Systems and methods for automated prescription preparation

A system includes a gantry having an end-of-arm tool (EOAT). The gantry can include a first linear actuator that is configured to axially move the EOAT along a first axis and second linear actuator that is configured to axially move the EOAT along a second axis that is perpendicular to the first axis. The system can further include at least one input conveyor. Each input conveyor can have a plurality of pucks that are each configured to receive a prescription container and carry the prescription container to the gantry. The system can further include at least one output conveyor that is configured to receive the prescription container from the gantry. The gantry can be configured to move the prescription containers from the plurality of pucks to the output conveyor(s).

FIELD

This application relates to systems and methods for preparing prescriptions and, in exemplary aspects, to systems and methods for moving prescriptions from pucks to other conveying means.

BACKGROUND

Conventionally, in automated prescription preparation, prescriptions are provided in pucks to an arm having multiple rotational axes (e.g., a five-axis or six-axis robotic arm). The pucks are configured to receive individual prescription containers. The robotic arm moves the prescription containers from pucks of an incoming conveyor to a tote of an outgoing conveyor. The conventional robotic arm has a limited range. Thus, the robotic arm is limited to servicing a single incoming conveyor and a single outgoing conveyor. The conventional system is incapable of expansion for more incoming or outgoing conveyors.

SUMMARY

Disclosed herein, in at least one aspect, is a system for transferring prescription containers from pucks. The system includes a gantry having an end-of-arm tool (EOAT). The gantry includes a first linear actuator that is configured to axially move the EOAT along a first axis and second linear actuator that is configured to axially move the EOAT along a second axis that is perpendicular to the first axis. The system further includes at least one input conveyor. Each input conveyor has a plurality of pucks that are each configured to receive at least one prescription container and carry the at least one prescription container to the gantry. The system further includes at least one output conveyor that is configured to receive the at least one prescription container from the gantry. The gantry is configured to move the prescription containers from the plurality of pucks to the output conveyor(s).

In another aspect, at least one method of the present disclosure includes receiving, at a gantry, at least one prescription container from at least one input conveyor. A gantry moves the at least one prescription container from the at least one input conveyor to at least one output conveyor. The gantry has a first linear actuator that is configured to axially move the EOAT along a first axis and second linear actuator that is configured axially move the EOAT along a second axis that is perpendicular to the first axis. Each input conveyor of the at least one input conveyor includes a plurality of pucks that are each configured to receive at least one prescription container. Each puck of the plurality of pucks is configured to carry the at least one prescription container to the gantry.

Additional advantages of the disclosed systems and methods will be set forth in part in the description which follows, and in part will be understood from the description, or may be learned by practice of the disclosed systems and methods. The advantages of the disclosed system and method will be realized and attained by means of the elements and combinations recited in the appended claims. It is to be understood that both the foregoing general description and the following detailed description are exemplary and explanatory only and are not restrictive of the inventions as claimed.

DETAILED DESCRIPTION

The disclosed systems and methods may be understood more readily by reference to the following detailed description of particular embodiments and the examples included therein and to the Figures and their previous and following description.

It is to be understood that the terminology used herein is for the purpose of describing particular embodiments only and is not intended to limit the scope of the present inventions described in the appended claims.

It must be noted that as used herein and in the appended claims, the singular forms “a,” “an,” and “the” include plural references unless the context clearly dictates otherwise. Thus, for example, reference to “a puck” includes one or more of such pucks, and so forth.

Optionally, in some aspects, when values or characteristics are approximated by use of the antecedents “about,” “substantially,” or “generally,” it is contemplated that values within up to 15%, up to 10%, up to 5%, or up to 1% (above or below) of the particularly-stated value or characteristic can be included within the scope of those aspects.

Unless defined otherwise, all technical and scientific terms used herein have the same meanings as commonly understood by one of skill in the art to which the disclosed apparatus, system, and method belong. Although any apparatus, systems, and methods and materials similar or equivalent to those described herein can be used in the practice or testing of the present apparatus, system, and method, the particularly useful methods, devices, systems, and materials are as described.

Throughout the description and claims of this specification, the word “comprise” and variations of the word, such as “comprising” and “comprises,” means “including but not limited to,” and is not intended to exclude, for example, other additives, components, integers or steps. In particular, in methods stated as comprising one or more steps or operations it is specifically contemplated that each step comprises what is listed (unless that step includes a limiting term such as “consisting of”), meaning that each step is not intended to exclude, for example, other additives, components, integers or steps that are not listed in the step. Unless the context indicates otherwise, it is contemplated that the terms “comprising” and “comprises” can include, as separate aspects, the terms “consisting of,” “consists of,” “consisting essentially of,” or consists essentially of.”

Disclosed herein and with reference toFIGS.1-2, is a system10for automated transfer of prescription containers from pucks. Prescription containers can include, for example, pill bottles (FIG.8A) or pill vials (FIG.8B). In some exemplary aspects, the prescription containers can have cylindrical outer circumferential surfaces. In other exemplary aspects, the prescription containers can have round cross sections that taper in diameter along the height of the respective prescription containers. In still other exemplary aspects, the prescription containers can, in cross sections in horizontal planes, be rectangular, square, or any other shape. The prescription containers can have upper sections that are configured for engagement with a cover structure, such as a lid. Optionally, the upper sections can have a threaded structure that engages complementary threads of a lid.

Referring toFIGS.1-3, the system10can comprise a gantry20comprising an end-of-arm tool22(EOAT). The gantry20can comprise a first linear actuator24that is configured to axially move the EOAT22along a first axis4(e.g., a vertical axis) and second linear actuator26that is configured axially move the EOAT along a second axis6(e.g., a horizontal axis) that is perpendicular to the first axis. In some aspects, the gantry20can have a travel distance along the second axis of at least 60 inches, at least 65 inches, at least 70 inches, at least 75 inches, or at least 80 inches. In further aspects, it is contemplated that the travel distance of the gantry along the second axis can range from 60 inches to 100 inches.

The system10can further comprise one or more input conveyors30. Each input conveyor30of the at least one input conveyor can comprise a plurality of pucks32that are each configured to receive a prescription container50and carry the prescription container to the gantry20. In exemplary aspects, the input conveyor(s)30can be, for example, X65 or X85 conveyor systems provided by FLEXLINK (Gothenburg, Sweden). In some aspects, the conveyor(s)30can comprise a moving platform (e.g., chain linkages), and the pucks32can rest on the moving platform so that friction holds the pucks in place as the moving platform moves. In other aspects, the pucks32can be physically coupled to the moving platform so that the pucks cannot slide relative to the moving platform.

The system10can further comprise one or more output conveyors40that are configured to receive the prescription container50from the gantry20. The gantry20can be configured to move the prescription container from the plurality of pucks to the at least one output conveyor.

Referring also toFIG.6, in some aspects, the system10can comprise a plurality of input conveyors30. The plurality of input conveyors30can extend to the gantry along a third axis8(e.g., a second horizontal axis) that is perpendicular to the first axis4and the second axis6. In some optional aspects, the plurality of input conveyors30can be spaced from each other along the second axis6at the gantry.

In some optional aspects, the system10can comprise a plurality of output conveyors40can extend to the gantry20along the third axis8. For example, in some aspects, the plurality of output conveyors40can comprise two output conveyors, three output conveyors, four output conveyors or more. In some optional aspects, the plurality of input conveyors30can be spaced from each other along the second axis6at the gantry. For example, in some aspects, the plurality of input conveyors30can comprise two input conveyors, three input conveyors, four input conveyors or more.

Referring toFIG.4, in some aspects, the EOAT22can comprise opposed gripping element60that are movable relative to each other. For example, the opposed gripping elements60can be movable to each other along the second axis4. In some optional aspects, the gripping elements60can be movable by a single linear actuator62or by respective linear actuators62.

Optionally, referring toFIG.9, the gantry20can comprise an actuator28that is configured to rotate the EOAT22. For example, the gantry20can be configured to invert (e.g., flip over) the prescription containers50. In this way, for example, the gantry20can receive vials in the pucks with the lids54on top, remove the vials from the pucks, invert the vials, and place the vials on the caps.

In some aspects, the opposed gripping elements60can comprise opposed first and second gripping elements60a,b. Each of the opposed gripping elements60can comprise at least one cutout64. The cutouts64can comprise gripping surfaces66defined by innermost opposed edges of the gripping elements60. Each cutout64can have a width along the third axis8. The width of each cutout64of the first gripping element60aof the opposed gripping elements60can decrease along the second axis6in a direction away from the second gripping element60bof the opposed gripping elements. That is, opposed cutouts64can taper in directions away from each other. In this way, the opposed gripping elements can be adapted for gripping different prescription container sizes. The closer the opposed gripping elements60are to each other, the smaller an area inscribed by the gripping surfaces66of the gripping elements60.

Referring also toFIG.5, the gripping elements60can be configured to grab a neck52(e.g., a relatively narrow portion) of the prescription container50so that the neck is received between the gripping elements60and within opposed cutouts64. Optionally, the gripping surfaces66can bias against the prescription container50to grip the prescription container. In further or alternative aspects, the gripping elements60can surround the neck so that portions of the prescription container above the neck are too wide to fit between the gripping elements. Accordingly, upward movement of the gripping elements60can engage the wider portions of the prescription container, thereby lifting the prescription container. Similarly, the gripping elements60can be configured to engage a cap54of a vial (FIG.8B). For example, as illustrated inFIG.8B, the cap54of a vial can have a larger dimension (e.g., diameter) than the vial. Accordingly, the gripping elements60can close below the cap54so that the cap cannot fit between the gripping elements, and upward movement of the gripping elements60can engage the cap, thereby lifting the vial.

In some aspects, the gripping surfaces66can have a wedge shape68with a decreasing thickness toward the opposed gripping element.

In some aspects, the gripping elements60can have recesses defined by a reduced thickness of the gripping elements along the first axis4surrounding the cutouts64.

Optionally, each gripping element60can comprise a plurality of cutouts64. For example, each gripping element can comprise 2, 3, 4, 5, or more cutouts64. The plurality of cutouts64can be spaced along the third axis8. In this way, the EOAT22can be configured to simultaneously grip a corresponding number of prescription containers50.

Referring toFIG.5, optionally, each puck32of the plurality of pucks32can comprise a receptacle34and an insert36that is received within the receptacle. The insert36can be configured to complementarily receive at least a portion of the prescription container50. For example, the inserts36can have various diameters, various cross-sectional shapes, various depths, etc. that can match the outer circumferential surfaces of different prescription containers (with clearance to permit receipt of the containers into the respective inserts36). In this way, the pucks32can be adapted to receive particular prescription containers.

In some aspects, each puck32can comprise an identifier. The identifier can be, for example a radio frequency identification (RFID), an optical identifier (e.g., a barcode or QR code), or an alphanumeric code. One or more identifier readers (e.g., RFID readers or optical readers) can be positioned along the input conveyor(s)30(e.g., near or at the gantry20) in order to track prescriptions.

Referring toFIGS.1and6, in some aspects, the system10can comprise one or more output conveyors40that are configured to carry totes42to and from the gantry20. The output conveyors40that are configured to carry totes can be, for example, chain conveyors. In addition, or alternatively, the system10can comprise at least one output conveyor40that is configured to carry prescription containers50directly (e.g., not in totes). For example, the output conveyor40can comprise a chain conveyor upon which the prescription containers50can be directly placed. In alternative aspects, the output conveyor40can comprise a rail and a plurality of carriers that are movable along the rail, wherein the plurality of carriers are configured to receive one or more prescription containers therein.

Referring toFIGS.1and5, the system10can comprise at least one optical sensor70that is configured to detect a presence of a respective prescription container50in a respective puck32of the plurality of pucks of the at least one input conveyor30at the gantry10. For example, the optical sensor(s) can comprise a light emitting device and sensor72and a reflector74that is spaced from the light emitting device and sensor along the second axis6on an opposed side of one input conveyor30. Thus, presence of a prescription container50can block the reflector74, causing the light emitting device and sensor72not to receive reflected light.

A computing device1001(also shown inFIG.7) can be in communication with the conveyor. The computing device1001can be configured as described further herein. The computing device1001can comprise at least one processor (e.g., processor1003) and a memory (e.g., mass storage device1004) in communication with the at least one processor. The memory can comprise instructions that, when executed by the at least one processor, cause the at least one processor to: a) receive, by the at least one processor, a signal from the at least one optical sensor70that is indicative of a presence of at least one prescription container50being positioned at the gantry20on the at least one input conveyor; and b) move, by the gantry, the at least one prescription container from the at least one input conveyor to the at least one output conveyor.

Optionally, the computing device1001can be embodied partly or entirely as a computer of an operator station as illustrated herein. In further aspects, the computing device100can be a computing device in communication with (and, optionally, controlling) various other systems associated with the system10, including, for example, a server that controls prescription distribution throughout a pharmacy.

More generally, the computing device1001can track and control movement of prescription containers50. For example, the computing device1001can cause the gantry20to place certain prescriptions in particular totes42or carriers48of particular output conveyors40. In this way, the computing device1001can cause the gantry to sort prescriptions.

Method of Use of System

A method can comprise receiving, at a gantry20, at least one prescription container50from at least one input conveyor30. The gantry20can move the prescription container(s)50from the at least one input conveyor30to an output conveyor40. The gantry20can comprise a first linear actuator24that is configured to axially move the EOAT along a first axis4and second linear actuator26that is configured axially move the EOAT along a second axis6that is perpendicular to the first axis. In exemplary aspects, the first and/or second linear actuators24,26can comprise a motor gearbox and belt drive, which can be highly reliable. The belt drive can further be quiet, low maintenance, and can require lower energy than conventional robotic arms.

Each input conveyor30can comprise a plurality of pucks32that are each configured to receive a prescription container50. Each puck32of the plurality of pucks can be configured to carry the prescription container50to the gantry20. In some aspects, the gantry20can simultaneously move a plurality of prescription containers50by the gantry20from the at least one input conveyor30to the output conveyor40.

Advantages of the Disclosed Systems and Methods

The gantry20can contrast to conventional robotic arms having a plurality of rotational axes. Robotic arms have a limited length. In order to increase the range of a robotic arm, a longer arm is required. The larger the robotic arm, the more expensive and the less precise the movements due to standard mechanics principles. For example, for a particular arm segment, an error in angle measurement causes an error in position measurement that is directly proportional to the length of the arm segment. Accordingly, longer arm segments require higher angular precision, thereby requiring more expensive components. Similarly, longer arm segments require correspondingly larger torque in order to move the arm at each joint. Thus, larger arms require larger motors and/or gearing that reduces movement speed of the arm, thereby increasing cost or reducing performance. Thus, in view of these cost, performance, and precision limitations, robotic arms are not suitable for use with scaled-up systems having more than one input or output conveyor. For example, if multiple input and/or output conveyors were used with a conventional robotic arm, the increased size of the robotic arm that would be required to access the increased number of conveyors would lead to unsuitable decreases in precision and unsuitable increases in the cost of operating the robot. Thus, the dimensions across which conventional robotic arms are configured to move can have a significant impact on the expense or performance of the robotic arm.

In contrast, the dimensions across which the disclosed gantry20is configured to move do not significantly affect the cost or performance of the gantry. Increasing its length does not appreciably increase its cost nor decrease its accuracy. Thus, the gantry20can have a travel distance along the second axis6that permits room for addition of one or more additional input conveyors or one or more additional output conveyors. Further, the system10can easily be adapted by modifying the gantry to permit an increased travel distance along the second axis6for adding one or more additional input conveyors or one or more additional output conveyors. That is, the gantry20can be extended to have longer linear travel along the second axis6without significantly affecting the cost or performance of the gantry.

The disclosed gantry20can be faster than (e.g., at least 3 times or 4 times as fast as) a conventional multi-axis robotic arm. For example, the gantry can pick up, move, and place prescription containers faster than (e.g., at least 3 times or 4 times as fast as) a conventional multi-axis robotic arm. As an additional advantage, the gantry20can be more reliable than conventional multi-axis robotic arms. Further, the gantry can have a longer life than a conventional multi-axis robotic arm. That is, conventional multi-axis robotic arms require more frequent servicing or replacement than the disclosed gantry. Still further, by using a gantry instead of a conventional multi-axis robotic arm, the system10can have reduced complexity, leading to fewer mechanical failures, reduced servicing expenses, and fewer errors during operation.

The gantry20disclosed herein can be standardized (e.g., across product lines). That is, a custom robotic arm does not need to be configured for use with each system. Rather, the same (or similar) equipment and logic of the gantry can be adapted for use in different systems.

Still further, the gantry disclosed herein can be adapted for use in environments previously using conventional depucking systems without affecting integrated systems upstream (e.g., picking prescription containers and placing the prescription containers in pucks) or downstream (e.g. preparing prescription containers for shipment).

Moreover, complexity of prescription sorting can be performed at the system10, thereby centralizing complexity in a single location.

Computing Device

FIG.7shows an operating environment1000including an exemplary configuration of a computing device1001for use with the system10(FIG.1).

The computing device1001may comprise one or more processors1003, a system memory1012, and a bus1013that couples various components of the computing device1001including the one or more processors1003to the system memory1012. In the case of multiple processors1003, the computing device1001may utilize parallel computing.

The bus1013may comprise one or more of several possible types of bus structures, such as a memory bus, memory controller, a peripheral bus, an accelerated graphics port, and a processor or local bus using any of a variety of bus architectures.

The computing device1001may operate on and/or comprise a variety of computer readable media (e.g., non-transitory). Computer readable media may be any available media that is accessible by the computing device1001and comprises, non-transitory, volatile and/or non-volatile media, removable and non-removable media. The system memory1012has computer readable media in the form of volatile memory, such as random access memory (RAM), and/or non-volatile memory, such as read only memory (ROM). The system memory1012may store data such as prescription data1007(i.e., data from signals received by the electrodes) and/or program modules such as operating system1005and conveyor movement software1006that are accessible to and/or are operated on by the one or more processors1003.

Any number of program modules may be stored on the mass storage device1004. An operating system1005and conveyor movement software1006may be stored on the mass storage device1004. One or more of the operating system1005and conveyor movement software1006(or some combination thereof) may comprise program modules and the conveyor movement software1006. The prescription data1007may also be stored on the mass storage device1004. The prescription data1007may be stored in any of one or more databases known in the art. The databases may be centralized or distributed across multiple locations within the network1015.

A user may enter commands and information into the computing device1001using an input device. Such input devices comprise, but are not limited to, a joystick, a touchscreen display, a keyboard, a pointing device (e.g., a computer mouse, remote control), a microphone, a scanner, tactile input devices such as gloves, and other body coverings, motion sensor, speech recognition, and the like. These and other input devices may be connected to the one or more processors1003using a human machine interface1002that is coupled to the bus1013but may be connected by other interface and bus structures, such as a parallel port, game port, an IEEE 1394 Port (also known as a Firewire port), a serial port, network adapter1008, and/or a universal serial bus (USB).

A display device1011may also be connected to the bus1013using an interface, such as a display adapter1009. It is contemplated that the computing device1001may have more than one display adapter1009and the computing device1001may have more than one display device1011. A display device1011may be a monitor, an LCD (Liquid Crystal Display), light emitting diode (LED) display, television, smart lens, smart glass, and/or a projector. In addition to the display device1011, other output peripheral devices may comprise components such as speakers (not shown) and a printer (not shown) which may be connected to the computing device1001using Input/Output Interface1010. Any step and/or result of the methods may be output (or caused to be output) in any form to an output device. Such output may be any form of visual representation, including, but not limited to, textual, graphical, animation, audio, tactile, and the like. The display1011and computing device1001may be part of one device, or separate devices.

The computing device1001may operate in a networked environment using logical connections to one or more remote computing devices1014a,b,c. A remote computing device1014a,b,cmay be a personal computer, computing station (e.g., workstation), portable computer (e.g., laptop, mobile phone, tablet device), smart device (e.g., smartphone, smart watch, activity tracker, smart apparel, smart accessory), security and/or monitoring device, a server, a router, a network computer, a peer device, edge device or other common network node, and so on. Logical connections between the computing device1001and a remote computing device1014a,b,cmay be made using a network1015, such as a local area network (LAN) and/or a general wide area network (WAN), or a Cloud-based network. Such network connections may be through a network adapter1008. A network adapter1008may be implemented in both wired and wireless environments. Such networking environments are conventional and commonplace in dwellings, offices, enterprise-wide computer networks, intranets, and the Internet. It is contemplated that the remote computing devices1014a,b,ccan optionally have some or all of the components disclosed as being part of computing device1001. In various further aspects, it is contemplated that some or all aspects of data processing described herein can be performed via cloud computing on one or more servers or other remote computing devices. Accordingly, at least a portion of the system1000can be configured with internet connectivity.

Exemplary Aspects

In view of the described products, systems, and methods and variations thereof, herein below are described certain more particularly described aspects of the invention. These particularly recited aspects should not however be interpreted to have any limiting effect on any different claims containing different or more general teachings described herein, or that the “particular” aspects are somehow limited in some way other than the inherent meanings of the language literally used therein.

Aspect 1: A system comprising:a gantry comprising an end-of-arm tool (EOAT), wherein the gantry comprises a first linear actuator that is configured to axially move the EOAT along a first axis and second linear actuator that is configured axially move the EOAT along a second axis that is perpendicular to the first axis;at least one input conveyor, wherein each input conveyor of the at least one input conveyor comprises a plurality of pucks that are each configured to receive a prescription container and carry the prescription container to the gantry; andat least one output conveyor that is configured to receive the prescription container from the gantry,wherein the gantry is configured to move the prescription container from the plurality of pucks to the at least one output conveyor.

Aspect 2: The system of aspect 1, wherein the at least one input conveyor comprises a plurality of input conveyors, wherein the plurality of input conveyors extend to the gantry along a third axis that is perpendicular to the first and second axes.

Aspect 3: The system of aspect 1 or aspect 2, wherein the at least one output conveyor comprises a plurality of output conveyors, wherein the plurality of output conveyors extend outwardly from the gantry along a third axis that is perpendicular to the first and second axes.

Aspect 4: The system of any one of the preceding aspects, wherein the EOAT comprises opposed gripping elements that are movable relative to each other.

Aspect 5: The system aspect 4, opposed gripping elements of the EOAT are movable relative to each other along the second axis.

Aspect 6: The system of any of aspects 4-5, wherein the opposed gripping elements comprise opposed first and second gripping elements, wherein each of the opposed gripping elements comprises at least one cutout, wherein each cutout of the at least one cutout has a width along a third axis that is perpendicular to the first and second axes, wherein the width of each cutout of the at least one cutout of the first gripping element of the opposed gripping elements decreases along the second axis in a corresponding direction away from the second gripping element of the opposed gripping elements.

Aspect 7: The system of any one of aspects 4-6, wherein the at least one cutout of each of the opposed gripping elements comprises a gripping surface having a wedge shape with a decreasing thickness toward the opposed gripping element.

Aspect 8: The system of any one of aspects 4-7, wherein the at least one cutout of each gripping element of the opposed gripping elements comprises a plurality of cutouts.

Aspect 9: The system of any one of the preceding aspects, wherein each puck of the plurality of pucks comprises a receptacle and an insert that is received within the receptacle, and wherein the insert is configured to complementarily receive at least a portion of the prescription container.

Aspect 10: The system of any one of the preceding aspects, wherein each puck of the plurality of pucks comprises an identifier.

Aspect 11: The system of any one of the preceding aspects, wherein the at least one output conveyor comprises at least one output conveyor that is configured to carry totes to and from the gantry.

Aspect 12: The system of any one of the preceding aspects, wherein the at least one output conveyor comprises at least one output conveyor having a rail and a plurality of carriers that are movable along the rail, wherein the plurality of carriers are configured to receive prescription containers therein.

Aspect 13: The system of any one of the preceding aspects, further comprising at least one optical sensor that is configured to detect a presence of a respective prescription containers in a respective puck of the plurality of pucks of the at least one input conveyor at the gantry.

Aspect 14: The system of aspect 13, further comprising a computing device having at least one processor and a memory in communication with the at least one processor, wherein the memory comprises instructions that, when executed by the at least one processor, cause the system to:receive, by the at least one processor, a signal from the at least one optical sensor that is indicative of a presence of at least one prescription container being positioned at the gantry on the at least one input conveyor; andmove, by the gantry, the at least one prescription container from the at least one input conveyor to the at least one output conveyor.

Aspect 15: The system of any one of the preceding aspects, wherein the gantry has a travel distance along the second axis of at least 60 inches.

Aspect 16: The system of any one of the preceding aspects, wherein the prescription container is a vial or a bottle.

Aspect 17: The system of any one of the preceding aspects, wherein the first axis is a vertical axis, and wherein the second axis is a horizontal axis.

Aspect 18: A method comprising:receiving, at a gantry, at least one prescription container from at least one input conveyor; andmoving, by the gantry, the at least one prescription container from the at least one input conveyor to an output conveyor,wherein the gantry comprises a first linear actuator that is configured to axially move the EOAT along a first axis and second linear actuator that is configured axially move the EOAT along a second axis that is perpendicular to the first axis;wherein each input conveyor of the at least one input conveyor comprises a plurality of pucks that are each configured to receive a prescription container, wherein each puck of the plurality of pucks is configured to carry the prescription container to the gantry.

Aspect 19: The method of aspect 18, wherein the moving, by the gantry, the at least one prescription container from the at least one input conveyor to the output conveyor comprises simultaneously moving a plurality of prescription containers by the gantry from the at least one input conveyor to the output conveyor.

Aspect 20: The system of aspect 18 or aspect 19, wherein the first axis is a vertical axis, and wherein the second axis is a horizontal axis.