by way of the second medicinecontainer transfer unit345, themedicine storage container320 from theloading point340 to afirst discharge point350, which may be stored on and received frommemory108 ordatabase122. The moving of themedicine storage container320 may generally be in a vertical direction such that it may be elevated above themedicine transfer unit355.
• Atblock906, theprocessor106 may move, e.g., by way of the first medicinecontainer transfer unit330, a first medicine transfer container, which may be eithermedicine transfer container370 or375 from an initial position to asecond discharge point380, which, as explained above, may be located at an end of themedicine transfer unit355 to receive the medicine. The moving of the firstmedicine transfer container370,375 generally may be in a circumferential direction, as illustrated inFIG. 3. However, it should be appreciated that the firstmedicine transfer container370,375 may be moved to thesecond discharge point380 in a linear direction.
• Atblock908, theprocessor106 may discharge, e.g., by way of the second medicinecontainer transfer unit345, at least a first predetermined amount of medicine from themedicine storage container320 onto themedicine transfer unit355. The predetermined amount may change during the dispensing process. It should be appreciated that theprocessor106 may discharge the medicine from themedicine storage container320 via any known mechanism or device, which may rotate, tilt, or otherwise move themedicine storage container320.
• Atblock910, theprocessor106 may discharge, e.g., by way of themedicine transfer unit355, at least a second predetermined amount of the medicine on themedicine transfer unit355 therefrom into themedicine transfer container370,375. The second predetermined amount may or may not be the same as the first predetermined amount, and may change during the dispensing process.
• Atblock912, the dispensingunit102, by way of theprocessor106, may determine if the medicine in the firstmedicine transfer container370,375 is equal to the required dosage, as determined and stored in thememory108 inprocess600. If the medicine does equal the required dosage, then process900 may proceed toblocks914 and916. If not, then process900 may proceed to block918.
• Atblock914, theprocessor106 may move, e.g., by way of the first medicinecontainer transfer unit355, the medicine in the firstmedicine transfer container370,375, which is in the required dosage amount, to the dispensedmedicine container365 at thesecond discharge point380. Atblock916, theprocessor106 may move, e.g., via themedicine transfer unit355, all the remaining medicine on themedicine transfer unit355 and/or the firstmedicine transfer container370,375 back to themedicine storage container320 by various rearranging of the dispensedmedicine container365 andmedicine storage container320 from and to the secondmedicine discharge point380.Process900 may end afterblock916.
• Atblock918, the dispensingunit102, for example, theprocessor106, may determine if the medicine on themedicine transfer unit355 is equal to the required dosage. If the medicine does equal the required dosage, then process900 may proceed toblocks914 and916 described above. If not, then process900 may proceed to block920.
• Atblock920, the dispensingunit102, for example, theprocessor106, may determine if the medicine in the firstmedicine transfer container370,375 is less than the required dosage. If it is less, then process900 may proceed to block922 at which the dispensing unit (e.g., the processor106) may determine if there is still medicine on themedicine transfer unit355. If there is not,process900 may go back to block908. If there is,process900 may go back to block910.
• If the medicine in the firstmedicine transfer container370,375 is not less than the required dosage, as may be determined atblock920,process900 may proceed toblocks924 and926 at which theprocessor106 may move themedicine storage container320 to thesecond discharge point380, and the firstmedicine transfer container370,375 to thefirst discharge point350.Blocks924 and926 may occur simultaneously or one after the other.
• Atblock928, theprocessor106 may discharge any remaining medicine on themedicine transfer unit355 into themedicine storage container320.
• Atblock930, theprocessor106 may move a second medicine transfer container, which may be the other ofmedicine transfer containers370 and375, to thesecond discharge point380.
• Afterblock930,process900 may go back to block908, where the firstmedicine transfer container370,375 may act as themedicine storage container320, and the secondmedicine transfer container370,375 may act as the firstmedicine transfer container370,375. Accordingly, medicine may be discharged from the firstmedicine transfer container370,375 to the secondmedicine transfer container370,375, andmedicine storage container320.
• Process900 may be iterated until the medicine in the dispensedmedicine container365 equals the required dosage, as described below.
• In general, the processes herein (e.g., process900) may involve different combinations of medicine in one or two units. The combinations may include, but are not limited to, the firstmedicine transfer container370,375 alone, the secondmedicine transfer container370,375 alone, themedicine transfer unit355 alone, the first and secondmedicine transfer containers370,375, the firstmedicine transfer container370,375 and themedicine transfer unit355, and the secondmedicine transfer container370,375 and themedicine transfer unit355. Those combinations may change for every iteration. Theprocess900 determines the most optimal way to dispense for every iteration.
• As described in more detail with respect toprocesses1000,1200,1400,1600,1800,2000, and2200, theprocessor106 may communicate with, i.e., send commands to, receive data from, and the like, to various components of thedispensing unit102 and/orsystem500 to perform the different steps ofprocess900. In addition or alternatively, the various components may communicate directly with each other.
• Referring now toFIG. 10, a flow diagram of anotherexemplary process1000 for operating thedispensing unit102 is illustrated, which may incorporate thesub-assembly300.Process1000 may include operations that may be part ofprogram110, stored onmemory108, and/or executed byprocessor106.Process1000 may take many different forms and include multiple and/or alternate steps. While an exemplary process is shown, the exemplary steps illustrated are not intended to be limiting. Indeed, additional or alternative steps and/or implementations may be used.
• Process1000 may begin atstep1002 at which the first medicinecontainer transfer unit330 may transfer themedicine storage container320 from its storage location, e.g., theloading station325, to the medicinecontainer loading point340 for the second containermedicine transfer unit345. This may be done in a generally circumferential direction, for example, where the first medicinecontainer transfer unit330 is a carousel, or in a generally linear direction.
• Atblock1004, the second medicinecontainer transfer unit345 may transfer themedicine storage container320 to afirst discharge point350. This may be in a generally vertical direction such that themedicine storage container320 may be elevated above themedicine transfer unit355.
• Atblock1006, the second medicinecontainer transfer unit345 may discharge medicine from themedicine storage container320 onto themedicine transfer unit355. This may be achieved by rotating themedicine storage container320, which may be steady or intermittent. It should be appreciated that other ways to discharge the medicine from themedicine storage container320 onto themedicine transfer unit355 are contemplated.
• Atblock1008, the second medicinecontainer transfer unit345 may stop discharging when themedicine transfer unit355 detects at least a predefined amount of medicine discharged on it, which may or may not be the required dosage. For example, themedicine transfer unit355 may include one or more sensors that detect weight, area, volume, or any other characteristic by which an amount of medicine on themedicine transfer unit355 may be determined. Themedicine transfer unit355 may then communicate, e.g., send a signal, directly to the second medicinecontainer transfer unit345 to stop discharging, or indirectly by sending a signal to theprocessor106 that the predefined amount of medicine has been detected, theprocessor106 in turn commanding the second medicinecontainer transfer unit345 to stop discharging.
• Atblock1010, the first medicinecontainer transfer unit330 may transfer a firstmedicine transfer container375 to a secondmedicine discharge point380, which may be, but is not limited to, at an end of themedicine transfer unit355. Themedicine transfer unit355 may then begin discharging the medicine on it into themedicine transfer container375.
• Atblock1012, themedicine transfer unit355 may stop discharging the medicine.
• Atblock1014, theprocessor106 may determine if the medicine inside the firstmedicine transfer container375 is less than the required dosage, i.e., the same as or more than the required dosage. In one exemplary approach, this may be determined by measuring the weight of the medicine in the firstmedicine transfer container375 by thescale395 on which the firstmedicine transfer container375 may be disposed. Thescale395 may then transmit data representing the measured weight to theprocessor106, which may then compare the measured weight with a weight corresponding to the medicine in the required dosage, which may be stored locally on thememory108 and/or remotely at any one of the databases510-516.
• If the medicine inside the first medicine transfer unit is not less than the required dosage, thenprocess1000 may proceed to block1016. If it is less, thenprocess1000 may repeatblocks1006 to1012 until the amount of medicine inside the firstmedicine transfer container375 is not less than the required dosage. Thenprocess1000 may proceed to block1016.
• Atblock1016, the medicinecontainer transfer units330 and345 may transfer themedicine storage container320 to the secondmedicine discharge point380. For example, the second medicinecontainer transfer unit345 may lower themedicine storage container320 back to a plane of the first medicinecontainer transfer unit330, which may, in turn, rotate or otherwise move themedicine storage container320 to the secondmedicine discharge point380.
• Atblock1018, themedicine transfer unit355 may discharge all the remaining medicine on it back into themedicine storage container320.
• Atblock1020, the medicinecontainer transfer units330 and345 may move the firstmedicine transfer container375 to the firstmedicine discharge point350. If the medicine in the firstmedicine transfer container375 is equal to the required dosage,process1000 may proceed to block1022. If the medicine in the firstmedicine transfer container375 is greater than the required dosage,process1000 may proceed to block1024.
• Atblock1022, the first medicinecontainer transfer unit330 may transfer the dispensedmedicine container365 to the secondmedicine discharge point380. The second medicinecontainer transfer unit345 may then transfer all the medicine in the firstmedicine transfer container375 onto themedicine transfer unit355, which, in turn, may then transfer the medicine into the dispensedmedicine container365.Process1000 may end after this step.
• Atblock1024, the first medicinecontainer transfer unit330 may transfer the secondmedicine transfer container370, to the secondmedicine discharge point380. The second medicinecontainer transfer unit345 may then discharge medicine from the firstmedicine transfer container375 onto themedicine transfer unit355, which, in turn, may begin transferring medicine into the secondmedicine transfer container370. Theprocessor106 may then determine if the medicine inside the firstmedicine transfer container375, the secondmedicine transfer container370, or the combination of themedicine transfer containers370,375 is equal to or greater than the required dosage. If it is equal,process1000 may proceed toblocks1026 and1028. If it is greater,process1000 may proceed toblocks1030 and1032.
• Atblock1026, the medicinecontainer transfer unit345 and themedicine transfer unit355 may both stop discharging.
• Atblock1028, medicine in the firstmedicine transfer container375, the secondmedicine transfer container370, or both that equals the required dosage may be discharged into the dispensedmedicine container365. The remaining amount of medicine, which may be in the firstmedicine transfer container375 and/or on themedicine transfer unit355, may be discharged back into themedicine storage container320. Bothmedicine transfer containers370,375 should be empty after this step.Process1000 may end after this step.
• Atblock1030, themedicine transfer unit355 may stop discharging medicine into the secondmedicine transfer container370. The remaining medicine may be discharged back into themedicine storage container320.
• Blocks1020 through1030 may be repeated until the medicine in the firstmedicine transfer container375, the secondmedicine transfer container370, or the combination of themedicine transfer containers370,375 equals the required dosage inblock1026.Process1000 may end after the final iteration ofblock1026.
• Process1000 may be repeated for the next medicine when required.
• In general,process1000 may be a closed feedback loop process with stable and fast convergent iterations. In addition, theprocessor106 may communicate with, i.e., send commands to, receive data from, and the like, to various components of thedispensing unit102 and/orsystem500 to performprocess1000, and to decide the best way to distribute the medicine amongmedicine storage container320, themedicine transfer containers370,375, and the dispensedmedicine container365 based onprocess1000.
• FIG. 11A illustrates anexemplary sub-assembly1100 of the disclosed system.FIG. 11B illustrates the exemplary system ofFIG. 11A during operation.FIG. 11C illustrates a top view of the exemplary system ofFIGS. 11A and 11B.FIG. 11A illustrates the disclosed dispenser having aconveyor1105, arobot1120, andcarousel310. In this example medicinecontainer transfer unit330 includescarousel310, medicinecontainer transfer unit345 includesrobot1120 having an end ofarm tool1125,medicine transfer unit355 having aconveyor1105 andsensors1110 and1115.FIG. 11B is a view of sub-assembly as shown inFIG. 11A, showingmedicine storage container320 transferred to firstmedicine discharge point350 by medicinecontainer transfer unit345 to discharge medicine frommedicine storage container320 toconveyor1105.Sensors1110 and1115 monitor medicine positioned onmedicine transfer unit355 and more specifically onconveyor1105.
• FIG. 11A illustrates anexemplary sub-assembly1100 illustrating the disclosed system or dispenser.Sub-assembly1100 is a view of inside elements ofdispenser102 and includescarousel310.Sub-assembly1100 includes loading station or medicinecontainer loading station325, first medicinecontainer transfer unit330, and medicinecontainer storage nest335. Medicinecontainer loading point340 is proximate second medicinecontainer transfer unit345. Firstmedicine discharge point350 includes, in the illustrated example,medicine travel unit355 that may includeconveyer1105 for transporting or otherwise conveying medicine from medicinecontainer travel unit345 to secondmedicine discharge point380, and may includesensors1110 and1115.Sub-assembly1100 includesweight checking station360, dispensedmedicine container365, a calibration andverification device382 to automatically calibrate weight detecting devices, andmedicine transfer containers370 and375.Medicine storage container320 is positioned oncarousel310.
• Referring toFIGS. 11A-C,FIG. 11A is an illustration ofmedicine storage container320 as positioned proximate medicinecontainer transfer unit345, andFIG. 11B the exemplary system ofFIG. 11A during operation.Medicine storage container320 may includeoriginal medicine container390, medicinecontainer identification unit385,weight detecting device395, and medicinecontainer storage nest335. Weight detectingdevice395 and medicinecontainer storage nest335 may be integrated together. Weight detectingdevice395 and medicinecontainer storage nest335 may also be part ofcarousel310. Weight detectingdevice395 may be a scale, a load cell, or other device for measuring weight, according to the disclosure. Weight detectingdevice395 and medicinecontainer storage nest335 are positioned aboutcarousel310 at each of the illustrated locations. Medicinecontainer identification unit385 may include identification information particular to a given medicine, and may also identify an amount of medicine that may constitute a single patient dose particular to a given user ofdispenser102.
• Referring still toFIG. 11A,medicine storage container320 may be loaded intodispenser102 from medicinecontainer loading station325, andmedicine storage container320 is transferred to medicinecontainer loading point340 by medicinecontainer transfer unit330.Medicine storage container320 may include medicine in the form of a pill or a capsule, as examples, and a dose of medicine for a user may include one or more of the pills or capsules. Medicinecontainer transfer unit330 is illustrated as havingcarousel310, but may instead include a conveyor, a robot, or any device that can movemedicine storage container320 from one position to another, and discharge medicine frommedicine storage container320.
• Medicine transfer unit355 moves medicine from one position to another, accepts medicine frommedicine storage container320, andmedicine transfer unit355 also discharges medicine intomedicine storage container320 or any container when positioned atmedicine discharge point380.Medicine transfer unit355 may have a linear moving surface such as a walking beam, a conveyor, or a rotating surface such as a rotating disc or other shape.
• In operation, as shown inFIGS. 11A and 11B,dispenser102 moves, viacarousel310,medicine storage container320 toloading point312, andloading point312 is proximate medicinecontainer transfer unit345. Medicinecontainer transfer unit345 engages withmedicine storage container320 by attaching thereto, and movingmedicine storage container320 vertically to firstmedicine discharge point350.Medicine storage container320 is, in one example, a medicine storage container which may have an amount of medicine that is in excess of a dose, or an amount of medicine that is desired to be distributed into dispensedmedicine container365. Medicinecontainer transfer unit345 turnsmedicine storage container320 such that a predetermined amount of medicine spills or otherwise pours frommedicine storage container320 ontomedicine transfer unit355.Carousel310 rotates to movemedicine storage container370 to secondmedicine discharge point380. Whenmedicine transfer container370 is positioned atmedicine discharge point380, and when medicine has been discharged ontomedicine transfer unit355,medicine transfer unit355 thereby conveys the discharged medicine frommedicine transfer unit355 intomedicine transfer container370 until at least a second predetermined amount of medicine is contained inmedicine transfer container370, as determined byweight detecting device395 and medicinecontainer storage nest335, which weigh and transmit weight information to for instance a controller ofdispenser102.
• Medicine transfer unit355 includesconveyor1105, andsensors1110 and1115, which monitor medicine positioned onmedicine transfer unit355 and onconveyor1105.Sensors1110,1115 may be optical sensors that are coupled, electrically or optically as examples, toprocessor106. As such,processor106 monitors an amount of medicine positioned onmedicine transfer unit355 viasensors1110,1115.
• FIG. 11C illustrates a top view of the exemplary system ofFIGS. 11A and 11B, and showsmedicine storage container320 turned such that at least a predetermined amount of medicine spills or otherwise pours frommedicine storage container320 ontomedicine transfer unit355.Sensors1110 and1115 detect the presence of pills orcapsules1125 as they pass thereby viamedicine transfer unit355 to secondmedicine discharge point380.
• Medicine is transferred frommedicine transfer unit355 intomedicine transfer container370, and a weight of the medicine is determined viaweight detecting device395. If the measured weight is less than a given or desired dose, and if medicine is still on medicine transfer unit355 (i.e., has not been fully discharged), thenmedicine transfer unit355 further conveys more medicine intomedicine transfer container370. On the other hand, if no medicine is onmedicine transfer unit355, then additional medicine is discharged tomedicine transfer unit355 frommedicine storage container320. The process of discharging frommedicine storage container320 tomedicine transfer unit355, and frommedicine transfer unit355 tomedicine transfer container370 continues until at least a dose of medicine is contained inmedicine transfer container370. That is,medicine transfer container370 may include an exact or desired dose, or may include an amount of medicine that is in excess of an exact dose.
• If an exact dose is present inmedicine transfer container370, thendispenser102 operates to conveymedicine transfer container370 to firstmedicine discharge point350 via medicinecontainer transfer unit345, any remaining medicine onmedicine transfer unit355 is discharged back intomedicine storage container320 at secondmedicine discharge point380, and the medicine inmedicine transfer container370 is discharged into dispensedmedicine container365 that is positioned at secondmedicine discharge point380.
• On the other hand, in one examplemedicine transfer container370 may include an amount of medicine that is in excess of an exact dose. In such an example,medicine transfer container370 is thereby conveyed to firstmedicine discharge point350 and operations described above are repeated. That is, medicinecontainer transfer unit345 discharges medicine frommedicine transfer container370 ontomedicine transfer unit355, andmedicine transfer container375 is conveyed viacarousel310 to secondmedicine discharge point380. Medicine discharged frommedicine transfer container370 tomedicine transfer unit355 is thereby conveyed tomedicine transfer container375 until at least the exact dose is present inmedicine transfer container375. And, again, ifmedicine transfer container375 includes medicine equal to the dose, then the medicine inmedicine transfer container375 is discharged into dispensedmedicine container365, and any excess medicine onmedicine transfer unit355 is returned tomedicine storage container320.
• The aforementioned steps continue until a dose of medicine is contained within dispensedmedicine container365, and any additional medicine is returned tomedicine storage container320. In such fashion,dispenser102 includes a feedback mechanism, ensuring a proper dose, and only a proper dose, is contained in dispensedmedicine container365. That is, feedback is provided in the form of a weight of pills or capsules, corresponding to a dose, measured viaweight detecting device395.Dispenser102 is caused to operate using such feedback to ensure that a correct dose is provided in dispensedmedicine container365.
• Referring now toFIG. 12, a flow diagram of anotherexemplary process1200 for operating thedispensing unit102, which may incorporate thesub-assembly1100, is illustrated.Process1200 may include operations that may be part ofprogram110, stored onmemory108, and/or executed byprocessor106.Process1200 may take many different forms and include multiple and/or alternate steps. While an exemplary process is shown, the exemplary steps illustrated are not intended to be limiting. Indeed, additional or alternative steps and/or implementations may be used. In addition, for purposes ofprocess1200, the first medicinecontainer transfer unit330 is referred to as the carousel, and the second medicinecontainer transfer unit345 is referred to as the robot. However, it should be appreciated that any medicinecontainer transfer unit330,345 for performing the respective step(s) is contemplated, and that the use of the terms carousel and robot are not intended to be limiting.
• Process1200 may begin atblock1202 at which thecarousel310 may transfer amedicine storage container320 to theloading point340 ofrobot345.
• Atblock1204,robot345 may transfer themedicine storage container320 to a firstmedicine discharge point350 above theconveyor1105.
• Atblock1206,robot345 may rotate themedicine storage container320 in a controlled manner to pour medicine from themedicine storage container320 onto theconveyor1105, which may be stationary or moving.
• Atblock1208, at least onesensor1110 may detect medicine discharged on theconveyor1105.
• Atblock1210,robot345 may stop pouringmedicine storage container320 when medicine on theconveyor1105 is equal to or greater than a predefined quantity. This may be determined based on feedback fromsensor1110 or other means.Robot345 may then return themedicine storage container320 tocarousel310.
• Atblock1212, thecarousel310 may transfer a firstmedicine transfer container375, to the secondmedicine discharge point380.
• Atblock1214, theconveyor1105 may move to discharge medicine fromconveyor1105 into the firstmedicine transfer container375.
• Atblock1216, asensor1115 and/orscale395 under the firstmedicine transfer container375 may detect a quantity of medicine discharged into the firstmedicine transfer container375.
• Atblock1218, theconveyor1105 is stopped based on feedback from thesensor1115 and/orscale395 that the quantity of medicine inside the firstmedicine transfer container375 is equal to or greater than the required dosage, or the medicine left on theconveyor1105 is equal to the required dosage.
• Atblock1220, theprocessor106 may determine if the medicine on theconveyor1105 equals the required dosage. If so,carousel310 may transfer the dispensedmedicine container365 to the secondmedicine discharge point380, and theconveyor1105 may discharge all of the medicine on it into the dispensedmedicine container365.Carousel310,robot345, andconveyor355 may then work together to discharge all medicines inside the firstmedicine transfer container375 back into themedicine storage container320.Process1200 may then end.
• Atblock1222,carousel310 may transfermedicine storage container320 to the secondmedicine discharge point380, andconveyor1105 may begin to discharge all remaining medicine onconveyor1105 into themedicine storage container320.
• Atblock1224, theprocessor106 may determine if the medicine inside the firstmedicine transfer container375 is equal to the required dosage. If so,carousel310 may transfer the dispensedmedicine container365 to the secondmedicine discharge point380.Carousel310,robot345, andconveyor355 may then work together to discharge all medicines inside the firstmedicine transfer container375,375 into the dispensedmedicine container365.Process1200 may then end.
• Atblock1226, theprocessor106 may determine if the medicine inside the firstmedicine transfer container375 is greater than the required dosage. If so,carousel310 may transfer the firstmedicine transfer container375 to the firstmedicine discharge point350, and transfer the secondmedicine transfer container370 to the secondmedicine discharge point380.Blocks1202 through1224 may then be repeated with themedicine transfer containers375 and370 until the required dosage is dispensed into the dispensedmedicine container365, and all extra medicine, e.g., in themedicine transfer containers375,370 and/or on theconveyor1105, is returned to themedicine storage container320.
• Process1200 may be repeated for the next medicine when required.
• In embodiments, scale(s)395, for example, in each weighing station or storage nests associated with each container, may check quantity of medicine inside each container involved inprocess1400, e.g., themedicine storage container320, themedicine transfer containers370,375, and the dispensedmedicine container365.
• In general,process1200 may be a closed feedback loop process with stable and fast convergent iterations. In addition, theprocessor106 may communicate with, i.e., send commands to, receive data from, and the like, to various components of thedispensing unit102 and/orsystem500 to performprocess1200, and may decide the best way to distribute the medicine amongmedicine storage container320, themedicine transfer containers370,375, and the dispensedmedicine container365 based onprocess1200.
• FIG. 13A illustrates anexemplary sub-assembly1300 of the disclosed system.Sub-assembly1300 includes medicinecontainer transfer unit330 havingcarousel310, medicinecontainer transfer unit345 includes a robot with end of arm tool.Medicine transfer unit355 includes a robot orconveyor1305, sensors1110 (not visible) and1115,robot1345 having an end of arm tool (EOAT)1310, asensor1330, and avacuum head1315. Medicinecontainer transfer unit345 androbot1345 may be two different robots, or two different parts of the same one robot.
• FIG. 13B is a view of the example ofFIG. 13A, showing end ofarm tool1310 atmedicine discharge position1325 to discharge medicine into medicine storage container at medicinecontainer transfer unit330discharge position1320. The end ofarm tool1310 may also discharge medicine into medicine storage container at medicinecontainer transfer unit330 discharge position380 (not shown). The end ofarm tool1310 may also pick up medicine from medicine containers atdischarge position1320 or380 and discharge ontomedicine transfer unit355.
• Sub-assembly1300 is a view of inside elements ofdispenser102 and includescarousel310.Sub-assembly1300 includes loading station or medicinecontainer loading station325, first medicinecontainer transfer unit330, and medicinecontainer storage nest335. Medicinecontainer loading point340 is proximate second medicinecontainer transfer unit345. Firstmedicine discharge point350 includes, in the illustrated example,medicine transfer unit355 that may includerobot1345 andconveyer1305 for transporting or otherwise conveying medicine from medicinecontainer transfer unit345 to secondmedicine discharge point380, and may include sensors1110 (not visible) and1115.Sub-assembly1300 includesweight checking station360, a calibration andverification device382 to automatically calibrate weight detecting devices, dispensedmedicine container365, andmedicine transfer container370 and375.Medicine storage container320 is positioned oncarousel310.
• FIG. 13A is an illustration ofexemplary sub-system1300, andFIG. 13B of the exemplary system ofFIG. 13A shows end ofarm tool1310 atmedicine discharge position1325.Medicine storage container320 may includeoriginal medicine container390, medicinecontainer identification unit385,weight detecting device395, and medicinecontainer storage nest335. Weight detectingdevice395 and medicinecontainer storage nest335 may be integrated together. Weight detectingdevice395 and medicinecontainer storage nest335 may also be part ofcarousel310. Weight detectingdevice395 may be a scale, a load cell, or other device for measuring weight, according to the disclosure. Weight detectingdevice395 and medicinecontainer storage nest335 are positioned aboutcarousel310 at each of the illustrated locations. Medicinecontainer identification unit385 may include identification information particular to a given medicine, and may also identify an amount of medicine that may constitute a single patient dose particular to a given user ofdispenser102.
• Referring still toFIG. 13A,medicine storage container320 may be loaded intodispenser102 from medicinecontainer loading station325, andmedicine storage container320 is transferred to medicinecontainer loading point340 by medicinecontainer transfer unit330.Medicine storage container320 may include medicine in the form of a pill or a capsule, as examples, and a dose of medicine for a user may include one or more of the pills or capsules. Medicinecontainer transfer unit330 is illustrated as havingcarousel310, but may instead include a conveyor, a robot, or any device that can movemedicine storage container320 from one position to another, and discharge medicine frommedicine storage container320.
• Medicine transfer unit355 moves medicine from one position to another, accepts medicine frommedicine storage container320, andmedicine transfer unit355 also discharges medicine intomedicine storage container320 or any container when positioned atmedicine discharge point380.Medicine transfer unit355 may have a linear moving surface such as a walking beam, a conveyor, or a rotating surface such as a rotating disc or other shape, and includes in the illustratedexample conveyer1305.
• In operation, as shown inFIGS. 13A and 13B,dispenser102 moves, viacarousel310,medicine storage container320 toloading point312, andloading point312 is proximate medicinecontainer transfer unit345. Medicinecontainer transfer unit345 engages withmedicine storage container320 by attaching thereto, and movingmedicine storage container320 vertically to firstmedicine discharge point350.Medicine storage container320 is, in one example, a medicine storage container which may have an amount of medicine that is in excess of a dose, or an amount of medicine that is desired to be distributed into dispensedmedicine container365. Medicinecontainer transfer unit345 turnsmedicine storage container320 such that a predetermined amount of medicine spills or otherwise pours frommedicine storage container320 ontomedicine transfer unit355.Carousel310 rotates to movemedicine transfer container370 to secondmedicine discharge point380. Whenmedicine transfer container370 is positioned atmedicine discharge point380, and when medicine has been discharged ontomedicine transfer unit355,medicine transfer unit355 thereby conveys the discharged medicine frommedicine transfer unit355 intomedicine transfer container370 until at least a second predetermined amount of medicine is contained inmedicine transfer container370, as determined byweight detecting device395 and medicinecontainer storage nest335, which weigh and transmit weight information to for instance a controller ofdispenser102.
• Medicine transfer unit355 includesrobot1345 andconveyor1305, andsensors1110 and1115, which monitor medicine positioned onmedicine transfer unit355 and onconveyor1305.Sensors1110,1115 may be optical sensors that are coupled, electrically or optically as examples, toprocessor106. As such,processor106 monitors an amount of medicine positioned onmedicine transfer unit355 viasensors1110,1115.Sensors1110 and1115 detect the presence of pills or capsules as they pass thereby viamedicine transfer unit355 to secondmedicine discharge point380. In addition,robot1345 includes end ofarm tool1310 havingvacuum head1315 that may attach via a vacuum, controlled byprocessor106, to individual pills or capsules passing alongmedicine transfer unit355. Accordingly, in this example, pills or capsules may be not only conveyed byconveyor1305 tomedicine transfer container370 ormedicine transfer container375 when positioned atmedicine discharge point380, but also conveyed byrobot1345 tomedicine transfer container370 or375 when positioned atmedicine discharge point380. Pills or capsules may also be conveyed byrobot1345 tomedicine transfer container370 or375 positioned atposition1320. Pills or capsules may also be conveyed byrobot1345 frommedicine transfer containers370 or375 atdischarge point380 or1320 back to themedicine transfer unit355. Both methods may be used concurrently or separately. Thus, overall efficiency or movement of pills or capsules may be improved by having an ability to move pills or capsules to and/or from two locations simultaneously.
• Medicine is transferred frommedicine transfer unit355 intomedicine transfer container370, and a weight of the medicine is determined viaweight detecting device395. If the measured weight is less than a given or desired dose, and if medicine is still on medicine transfer unit355 (i.e., has not been fully discharged), thenmedicine transfer unit355 further conveys more medicine intomedicine transfer container370. On the other hand, if no medicine is onmedicine transfer unit355, then additional medicine is discharged tomedicine transfer unit355 frommedicine storage container320. The process of discharging frommedicine storage container320 tomedicine transfer unit355, and frommedicine transfer unit355 tomedicine transfer container370 continues until at least a dose of medicine is contained inmedicine transfer container370. That is,medicine transfer container370 may include an exact or desired dose, or may include an amount of medicine that is in excess of an exact dose.
• If an exact dose is present inmedicine transfer container370, thendispenser102 operates to conveymedicine transfer container370 to firstmedicine discharge point350 via medicinecontainer transfer unit345, any remaining medicine onmedicine transfer unit355 is discharged back intomedicine storage container320 at secondmedicine discharge point380, and the medicine inmedicine transfer container370 is discharged into dispensedmedicine container365 that is positioned at secondmedicine discharge point380.
• On the other hand, in one examplemedicine transfer container370 may include an amount of medicine that is in excess of an exact dose. In such an example,medicine transfer container370 is thereby conveyed to firstmedicine discharge point350 and operations described above are repeated. That is, medicinecontainer transfer unit345 discharges medicine frommedicine transfer container370 ontomedicine transfer unit355, andmedicine transfer container375 is conveyed viacarousel310 to secondmedicine discharge point380. Medicine discharged frommedicine transfer container370 tomedicine transfer unit355 is thereby conveyed tomedicine transfer container375 until at least the exact dose is present inmedicine transfer container375. And, again, ifmedicine transfer container375 includes medicine equal to the dose, then the medicine inmedicine transfer container375 is discharged into dispensedmedicine container365, and any excess medicine onmedicine transfer unit355 is returned tomedicine storage container320.
• The aforementioned steps continue until a dose of medicine is contained within dispensedmedicine container365, and any additional medicine is returned tomedicine storage container320. In such fashion,dispenser102 includes a feedback mechanism, ensuring a proper dose, and only a proper dose, is contained in dispensedmedicine container365. That is, feedback is provided in the form of a weight of pills or capsules, corresponding to a dose, measured viaweight detecting device395.Dispenser102 is caused to operate using such feedback to ensure that a correct dose is provided in dispensedmedicine container365. However, in the illustrated example, medicine, in this example, may be conveyed to and frommedicine transfer container370 ormedicine transfer container375 positioned atdischarge position1320 and380, allowing simultaneous iterations using two conveying methods on two containers in both directions, which may allow convergence to a final dose, and movement of medicine to and frommedicine transfer unit355 via a second path (i.e., viavacuum head1315, fordischarge position380 and for a container positioned at discharge position1320).
• Referring now toFIG. 14, a flow diagram of anotherexemplary process1400 for operating thedispensing unit102, which may incorporate thesub-assembly1300, is illustrated.Process1400 may include operations that may be part ofprogram110, stored onmemory108, and/or executed byprocessor106.Process1400 may take many different forms and include multiple and/or alternate steps. While an exemplary process is shown, the exemplary steps illustrated are not intended to be limiting. Indeed, additional or alternative steps and/or implementations may be used. In addition, for purposes ofprocess1400, the first medicinecontainer transfer unit330 is referred to as the carousel, and the second medicinecontainer transfer unit345 is referred to as the robot. However, it should be appreciated that any medicinecontainer transfer unit330,345 for performing the respective step(s) is contemplated, and that the use of the terms carousel and robot are not intended to be limiting.
• Blocks1402 through1410 may be the same or similar asblocks1202 through1210 ofprocess1200.Process1400 may begin to diverge fromprocess1200 atblock1412 at which thecarousel310 may transfer amedicine transfer container370,375 to a medicine discharge point1320 (as opposed to discharge point380).
• Atblock1414,conveyor1105 may vibrate to spread the medicine thereon out evenly.
• Atblock1416,conveyor1105 may move forward until thesensor1115 detects medicine, after whichconveyor1105 may stop.
• Atblock1418,robot1345 may move forward from ahome position1010 untilsensor1030 detects medicine, after whichrobot1345 may stop.
• Atblock1420,vacuum head1315 may descend to pick up the medicine and thenvacuum head1315 may return to its original position.
• Atblock1422,robot1345 may move forward to discharge the medicine on thevacuum head1315 into themedicine transfer container370,375 atmedicine discharge point1320.Robot1345 may also discharge the medicine on thevacuum head1315 into themedicine transfer container370,375 at medicine discharge point380 (not shown).Robot1345 may also pick up medicine frommedicine transfer containers370,375 atmedicine discharge point380 or1320 and discharge onto themedicine transfer unit355.
• Atblock1424,processor106 may determine if the medicine in themedicine transfer container370,375 has reached the required dosage. If it has, thenprocess1400 may proceed to block1426. If it has not, and there is still medicine left along the pathway of the motion ofrobot1345, thenprocess1400 may repeatblocks1416 to1422 until the required dosage has been reached, after whichprocess1400 may proceed to block1426.
• Atblock1426,carousel310 may transfer themedicine storage container320 to themedicine discharge point380, andconveyor1105 may move forward to discharge all remaining medicine on theconveyor1105 into themedicine storage container320.Process1400 may then proceed to block1430.
• Atblock1428,processor106 may determine if any medicine remains on theconveyor1105. If not, and the medicine inside themedicine transfer container370,375 is still less than required dosage, blocks1404 through1430 may be repeated.
• Atblock1430, all the medicine inside of themedicine transfer container370,375 may be discharged into the dispensedmedicine container365.
• Process1400 may be repeated for the next medicine when required orprocess1400 may end.
• In embodiments, scale(s)395, for example, in each weighing station or storage nests associated with each container, may check quantity of medicine inside each container involved inprocess1400, e.g., themedicine storage container320, themedicine transfer containers370,375, and the dispensedmedicine container365.
• In general,process1400 may be a closed feedback loop process with stable and fast convergent iterations. In addition, theprocessor106 may communicate with, i.e., send commands to, receive data from, and the like, to various components of thedispensing unit102 and/orsystem500 to performprocess1400, and may decide the best way to distribute the medicine amongmedicine storage container320, themedicine transfer containers370,375, and the dispensedmedicine container365 based onprocess1400.
• FIG. 15A illustrates anexemplary sub-assembly1500 ofdispenser102 with a conveyor, a robot, a vacuum head (mounted on the same robot or a different robot), a vision system, and a carousel. In this example medicinecontainer transfer unit330 includescarousel310, medicinecontainer transfer unit345 includes a robot with end of arm tool,medicine transfer unit355 includesconveyor1305, two sensors1110 (not visible) and1115,robot1345 with end ofarm tool1310,sensor1330,vacuum head1315, and amachine vision system1505 coupled toprocessor106 and configured to output a visual location and images of items, such pills or capsules, ofdispenser102.Robot345 androbot1345 may be two different robots, or two different parts of the same one robot.
• FIG. 15B shows end ofarm tool1310 atmedicine discharge position1325 to discharge medicine into the medicine storage container at the medicinecontainer transfer unit330discharge position1320. End ofarm tool1310 may also discharge medicine into medicine storage container at medicinecontainer transfer unit330 discharge position380 (not shown).
• FIG. 15A illustrates anexemplary sub-assembly1500 of the disclosed system.Sub-assembly1500 includes medicinecontainer transfer unit330 havingcarousel310, medicinecontainer transfer unit345 includes a robot with end of arm tool.Medicine transfer unit355 includes a robot orconveyor1305, sensors1110 (not visible) and1115,robot1345 having an end of arm tool (EOAT)1310, asensor1330, and avacuum head1315. Medicinecontainer transfer unit345 androbot1345 may be two different robots, or two different parts of the same one robot.FIG. 15B is a view of the example ofFIG. 15A, showing end ofarm tool1310 atmedicine discharge position1325 to discharge medicine into medicine storage container at medicinecontainer transfer unit330discharge position1320. The end ofarm tool1310 may also discharge medicine into medicine storage container at medicinecontainer transfer unit330 discharge position380 (not shown).
• Sub-assembly1500 is a view of inside elements ofdispenser102 and includescarousel310.Sub-assembly1500 includes loading station or medicinecontainer loading station325, first medicinecontainer transfer unit330, and medicinecontainer storage nest335. Medicinecontainer loading point340 is proximate second medicinecontainer transfer unit345. Firstmedicine discharge point350 includes, in the illustrated example,medicine transfer unit355 that may includerobot1345 andconveyer1305 for transporting or otherwise conveying medicine from medicinecontainer transfer unit345 to secondmedicine discharge point380, and may include sensors1110 (not visible) and1115.Sub-assembly1500 includesweight checking station360, a calibration andverification device382 to automatically calibrate weight detecting devices, dispensedmedicine container365, andmedicine transfer container370 and375.Medicine storage container320 is positioned oncarousel310.
• FIG. 15A is an illustration ofmedicine storage container320 as positioned proximate medicinecontainer transfer unit345, andFIG. 15B of the exemplary system ofFIG. 15A shows end ofarm tool1310 atmedicine discharge position1325.Medicine storage container320 may includeoriginal medicine container390, medicinecontainer identification unit385,weight detecting device395, and medicinecontainer storage nest335. Weight detectingdevice395 and medicinecontainer storage nest335 may be integrated together. Weight detectingdevice395 and medicinecontainer storage nest335 may also be part ofcarousel310. Weight detectingdevice395 may be a scale, a load cell, or other device for measuring weight, according to the disclosure. Weight detectingdevice395 and medicinecontainer storage nest335 are positioned aboutcarousel310 at each of the illustrated locations. Medicinecontainer identification unit385 may include identification information particular to a given medicine, and may also identify an amount of medicine that may constitute a single patient dose particular to a given user ofdispenser102.
• Referring still toFIG. 15A,medicine storage container320 may be loaded intodispenser102 fromMCLS325, andmedicine storage container320 is transferred toMCLP340 by medicinecontainer transfer unit330.Medicine storage container320 may include medicine in the form of a pill or a capsule, as examples, and a dose of medicine for a user may include one or more of the pills or capsules. Medicinecontainer transfer unit330 is illustrated as havingcarousel310, but may instead include a conveyor, a robot, or any device that can movemedicine storage container320 from one position to another, and discharge medicine frommedicine storage container320.
• Medicine transfer unit355 moves medicine from one position to another, accepts medicine frommedicine storage container320, andmedicine transfer unit355 also discharges medicine intomedicine storage container320 or any container when positioned atmedicine discharge point380.Medicine transfer unit355 may have a linear moving surface such as a walking beam, a conveyor, or a rotating surface such as a rotating disc or other shape, and includes in the illustratedexample conveyer1305.
• In operation, as shown inFIGS. 15A and 15B,dispenser102 moves, viacarousel310,medicine storage container320 toloading point312, andloading point312 is proximate medicinecontainer transfer unit345. Medicinecontainer transfer unit345 engages withmedicine storage container320 by attaching thereto, and movingmedicine storage container320 vertically to firstmedicine discharge point350.Medicine storage container320 is, in one example, a medicine storage container which may have an amount of medicine that is in excess of a dose, or an amount of medicine that is desired to be distributed into dispensedmedicine container365. Medicinecontainer transfer unit345 turnsmedicine storage container320 such that a predetermined amount of medicine spills or otherwise pours frommedicine storage container320 ontomedicine transfer unit355.Carousel310 rotates to movemedicine transfer container370 to secondmedicine discharge point380. Whenmedicine transfer container370 is positioned atmedicine discharge point380, and when medicine has been discharged ontomedicine transfer unit355,medicine transfer unit355 thereby conveys the discharged medicine frommedicine transfer unit355 intomedicine transfer container370 until at least a second predetermined amount of medicine is contained inmedicine transfer container370, as determined byweight detecting device395 andMCSN335, which weigh and transmit weight information to for instance a controller ofdispenser102.
• Medicine transfer unit355 includesrobot1345 andconveyor1305, andsensors1110 and1115, which monitor medicine positioned onmedicine transfer unit355 and onconveyor1305.Sensors1110,1115 may be optical sensors that are coupled, electrically or optically as examples, toprocessor106. As such,processor106 monitors an amount of medicine positioned onmedicine transfer unit355 viasensors1110,1115.Sensors1110 and1115 detect the presence of pills or capsules as they pass thereby viamedicine transfer unit355 to secondmedicine discharge point380. In addition,robot1345 includes end ofarm tool1310 havingvacuum head1315 that may attach via a vacuum, controlled byprocessor106, to individual pills or capsules passing alongmedicine transfer unit355. Accordingly, in this example, pills or capsules may be not only conveyed byconveyor1305 tomedicine transfer container370 ormedicine transfer container375 when positioned atmedicine discharge point380, but also conveyed byrobot1345 tomedicine transfer container370 or375 when positioned atmedicine discharge point380. Pills or capsules may also be conveyed byrobot1345 tomedicine transfer container370 or375 positioned atposition1320. Pills or capsules may also be conveyed byrobot1345 frommedicine transfer containers370 or375 atdischarge point380 or1320 back to themedicine transfer unit355. Both methods may be used concurrently or separately. Thus, overall efficiency or movement of pills or capsules may be improved by having an ability to move pills or capsules to two locations simultaneously.
• Medicine is transferred frommedicine transfer unit355 intomedicine transfer container370, and a weight of the medicine is determined viaweight detecting device395. If the measured weight is less than a given or desired dose, and if medicine is still on medicine transfer unit355 (i.e., has not been fully discharged), thenmedicine transfer unit355 further conveys more medicine intomedicine transfer container370. On the other hand, if no medicine is onmedicine transfer unit355, then additional medicine is discharged tomedicine transfer unit355 frommedicine storage container320. The process of discharging frommedicine storage container320 tomedicine transfer unit355, and frommedicine transfer unit355 tomedicine transfer container370 continues until at least a dose of medicine is contained inmedicine transfer container370. That is,medicine transfer container370 may include an exact or desired dose, or may include an amount of medicine that is in excess of an exact dose.
• If an exact dose is present inmedicine transfer container370, thendispenser102 operates to conveymedicine transfer container370 to firstmedicine discharge point350 via medicinecontainer transfer unit345, any remaining medicine onmedicine transfer unit355 is discharged back intomedicine storage container320 at secondmedicine discharge point380, and the medicine inmedicine transfer container370 is discharged into dispensedmedicine container365 that is positioned at secondmedicine discharge point380.
• On the other hand, in one examplemedicine transfer container370 may include an amount of medicine that is in excess of an exact dose. In such an example,medicine transfer container370 is thereby conveyed to firstmedicine discharge point350 and operations described above are repeated. That is, medicinecontainer transfer unit345 discharges medicine frommedicine transfer container370 ontomedicine transfer unit355, andmedicine transfer container375 is conveyed viacarousel310 to secondmedicine discharge point380. Medicine discharged frommedicine transfer container370 tomedicine transfer unit355 is thereby conveyed tomedicine transfer container375 until at least the exact dose is present inmedicine transfer container375. And, again, ifmedicine transfer container375 includes medicine equal to the dose, then the medicine inmedicine transfer container375 is discharged into dispensedmedicine container365, and any excess medicine onmedicine transfer unit355 is returned tomedicine storage container320.
• The aforementioned steps continue until a dose of medicine is contained within dispensedmedicine container365, and any additional medicine is returned tomedicine storage container320. In such fashion,dispenser102 includes a feedback mechanism, ensuring a proper dose, and only a proper dose, is contained in dispensedmedicine container365. That is, feedback is provided in the form of a weight of pills or capsules, corresponding to a dose, measured viaweight detecting device395.Dispenser102 is caused to operate using such feedback to ensure that a correct dose is provided in dispensedmedicine container365. However, in the illustrated example, medicine, in this example, may be conveyed to and frommedicine transfer container370 ormedicine transfer container375 positioned atdischarge position1320 and380 in both directions, allowing simultaneous or sequential iterations using two containers and two conveying methods in both directions, which may allow convergence to a final dose, and movement of any additional medicine frommedicine transfer unit355 via a second path (i.e., viavacuum head1315, for containers positioned atposition1320 and380). Additionally,vision system1505 provides yet additional functionality, in thatvision system1505 may convey an image of pills or capsules passing alongmedicine transfer unit355, providing a visual representation of the pills or capsules, and an additional method of identifying the movement thereof intomedicine transfer container370 and/ormedicine transfer container375.Process106 may compare these images with images stored indatabase122 to make sure correct medicine is dispensed.
• Referring now toFIG. 16, a flow diagram of anotherexemplary process1600 for operating thedispensing unit102, which may incorporate thesub-assembly1500, is illustrated.Process1600 may include operations that may be part ofprogram110, stored onmemory108, and/or executed byprocessor106.Process1600 may take many different forms and include multiple and/or alternate steps. While an exemplary process is shown, the exemplary steps illustrated are not intended to be limiting. Indeed, additional or alternative steps and/or implementations may be used. In addition, for purposes ofprocess1600, the first medicinecontainer transfer unit330 is referred to as the carousel, and the second medicinecontainer transfer unit345 is referred to as the robot. However, it should be appreciated that any medicinecontainer transfer unit330,345 for performing the respective step(s) is contemplated, and that the use of the terms carousel and robot are not intended to be limiting.
• Process1600 generally may be the same as or similar toprocess1400, but may differ in the incorporation of thevision system1505. For example, blocks1602 through1610 may correspond toblocks1402 through1414 ofprocess1400.Process1600 may begin to diverge fromprocess1400 atblock1616 at which theconveyor1105 may move forward, and thevision system1505 may take pictures of the area of theconveyor1105 and process the images.Conveyor1105 may stop when thesensor1115 detects medicine or thevision system1505 gives instructions.
• Atblock1618, thevision system1505 may process the images to determine correct medicine is dispensed and locations of the medicine on theconveyor1105 underrobot1345.
• Atblock1620, theprocessor106 and thevision system1505 may work together to guideconveyor1105 androbot1345 movements to alignvacuum head1315 and a piece of medicine to be picked up.
• The remainingblocks1622 through1632 may correspond withblocks1420 through1430 ofprocess1400.
• Process1600 may be repeated for the next medicine when required or theprocess1600 may end.
• In embodiments, scale(s)395, for example, in each weighing station or storage nests associated with each container, may check quantity of medicine inside each container involved inprocess1600, e.g., themedicine storage container320, themedicine transfer containers370,375, and the dispensedmedicine container365.
• In general,process1600 may be a closed feedback loop process with stable and fast convergent iterations. In addition, theprocessor106 may communicate with, i.e., send commands to, receive data from, and the like, to various components of thedispensing unit102 and/orsystem500 to performprocess1600, and may decide the best way to distribute the medicine amongmedicine storage container320, themedicine transfer containers370,375, and the dispensedmedicine container365 based onprocess1600.
• FIG. 17A illustrates anexemplary sub-assembly1700 of the discloseddispenser102.FIG. 17B illustrates the exemplary system ofFIG. 17A during operation.FIG. 17C illustrates a top view of the exemplary system ofFIGS. 17A and 17B.
• FIG. 17A is an example ofdispenser102 having a rotating table, a robot, and a carousel. In this example medicinecontainer transfer unit330 includescarousel310, medicinecontainer transfer unit345 includes a rotating table1705 andsensors1710 and1720.FIG. 17B showsmedicine storage container320 transferred tomedicine discharge point350 by medicinecontainer transfer unit345 to discharge medicine from themedicine storage container320 to rotating table1705.Sensors1710 and1720 monitor the medicine on table1705.
• FIG. 17A illustrates the discloseddispenser102 having rotating table1705 andsensors1710 and1720. In this example medicinecontainer transfer unit330 includescarousel310, and medicinecontainer transfer unit345 includes table1705 on which pills or capsules may be placed, such that they may roll or otherwise move in a generally circular fashion to dischargeposition1320.
• FIG. 17B is a view of sub-assembly as shown inFIG. 17A, showingmedicine storage container320 transferred to firstmedicine discharge point350 by medicinecontainer transfer unit345 to discharge medicine frommedicine storage container320 to table1705.
• FIG. 17A illustrates anexemplary sub-assembly1700 illustrating the disclosed system or dispenser.Sub-assembly1700 is a view of inside elements ofdispenser102 and includescarousel310.Sub-assembly1700 includes first medicinecontainer transfer unit330, and medicinecontainer storage nest335. Medicinecontainer loading point340 is proximate second medicinecontainer transfer unit345. Medicinecontainer transfer unit345 may include table1705 and may includesensors1710 and1720.Sub-assembly1700 includesweight checking station360, a calibration andverification device382 to automatically calibrate weight detecting devices, dispensedmedicine container365, andmedicine transfer container370 and375.Medicine storage container320 is positioned oncarousel310.
• In operation,carousel310 movesmedicine storage container320 toloading point312, andloading point312 is proximate medicinecontainer transfer unit345. Medicinecontainer transfer unit345 engages withmedicine storage container320 by attaching thereto, and movesmedicine storage container320 to firstmedicine discharge point350.Medicine storage container320 is, in one example, a medicine storage container which may have an amount of medicine that is in excess of a dose, or an amount of medicine that is desired to be distributed into dispensedmedicine container365. Medicinecontainer transfer unit345 turnsmedicine storage container320 such that a predetermined amount of medicine spills or otherwise pours frommedicine storage container320 onto rotating table1705, as illustrated inFIG. 17B. Rotating table1705 is configured to rotate or jostle back and forth, causing items such as pills or capsules thereon to jostle or vibrate, such that the items pass about a circumference of rotating table1705 and in arotational direction1730 to achute1725.
• Whenmedicine transfer container370 is positioned atdischarge position1320, and when medicine has been discharged onto rotating table1705, rotating table1705 thereby conveys the discharged medicine from rotating table1705 intomedicine transfer container370 positioned atdischarge position1320, until at least a second predetermined amount of medicine is contained inmedicine transfer container370, as determined byweight detecting device395 and medicinecontainer storage nest335, which weigh and transmit weight information to for instance a controller ofdispenser102.
• Medicine is transferred from rotating table1705 intomedicine transfer container370, and a weight of the medicine is determined viaweight detecting device395. If the measured weight is less than a given or desired dose, and if medicine is still on rotating table1705 (i.e., has not been fully discharged), then rotating table1705 further conveys more medicine intomedicine transfer container370. On the other hand, if no medicine is on rotating table1705, then additional medicine is discharged to rotating table1705 frommedicine storage container320. The process of discharging frommedicine storage container320 to rotating table1705, and from rotating table1705 tomedicine transfer container370 continues until at least a dose of medicine is contained inmedicine transfer container370. That is,medicine transfer container370 may include an exact or desired dose, or may include an amount of medicine that is in excess of an exact dose.
• If an exact dose is present inmedicine transfer container370, thendispenser102 operates to conveymedicine transfer container370 to dischargeposition1320 via medicinecontainer transfer unit345, any remaining medicine on rotating table1705 is discharged back intomedicine storage container320, and the medicine inmedicine transfer container370 is discharged into dispensedmedicine container365.
• The aforementioned steps continue until a dose of medicine is contained within dispensedmedicine container365, and any additional medicine is returned tomedicine storage container320. In such fashion,dispenser102 includes a feedback mechanism, ensuring a proper dose, and only a proper dose, is contained in dispensedmedicine container365. That is, feedback is provided in the form of a weight of pills or capsules, corresponding to a dose, measured viaweight detecting device395.Dispenser102 is caused to operate using such feedback to ensure that a correct dose is provided in dispensedmedicine container365.
• Referring now toFIG. 18, a flow diagram of anotherexemplary process1800 for operating thedispensing unit102, which may incorporate thesub-assembly1700, is illustrated.Process1800 may include operations that may be part ofprogram110, stored onmemory108, and/or executed byprocessor106.Process1800 may take many different forms and include multiple and/or alternate steps. While an exemplary process is shown, the exemplary steps illustrated are not intended to be limiting. Indeed, additional or alternative steps and/or implementations may be used. In addition, for purposes ofprocess1800, the first medicinecontainer transfer unit330 is referred to as the carousel, and the second medicinecontainer transfer unit345 is referred to as the robot. However, it should be appreciated that any medicinecontainer transfer unit330,345 for performing the respective step(s) is contemplated, and that the use of the terms carousel and robot are not intended to be limiting.
• Process1800 generally may be the same as or similar toprocess1200, but may differ in the incorporation of a rotating table1705 andcorresponding sensors1410,1420, in lieu of theconveyor1105 andsensor1110,1115. In addition, themedicine transfer container375 and the dispensedmedicine container365 are moved tomedicine discharge point1715 atblocks1812,1822, and1824, as opposed tomedicine discharge point380 inprocess1200. However, it should be appreciated that in some embodiments, themedicine discharge point1715 may be the same asmedicine discharge point380.
• Process1800 may be repeated for the next medicine when required orprocess1800 may end.
• In embodiments, scale(s)395, for example, in each weighing station or storage nests associated with each container, may check quantity of medicine inside each container involved inprocess1800, e.g., themedicine storage container320, themedicine transfer containers370,375, and the dispensedmedicine container365.
• In general,process1800 may be a closed feedback loop process with stable and fast convergent iterations. In addition, theprocessor106 may communicate with, i.e., send commands to, receive data from, and the like, to various components of thedispensing unit102 and/orsystem500 to performprocess1800, and may decide the best way to distribute the medicine amongmedicine storage container320, themedicine transfer containers370,375, and the dispensedmedicine container365 based onprocess1800.
• FIG. 19A illustrates anexemplary sub-assembly1900 of the discloseddispenser102.FIG. 19B illustrates the exemplary sub-assembly ofFIG. 19A during operation.
• Sub-assembly1900 includes medicinecontainer transfer unit330 includes havingcarousel310, and medicinecontainer transfer unit345 includes a robot with end of arm tool.Medicine transfer unit355 includes a rotating table1705, two sensors1710 (not visible) and1720, androbot1345 having end ofarm tool1010, anothersensor1330, andvacuum head1315.Sensor1905 is additionally positioned orthogonal to a surface of table1705. Robot or medicinecontainer transfer unit345 androbot1345 may be two different robots, or two different parts of the same one robot.Sub-assembly1900 includesweight checking station360, a calibration and verification device382 (not visible) to automatically calibrate weight detecting devices, dispensedmedicine container365, andmedicine transfer container370 and375.Medicine storage container320 is positioned oncarousel310.FIG. 19B shows end ofarm tool1310 atmedicine discharge position1325 to discharge medicine into themedicine storage container320 at medicinecontainer transfer unit330discharge position1020.
• Referring now toFIG. 20, a flow diagram of anotherexemplary process2000 for operating thedispensing unit102, which may incorporate thesub-assembly1100, is illustrated.Process2000 may include operations that may be part ofprogram110, stored onmemory108, and/or executed byprocessor106.Process2000 may take many different forms and include multiple and/or alternate steps. While an exemplary process is shown, the exemplary steps illustrated are not intended to be limiting. Indeed, additional or alternative steps and/or implementations may be used. In addition, for purposes ofprocess2000, the first medicinecontainer transfer unit330 is referred to as the carousel, and the second medicinecontainer transfer unit345 is referred to as the robot. However, it should be appreciated that any medicinecontainer transfer unit330,345 for performing the respective step(s) is contemplated, and that the use of the terms carousel and robot are not intended to be limiting.
• Blocks2002 through2012 may be the same or similar asblocks1802 through1812 ofprocess1800.Process2000 may begin to diverge fromprocess1800 atblock2014 at which the rotating table1705 may vibrate to spread out medicine evenly.
• Atblock2016, the rotating table1705 may rotate until asensor1905 detects medicine, after which the rotating table1705 may stop.
• Atblock2018,robot1345 may move forward from ahome position1010 untilsensor1030 detects medicine on the rotating table1705, after whichrobot1305 may stop.
• Atblock2020,vacuum head1315 may descend to pick up the medicine and thenvacuum head1315 may return to its original position.
• Atblock2022,robot1345 may move forward to discharge the medicine on thevacuum head1315 into themedicine transfer container370,375 atmedicine discharge point1715.Robot1345 may also discharge the medicine on thevacuum head1315 into themedicine transfer container370,375 at medicine discharge point380 (not shown).Robot1345 may also pick up medicine frommedicine transfer containers370,375 atmedicine discharge point380 or1715 and discharge onto themedicine transfer unit355.
• Atblock2024,processor106 may determine if the medicine in themedicine transfer container370,375 has reached the required dosage. If it has, thenprocess2000 may proceed to block2026. If it has not, and there is still medicine left along the pathway of the motion ofrobot1345, thenprocess2000 may repeatblocks2016 to2022 until the required dosage has been reached, after whichprocess2000 may proceed to block2026.
• Atblock2026,carousel310 may transfer themedicine storage container320 to themedicine discharge point1715, and rotating table1705 may rotate to discharge all remaining medicine on the rotating table1705 into themedicine storage container320.Process2000 may then proceed to block2030.
• Atblock2028,processor106 may determine if any medicine remains on the rotating table1705. If so, and the medicine inside themedicine transfer container370,375 is still less than required dosage, blocks2004 through2026 may be repeated.
• Atblock2030, all the medicine inside of themedicine transfer container370,375 may be discharged into the dispensedmedicine container365.
• Process2000 may be repeated for the next medicine when required orprocess2000 may end.
• In embodiments, scale(s)395, for example, in each weighing station or storage nests associated with each container, may check quantity of medicine inside each container involved inprocess2000, e.g., themedicine storage container320, themedicine transfer containers370,375, and the dispensedmedicine container365.
• In general,process2000 may be a closed feedback loop process with stable and fast convergent iterations. In addition, theprocessor106 may communicate with, i.e., send commands to, receive data from, and the like, to various components of thedispensing unit102 and/orsystem500 to performprocess2000, and may decide the best way to distribute the medicine amongmedicine storage container320, themedicine transfer containers370,375, and the dispensedmedicine container365 based onprocess2000.
• FIG. 21A illustrates anexemplary sub-assembly2100 of the discloseddispenser102.FIG. 21B illustratesdispenser102 having a rotating table, a robot, a vacuum head (mounted on the same robot or a different robot), a vision system, and a carousel.Sub-assembly2100 illustrates medicinecontainer transfer unit330 havingcarousel310, and medicinecontainer transfer unit345 includes a robot with end of arm tool.Medicine transfer unit355 includes a rotating table1705, three sensors1710 (not visible),1720 and1905, another robot with1345 with end ofarm tool1310,vacuum head1315, andmachine vision system1505.Robot345 androbot1345 may be two different robots, or two different parts of the same one robot.Sub-assembly2100 includesweight checking station360, a calibration and verification device382 (not visible) including to automatically calibrate weight detecting devices, dispensedmedicine container365, andmedicine transfer container370 and375.Medicine storage container320 is positioned oncarousel310.
• FIG. 21B shows the end ofarm tool1310 atmedicine discharge position1325 to discharge medicine into themedicine storage container320 at medicinecontainer transfer unit330discharge position1320.
• Referring now toFIG. 22, a flow diagram of anotherexemplary process2200 for operating thedispensing unit102, which may incorporate thesub-assembly2100, is illustrated.Process2200 may include operations that may be part ofprogram110, stored onmemory108, and/or executed byprocessor106.Process2200 may take many different forms and include multiple and/or alternate steps. While an exemplary process is shown, the exemplary steps illustrated are not intended to be limiting. Indeed, additional or alternative steps and/or implementations may be used. In addition, for purposes ofprocess2200, the first medicinecontainer transfer unit330 is referred to as the carousel, and the second medicinecontainer transfer unit345 is referred to as the robot. However, it should be appreciated that any medicinecontainer transfer unit330,345 for performing the respective step(s) is contemplated, and that the use of the terms carousel and robot are not intended to be limiting.
• Process2200 generally may combine various blocks from thedifferent processes1000,1200,1400,1600, and/or1800 described above. For example, blocks2202 through2214 correspond toblocks2002 through2014 ofprocess2000. The remaining blocks ofprocess2200 may correspond toblocks1616 through1636 ofprocess1600, whereprocess2200 differs in the use of rotating table1705 in place of theconveyor1105, and sensor2205 in place ofsensor1115.
• As with the other processes described above,process2200 may be repeated for the next medicine when required.
• In embodiments, scale(s)395, for example, in each weighing station or storage nests associated with each container, may check quantity of medicine inside each container involved inprocess2200, e.g., themedicine storage container320, themedicine transfer containers370,375, and the dispensedmedicine container365.
• In general,process2200 may be a closed feedback loop process with stable and fast convergent iterations. In addition, theprocessor106 may communicate with, i.e., send commands to, receive data from, and the like, to various components of thedispensing unit102 and/orsystem500 to performprocess2200, and may decide the best way to distribute the medicine amongmedicine storage container320, themedicine transfer containers370,375, and the dispensedmedicine container365 based onprocess2200.
• Systems and methods are provided for dispensing medication in dosages that comply with a medicine regimen. An exemplary system and method may include operations and/or instructions comprising dispensing medicine from a first medicine container to a transfer device; dispensing medicine from the transfer device to a second medicine container, monitoring a medicine distribution relative to the first medicine container by way of a first sensor, the second medicine container by way of a second sensor, and the transfer device by way of a third sensor; and automatically adjusting the medicine distribution among the first medicine container, the second medicine container, and the transfer device.
• A system for dispensing medication includes a carousel configured to rotate about a rotational center, the carousel having a plurality of weight check stations disposed about a circumference thereof, a medicine container transfer unit positioned proximate the carousel, the medicine container transfer unit configured to engage a medicine storage container positioned on one of the weight check stations and move the medical storage container to a first discharge point, and a medicine transfer unit positioned proximate the medicine container transfer unit such that medicine discharged from the medicine storage container at the first discharge point is discharged onto the medicine transfer unit, and medicine on the medicine transfer unit is discharged from the medicine transfer unit at a second discharge point, the medicine transfer unit having a sensor to estimate how much medicine is on the medicine transfer unit. The system also includes a first medicine transfer container positioned on one of the weight check stations at the second discharge point to receive the medicine discharged from the medicine transfer unit and a controller. The controller is configured to cause the medicine storage container to discharge at least a first predetermined amount of medicine from the medicine storage container onto the medicine transfer unit, cause the medicine transfer unit to discharge at least a second predetermined amount of medicine to the first medicine transfer container, determine whether the first medicine transfer container has an amount of medicine greater than a desired single dose, and if the amount of medicine in the first medicine transfer container is greater than the desired single dose, then move the first medicine transfer container to the first discharge point via the carousel and via the medicine container transfer unit, move a second medicine transfer container to the second discharge point, and discharge medicine from the first medicine transfer container, onto the medicine transfer unit, and from the medicine transfer unit into the second medicine transfer container.
• The controller is further configured to move the second medicine transfer container to the first discharge position, and the first medicine transfer container to the second discharge position, and discharge medicine from the second medicine transfer container until at least the desired single dose of medicine is present in the second medicine transfer container. The controller is further configured to move the first medicine transfer container to the second discharge position, and the second medicine transfer container to the first discharge position, and discharge medicine from the first medicine transfer container until the desired single dose of medicine is present in the first medicine transfer container.
• It will be appreciated by those skilled in the art that the present invention may be embodied in other specific forms without departing from the spirit or essential character thereof. The described embodiments are therefore considered in all respects to be illustrative not restrictive. The scope of the invention is indicated by the appended clauses, not the foregoing description, and all changes that come within the meaning and range of equivalents thereof are intended to be embraced therein.

Claims (20)

What is claimed is:

1. A system for dispensing medication, the system comprising a memory and a processor that provides operations including:

dispense medicine from a first medicine container to a transfer device;

dispense medicine from the transfer device to a second medicine container;

monitor a medicine distribution relative to the first medicine container, the second medicine container, and the transfer device by way of at least one monitoring device, and

automatically adjust the medicine distribution among the first medicine container, the second medicine container, and the transfer device until the medicine distribution in at least one of the second medicine container and the transfer device equals a predetermined amount.

2. The system ofclaim 1, wherein the medicine distribution is automatically adjusted in response to feedback from the at least one monitoring device.

3. The system ofclaim 1, wherein the medicine distribution is automatically adjusted until the predetermined amount is reached in at least one of the medicine containers.

4. The system ofclaim 1, wherein at least the first medicine container and the second medicine container are weighed to monitor the medicine distribution.

5. The system ofclaim 1, wherein at least the first medicine container is moved to a discharge position above the transfer device to dispense medicine to the transfer device.

6. The system ofclaim 1, wherein at least one of the first medicine container and the second medicine container is moved to a discharge position at an end of the transfer device to receive medicine therefrom.

7. The system ofclaim 1, wherein the predetermined amount is moved from the at least one of the second medicine container and the transfer device into a third medicine container.

8. The system ofclaim 7, wherein the medicine distribution in excess of the predetermined amount is moved into the first medicine container.

9. A non-transitory computer readable medium storing instructions comprising:

dispense medicine from a first medicine container to a transfer device;

dispense medicine from the transfer device to a second medicine container;

monitor a medicine distribution relative to the first medicine container, the second medicine container, and the transfer device by way of at least one monitoring device;

automatically adjust the medicine distribution among the first medicine container, the second medicine container, and the transfer device until the medicine distribution in at least one of the second medicine container and the transfer device equals a predetermined amount.

10. The medium ofclaim 9, wherein the medicine distribution is automatically adjusted in response to feedback from the at least one monitoring device.

11. The medium ofclaim 9, wherein the medicine distribution is automatically adjusted until the predetermined amount is reached in at least one of the medicine containers.

12. The medium ofclaim 9, wherein at least the first medicine container and the second medicine container are weighed to monitor the medicine distribution.

13. The medium ofclaim 9, wherein at least the first medicine container is moved to a discharge position above the transfer device to dispense medicine to the transfer device.

14. The medium ofclaim 9, wherein at least one of the first medicine container and the second medicine container is moved to a discharge position at an end of the transfer device to receive medicine therefrom.

15. The medium ofclaim 9, wherein the predetermined amount is moved from the at least one of the second medicine container and the transfer device into a third medicine container.

16. The medium ofclaim 9, wherein the medicine distribution in excess of the predetermined amount is moved into the first medicine container.

17. A method for dispensing medication, the method comprising:

dispensing medicine from a first medicine container to a transfer device;

dispensing medicine from the transfer device to a second medicine container;

monitoring a medicine distribution relative to the first medicine container, the second medicine container, and the transfer device by way of at least one monitoring device; and

automatically adjusting the medicine distribution among the first medicine container, the second medicine container, and the transfer device until the medicine distribution in at least one of the second medicine container and the transfer device equals a predetermined amount.

18. The method ofclaim 17, wherein the medicine distribution is automatically adjusted in response to feedback from the at least one monitoring device.

19. The method ofclaim 17, wherein the medicine distribution is automatically adjusted until the predetermined amount is reached in at least one of the medicine containers.

20. The method ofclaim 17, wherein at least the first medicine container and the second medicine container are weighed to monitor the medicine distribution.

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