Abstract:
Disclosed is a system for collecting, sorting, counting and consolidating an unorganized pool of solid or semi-solid articles such as pills for dispensation. Specifically, the articles are extracted from inside a bin using attraction points on a transport substrate and sorted into containers in finite quantities. The system consists of several components, preferably including a torque source, a counter and a vacuum source, which are uniquely integrated onto a single end-effector to reduce cost and redundancy by servicing several bins. Further, the system presents a method of attracting and carrying pills using negative vacuum pressure, gravity and centrifugal force. This centrifugal force holds articles to the local attraction points and is provided by the spinning of the transport substrate. Pills are collected from the bin or plenum at the local attraction points, counted, cleaved from the local attraction points and guided to a container or vial.

Description:
CROSS-REFERENCE TO RELATED APPLICATIONS 
       [0001]    This continuation application claims the benefit of co-pending U.S. patent application Ser. No. 10/851,675, filed May 21, 2004, which is herein incorporated by reference in its entirety. 
     
    
     FIELD OF THE INVENTION 
       [0002]    This invention relates to pill collecting and dispensing devices. In particular, this invention is designed to rapidly extract, sort, count and consolidate multiple solid and semi-solid articles using a torque and vacuum source. This invention has specific application in the pharmaceutical industry as an automated pill dispenser, but it can be applied to any system that requires loose and unorganized articles inside a bin to be sorted into finite quantities and consolidated into containers outside of the bin. 
       BACKGROUND OF THE INVENTION 
       [0003]    The market for automated pharmacy equipment is increasingly in need of a device that reliably, cost-efficiently, and rapidly automates the process of filling a prescription with minimal risk of contamination. This industry extends to both the retail and hospital markets. 
         [0004]    Pricing pressures and shrinking margins have forced retail pharmacies to rely more on technological solutions to improve process efficiency, performance and cost. The number of annual prescriptions continues to grow while a shortage of pharmacists remains. Consequently, the number of pharmacists in the workforce has fallen behind the increase in prescription demand. 
         [0005]    Also, the increasing pressure from consumers to lower drug prices and fixed costs from pharmaceutical suppliers has led to decreasing margins. This trend is projected only to worsen in the future. 
         [0006]    Further, professional skills in the hospital segment should be directed to primary care rather than pill-counting and a great need exists to replace obsolete technology to fill individual and outpatient prescriptions. Currently, both hospitals and nursing homes use products called “nursing stations,” which generally contain a smaller version of the pharmacy contained within the institution. However, these products are cumbersome and outdated. 
         [0007]    With regard to dispensing medication in the hospital and nursing home segment, prescriptions are dispensed in single doses. This market is in great need of convenience, security and inventory control. Currently, hospitals use centralized pharmacies to prepare and dispense medications, which require advance notice and sometimes results in delivery errors. Additionally, many hospitals store commonly dispensed medications in locked cabinets on a specified floor where they are commonly administered by nurses or doctors who retrieve the prescription in individual doses and administer it to the patient. A main issue with the nursing station units is that more than one dose is accessible at a time, which can lead to the problem of pill theft. To avoid this problem, many pharmacies monitor each unit on-line on a daily basis. This manages inventory and also prevents abuse. However, an automated pill counting design would result in a dramatic improvement in inventory control, efficiency and cost by eliminating overhead and the amount of time individuals must spend performing the steps currently involved in pill dispensation. 
         [0008]    With regard to drugstores and other places where pharmaceuticals are sold, industry trends in prescription growth, store construction and workforce shortages predict that stores without automated systems will face intense competition in terms of price and service from stores with more cost-efficient means of delivering prescriptions to their customers. Thus, a way to cut operational costs while maintaining a high level of customer service with a shortage of pharmacists and increasing prescription demand is to use technology to automate the prescription filling process. 
         [0009]    Presently, a high-throughput approach to pill dispensation has involved the two steps of fluidization and singulation to extract individual pills from a bin. Additionally, this approach operates on a “per-bin” basis where individual bins contain every necessary subsystem component. Fluidization involves agitating, and at times levitating the pills to randomize their position and orientation. Fluidization must be continuously applied to ensure that pills have opportunities to match the singulation mechanism. Fluidization may be induced mechanically or pneumatically. Singulation involves extracting or ejecting individual pills from the fluidized bin. This generally requires an individual pill to assume a specific position at a particular point in space so that it can be aligned with the mechanism channel or port. 
         [0010]    Many automated systems that utilize fluidization and singulation exist today in the marketplace. The McKesson Robot Rx is an automated system that uses Baker Cells, a robot retrieval arm and a central dispensing interface. The pills are stored within the Baker Cell units and singulation extracts individual pills in a channel, through centrifugal force. A variation of this design is used in hospitals to load individual doses into plastic bags for daily administration. However, this process is slow due to the time required to retrieve each cell. Also, the equipment requires a large amount of floor space. 
         [0011]    A design by Parata fluidizes and singulates pills using high pressure air, air ejectors, and solenoid control valves. A centralized vacuum circulates pills in the hopper while outbound jets use air flow to extract individual pills and drive them through a nozzle or spout. A separate pneumatic jet is used to redirect overcounts of pills back into the bin. Each bin contains a microprocessor, multiple solenoids, counting sensors, actuators and a connection for network communications. These control components occupy a large volume of bin space, reducing the volume available for pills. A minimum number of pills are needed to support fluidization. 
         [0012]    The known art includes attempts to use a vacuum source to attract pills and a torque source to rotationally transport pills for counting and dispensing purposes. Regarding this feature, two designs are noteworthy. 
         [0013]    One design uses a vacuum drum pill counter used to count and dispense pills or tablets using a vacuum source. The device includes a counter housing containing a vacuum drum, which includes a front wall, a rear wall and a perimeter wall. The front wall contains a plurality of pill apertures for attracting pills to the exterior front wall of the drum through a vacuum source that draws a vacuum through the inside of the drum to hold the pills in place. A torque source connected to the vacuum drum is used to rotate the vacuum drum. A pill separator removes pills attached to the pill apertures onto a pill shelf and a sensor attached to the housing detects the removal of the pills. A pill feeder is attached to the housing to regulate the amount of pills, which come into contact with the drum. This prevents a large volume of pills from piling on the apertures of the drum and affecting the consistent retention of pills on the pill apertures. 
         [0014]    Several disadvantages are associated with this design, namely, the placement of pill apertures on the exterior of the rotating drum requires that the vacuum source be strong enough to attract pills to the apertures and overcome the centrifugal force caused by rotation of the drum. Thus, as the drum increases speed to pick up pills more quickly, the centrifugal force works against the vacuum force. As a result, the vacuum force must be increased as well, requiring more power. Further, the use of an external pill feeder to regulate the amount of pills that come into contact with the pill apertures discourages the maximum possible number of pills from being collected and results in decreased efficiency. 
         [0015]    Another design uses a flat disk with pill apertures located on the exterior flat surface. A vacuum drive wheel and vacuum source are applied to attract pills resting against the disk to the apertures. The disk rotates and carries the pills until they are separated one at a time by a separator wall. A photoelectric cell at the discharge, opening counts each pill and a continuously feeding pill cassette positions pills against the flat disk. An agitator consisting of radial spokes turns with the conveying wheel to break up pills and prevent them from bridging together. 
         [0016]    This design also attracts pills to the exterior flat surface of a solid flat disk, and thus, suffers from the same disadvantages in configuration, as previously discussed. This configuration works against centrifugal force, making it necessary to increase the power of the vacuum force in order to attract the pills Further, this system relies on an agitator to cause fluidization of the pills using a series of spokes. This however, may cause the pills to chip, break or become damaged, in addition to creating large amounts of dust leading to cross-contamination. 
         [0017]    Many known automated dispensing systems utilize several complex system components including a counter, a type of control circuitry, sensor, motor source, and chute or slide for dispensation. A disadvantage of these systems is that each bin is comprised of dedicated subsystems for dispensing, counting and controlling. This results in redundancy (e.g., high manufacturing and maintenance costs to replicate several bins) and a higher chance of leakage. 
         [0018]    Thus, there is a clear need for an efficient vacuum pill collector and dispenser system that works with centrifugal force to attract and hold pills, maximizes the opportunity for pill capture, maximizes efficient usage of space, eliminates the need for fluidization or an agitator and eliminates redundancy to reduce maintenance and manufacturing costs. There is a clear need for a pill collection and dispensing device that reduces the complexity of the collection and dispensation process, costs less than current systems, is reliable, fast, requires little maintenance and has low contamination risk. The present invention is such a system. 
         [0019]    The system of the present invention provides an effective method of pill collection, sorting, counting and dispensing using a vacuum source, a rotating transport substrate and a unique end-effector design for cost and space savings. An automated system such as the present invention can remedy many of the problems associated with manual and currently-known automatic pill dispensation. For example, it can increase counting accuracy, lower costs, expand the pharmacy&#39;s or hospital&#39;s capabilities, increase total pill volume, increase volume per bin, increase reliability and increase filling speed. The system is also easy to operate, can be integrated with other necessary systems, and has a low maintenance cost. 
         [0020]    In short, the system of the present invention proposes a new approach to pharmacy automation, which allows a degree of scalability and modularity such that it meets the needs of customers in terms of size, cost and function. By utilizing fewer and simpler parts, the system is more cost-efficient, more compact and more reliable. 
       SUMMARY OF THE INVENTION 
       [0021]    The system of the present invention is an automated pill collection and dispensing system for application in both the retail and hospital market segments. The design is comprised of several subsystem components. The system is capable of rapidly and efficiently extracting, counting, sorting, and dispensing loose and unorganized articles including but not limited to pills, candy, grain, beans, and discrete components stored in multiple bins. While the system may be used in the collection and dispensation of loose and unorganized articles, pills will be used throughout this description for purposes of example. Certain subsystems of the present invention are embedded on a unique “end-effector” design, which improves operational efficiency of the system. The end-effector eliminates redundancy, cost and overhead by incorporating many components of the system into one separate device, which can service multiple bins. This eliminates the outdated and inefficient approach of “per-bin” solutions. 
         [0022]    The system includes a transport substrate (“TS”) residing inside a bin and communicating with a vacuum source to facilitate article capture. The TS can be many shapes, including but not limited to, nested bowls, a hollow ring, a hollow cylinder, or any other shape that provides a lip or internal surface. Distributed along the internal surface of the TS are apertures, or local attraction points (“LAPs”), which attract and hold pills (or other articles) with negative vacuum pressure. The surface of the TS may be flat or contoured. The TS is further driven by a crank or motor, which creates a torque source. This allows the TS to capture pills on the bottom of the internal surface and carry pills to the top, underside of the TS where they are removed for counting and discharge. Since the pill apertures reside on the internal surface of the TS, the centrifugal force created by the torque source encourages pills to hold to the LAPs. Thus, it is not necessary for the vacuum source to overcome centrifugal force as is the case when pills are situated on external surfaces, as found in many known systems. In fact, at high RPM&#39;s the centrifugal force actually assists in holding the pills to the LAPs. 
         [0023]    In the system of the present invention, pills are piled on the bottom of the TS naturally due to gravity, which maximizes the opportunity for pill capture even if relatively few pills are left in the bin. Further, the slanted design of the bin floor facilitates consolidation of the pills at the bottom of the TS. Thus, there is no minimum number of pills required to achieve fluidization or singulation within a bin. This eliminates the need to overstock produce and risk product expiration. The system is also efficient in that a large number of pills may reside in the bin without overwhelming the system. Thus, it is not necessary to regulate the amount of pills using a pill feeder to maintain a narrow margin of pills in the bin. The design of the present invention further eliminates the need for an agitator since there is no risk of the pills bridging or jamming. 
         [0024]    Alternatively, the system of the present invention may incorporate a compressed air approach in place of a vacuum source. The compressed air would blow by the local attraction points and attract pills either through the Bernoulli or Venturi effect. Further, using a centrifugal pump embedded in the bowls in addition to a vacuum source could increase the effect of the centrifugal force at high RPMs. 
         [0025]    The system of the present invention includes a combination of unstable surface contours and a mechanical filter to remove misplaced articles from the surface of the bowl. This is known as “misplaced article ejection” (“MAE”). These may be pills, which attach to the surface at points not designated as LAPs or points where more than one pill attaches to an LAP. A convex surface or “cow-catcher”-like filter can be used to orient pills on the LAP and eject pills that are sharing an LAP. In the preferred embodiment, the filter may be unique to pill type and thus capable of sorting through a variety of pill types mixed together in one bin or alternatively in multiple separate bins. 
         [0026]    Additionally, a cross-flow (i.e., air pressure perpendicular to the direction of pill flow), created by the vacuum source or from the focused air source, may be used to sweep off any misplaced articles not associated with an LAP. However, one skilled in the art will recognize that any number of mechanisms including, but not limited to, a physical brush or curtain, positive pressure (repulsive force), unstable points on the TS, and centrifugal/centripetal acceleration may be used for purpose of sweeping away misplaced articles not associated with a LAP. 
         [0027]    In the system of the present invention, gravity further assists with removing misplaced pills or articles, which will fall off when they reach the upper internal surface of the TS if not completely attached to a LAP. 
         [0028]    In the system of the present invention, a shear plate shaped to fit the contour of the TS is used to separate pills for collection at a “cleave point” designed to minimize damage to the pills. Further, a neutralizing plate, blocking the vacuum to the LAPs, may be incorporated to assist in separating the pills from LAPs and improving overall vacuum efficiency. 
         [0029]    Just prior to the point of separation, a counter created by a cross-beam LED and photo-detector is used to keep track of the number of pills dispensed. However, one skilled in the art will recognize that any number of detection mechanisms including, but not limited to, structured light, computer vision (image/pattern analysis), echo-return or turnstile may be used for this purpose. Alternatively, this “counting zone” may occur just after the “cleave point” or may occur redundantly on the end-effector. In the preferred embodiment, several counters may be held on the end-effector and thus re-used for multiple bins. 
         [0030]    In the system of the present invention, a simple chute or channel, called a “separated article guide” (SAG) is used to carry pills into a storage point or vial by gravity and momentum. Additionally, the vacuum source may be used to boost the speed of articles on the channel, forcing the article down faster than the force of gravity and momentum alone. 
         [0031]    A mechanism controller drives and monitors the automated article dispenser. It is comprised of a micro-controller device, keypad, control circuitry, LCD, etc., and is integrated with the end-effector to serve the entire system. The mechanism controller operates the motor, which drives the torque source, controlling position and speed. It can receive commands or requests from a user for a finite number of articles from a specific bin and in response activates the other components of the system to begin extraction of articles. The mechanism controller also keeps track of the number of articles that pass through the counting zones. Further, the mechanism controller may act as a closed-loop controller, which increases vacuum pressure or speed to collect the expected number of articles in response to data collected from the sensor. Thus, the mechanism controller responds to requests or commands for retrieving a specific quantity for dispensation into containers or vials. 
         [0032]    Additionally, the mechanism controller can be controlled from a user interface at a standard computer terminal or, alternatively a specialized terminal for this purpose. The mechanism controller can be given manual input from the user interface to position the end-effector or to request a finite number of articles from a specific bin. 
         [0033]    An additional component of the system of the present invention is an overflow article return. If the total of separated articles exceeds the desired amount of articles, the extra articles are redirected back into the bin. The overflow article return operates by using a physical barrier such as a gate to prevent the extra pills from entering the container or vial. Preferably, the gate is controlled by the mechanism controller, which recognizes when the number of desired pills has been reached. The pills can then be forced back through the chute using a unique air pressure approach, which originates from behind the pill to flush it out back to the bin. Also, the airflow direction of the vacuum boost can be reversed using the vacuum source&#39;s exhaust air to force pills back through the SAG. Meanwhile, the transport substrate may reverse direction to return the extra pills back to the bin. 
         [0034]    Significantly, a number of the components of the present invention are integrated onto an end-effector. This minimizes redundancy by combining the vacuum, micro-controller, counter and torque source (or motor) onto one device that is used for all bins. In presently-known designs, most or all of these components have been dedicated to each bin. 
         [0035]    The end-effector consists of 1) a single controller which interfaces to any bin; 2) a single vacuum port which mates to any bin on contact to provide negative pressure for the local attraction points, the channel booster pressure, cross-flow pressure for misplaced article ejection, and pressure for overflow article return; 3) a single torque source (or motor) that rotates any transport substrate and controls the speed and position depending on the number of pills necessary to dispense, which can brake to stop movement and reverse direction to return pills to the bin pile; and 4) a counter to count pills immediately prior to the cleave point. 
         [0036]    The system of the present invention could also be modified to work with a single bin rather than multiple bins. 
         [0037]    Thus, it is an objective of the system of the present invention to create an automated system for efficient extracting and dispensing of various articles. 
         [0038]    It is also an objective of the system of the present invention to provide a vacuum source, which uses negative pressure to attract pills to local attraction points on the internal surface of a transport substrate. 
         [0039]    Another objective of the system of the present invention is to provide a torque source, which rotates the transport substrate and creates a centrifugal force, which assists in holding pills to the local attraction points. 
         [0040]    A further objective of the system of the present invention is to automatically sort, count and dispense a select number of solid or semi-solid articles such as pills from a bin or plenum. 
         [0041]    Yet another object of the present invention is to use gravity to assist in the association of articles with the transport substrate. 
         [0042]    Another object of the system of the present invention is to utilize a centralized vacuum source to perform several functions. 
         [0043]    Yet another objective of the system of the present invention is to integrate multiple subsystems for dispensing, counting and controlling onto one end-effector for servicing multiple bins. 
         [0044]    Still another objective of the system of the present invention is to reduce replication, complexity, cost and maintenance requirements for filling prescriptions. 
         [0045]    Another objective of the system of the present invention is to prevent prescription overfilling and underfilling. 
         [0046]    A further objective of the system of the present invention is to provide a unique bin floor shape for consolidation of pills. 
         [0047]    Another objective of the system of the present invention is to eliminate the need to regulate the amount of pills present in the bin. 
         [0048]    Yet another objective of the system of the present invention is to utilize centrifugal force to eliminate misplaced articles. 
         [0049]    Another objective of the present invention is to eliminate the need for induced fluidization and singulation of pills in a bin. 
         [0050]    A further objective of the present invention is to provide a cleave point to separate pills and a chute to guide pills toward a vial. 
         [0051]    An additional objective of the present invention is to provide a mechanical filter to eliminate misplaced articles. 
         [0052]    A further objective of the present invention is to use gravity to assist in eliminating misplaced articles. 
         [0053]    Another objective of the present invention is to minimize contamination risk to pills. 
     
    
     
       BRIEF DESCRIPTION OF THE DRAWINGS 
         [0054]      FIG. 1A  is a macro-level overview drawing of the automated article dispensing system of an embodiment of the present invention. 
           [0055]      FIG. 1B  is a bin-level cross-section view of a single automated article dispensing mechanism of an embodiment of the present invention. 
           [0056]      FIG. 2A  depicts a typical pill dispensing system of the prior art. 
           [0057]      FIG. 2B  depicts a detailed view of a typical vacuum drum of a pill dispensing system of the prior art. 
           [0058]      FIG. 3A  depicts a front view perspective of the main structural subsystem components of a single automated dispensing mechanism of an alternative embodiment of the present invention. 
           [0059]      FIG. 3B  depicts a rear view of the main structural subsystem components of a single automated dispensing mechanism of an alternative embodiment of the present invention. 
           [0060]      FIG. 4A  depicts a detailed view of the structure and operation of the nested bowl subsystem of an embodiment of the present invention. 
           [0061]      FIG. 4B  depicts a transport substrate with focused air source. 
           [0062]      FIG. 4C  depicts a magnified view of a focused air source acting upon the transport substrate. 
           [0063]      FIG. 5A  depicts a detailed view of the misplaced article ejection subsystem of an embodiment of the present invention. 
           [0064]      FIG. 5B  depicts a detailed view of an alternative misplaced article ejection subsystem of the present invention. 
           [0065]      FIG. 6  depicts a view of a typical pill counter subsystem of an embodiment of the present invention. 
           [0066]      FIG. 7  depicts a detailed view of the exemplary cleave point and separated article guide subsystems of an embodiment of the present invention. 
           [0067]      FIG. 8A  depicts a view of the overflow article return subsystem of an embodiment of the present invention with a gate open. 
           [0068]      FIG. 8B  depicts a view of the overflow article return subsystem of an embodiment of the present invention with a gate closed. 
           [0069]      FIG. 9  depicts a detailed view of the end-effector model of an embodiment of the present invention. 
           [0070]      FIG. 10A  depicts a view of a single bin of the preferred embodiment. 
           [0071]      FIG. 10B  depicts a cut away view of a bin of the preferred embodiment highlighting the front end of the bin. 
           [0072]      FIG. 10C  depicts a cut away view of a bin of the preferred embodiment highlighting the back end of the bin. 
           [0073]      FIG. 11  depicts a sectional view of the transport substrate of the preferred embodiment. 
           [0074]      FIG. 12  depicts an end-effector in front of a bin. 
           [0075]      FIG. 13A  depicts a rear view of an end-effector of the preferred embodiment. 
           [0076]      FIG. 13B  depicts a front view of an end-effector of the preferred embodiment. 
           [0077]      FIG. 14A  depicts an end-effector interfacing with a bin. 
           [0078]      FIG. 14B  depicts the positioning of an end-effector with respect to a bin while interfaced. 
           [0079]      FIG. 14C  depicts an alternate perspective of the positioning of an end-effector with respect to a bin while interfaced. 
           [0080]      FIG. 15  depicts the preferred embodiment of an automated article dispensing system of the present invention combining multiple bins, an end-effector and various components necessary for properly filling, labeling and capping vials. 
       
    
    
     DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS 
       [0081]    A further understanding of the present invention can be obtained by reference to preferred embodiments as set forth in the illustrations of the accompanying drawings. Although the illustrated embodiments are merely exemplary of systems for carrying out the present invention, both the organization and method of operation of the invention, in general, together with further objectives and advantages thereof, may be more easily understood by reference to the drawings and the following description. The drawings are not intended to limit the scope of this invention, but merely to clarify and exemplify the invention. 
         [0082]    The vacuum driven pill collection and dispensing system is shown in FIGS.  1  and  3 - 16 . It is noted that the system may also apply to any solid or semi-solid articles such as candy, grain, discrete components, beans, tablets, capsules, vitamins, dietary supplements, etc. that require sorting and consolidation. 
         [0083]      FIG. 1A  is an overview macro-level drawing of an automated pill collection and dispensing system  100  of an embodiment of the present invention. The system consists of several identically designed bins  101 . Preferably, each bin  101  contains a unique type of pill. In order to fill prescriptions, vials must be carried to the different bins. The system of the present invention minimizes replication by integrating many of the subsystem components that allow for counting, extracting and dispensing onto an end-effector  102 , which is used to service each bin  101 . The system is operated by a mechanism controller that drives and monitors the automated dispensing system and operates as a closed loop controller. This configuration eliminates ductwork, minimizes leakage points, reduces maintenance and significantly reduces cost because there is less redundancy. As shown in  FIG. 1A , end-effector  102  can travel up, down and across to make contact-with any bin as required. 
         [0084]      FIG. 1B  shows a cross-sectional view of an individual pill dispensing mechanism of the present invention including all subsystem components at the bin level. This figure represents operation of the bin when in contact with the end-effector and includes reusable components attached to the end-effector. 
         [0085]    The system consists of a bin  101  filled with a multitude of pills  103 . In a preferred embodiment of the present invention, there will be several bins in one system filled with uniquely different types of pills. The amount of pills contained within a bin is dependent upon bin volume and pill size. Bin  101  is designed to be slanted downward from back to front as shown in  FIG. 1B  to allow for consolidation of pills  103  toward the bottom front of the bin  101 . Bin  101  may be constructed of any type of air sealed plastic approved for contact with pharmaceutical substances. The pills collect at the bottom front of the bin  101  where they come into contact with transport substrate  104  containing local pill apertures  105 . Pill apertures  105  act as local attraction points (LAPs). Gravity assists in pills  103  finding pill apertures  105  as the pills  103  come to rest on the transport substrate  104  at the bottom front of the bin  101 . Pills  103  adhere to the local attraction points through a vacuum source (not shown) that operates from inside transport substrate  104  to create negative pressure at pill apertures  105 . A vacuum port allows vacuum pressure into transport substrate  104 . Torque source  110  provides a motor or drive to rotate transport substrate  104  and transport pills  103  to counting zone  108  where the quantity of pills extracted is totaled. In addition to the negative pressure at the pill apertures  105 , the rotation of the transport substrate  104  by the torque source  110  provides centrifugal force that additionally assists in associating the pills  103  with the transport substrate  104 . Misplaced article ejection point  106  prevents straggler pills from passing through counting zone  108  to prevent miscounts (e.g., prescription over- or under-filling). In a preferred embodiment, counting zone  108  occurs before or at cleave point  112 , which physically separates pills  103  from pill apertures  105 . Alternatively, counting zone  108  may also be located after cleave point  112  or on the end-effector  102 . 
         [0086]    Still in motion, the pills are forced down channel  114 , which acts as a separated article guide (SAG), into destination vial  116 . Gate  118  opens and closes electromechanically to control pill flow into vial  116 . Gate  118  works with vacuum pressure to perform overflow article return when the number of desired pills has been dispensed. The mechanism controller operates this function and appropriately shuts down the remaining subsystems. The end-effector subsequently travels to the next bin to repeat the process. 
         [0087]      FIG. 2A  depicts a typical prior art pill counting and dispensing system  200 .  FIG. 2A  shows a rectangular housing with a front and top wall. In this design, all components are located within the housing. The housing contains a vacuum drum  202 , pill shelf  203 , pill chute  212  leading to discharge aperture  214 , counting sensor  208  and motor  216 . Pill feeder  206  is positioned on the top wall of the housing. Vacuum drum  202  contains pill apertures  204  located on the front wall. A vacuum source communicates with the housing such that the vacuum source is capable of drawing a vacuum through the pill apertures  204 . Motor  216  simultaneously rotates vacuum drum  202  to lift and carry pills  201  to pill separator  210  where the pills  201  are removed from vacuum drum  202 . Pill feeder  206  is used to regulate the amount of pills  201  inside the housing. In this design, an excessive number of pills  201  collecting against vacuum drum  202  can negatively affect the consistent retention of pills  201  to pill apertures  204  by overwhelming the system. This is a result of the weight created by a large number of pills  201 , which may bridge the pills  201  together and prevent pills  201  being picked up. However, too few pills  201  will reduce the chances of all apertures  204  coming in contact with a pill  201  and thus not operating efficiently. Also, pills  201  cannot exploit the full effects of gravity to find pill apertures  204 . This is because pills  201  stack on each other and the stack lean against the end of the drum. 202 . The force from this leaning is significantly less than the force from the weight of the pills  201 . Therefore, a complex, and often unpredictable, process of pill regulation must be performed in order for the system to operate at its potential. Further, pills  201  may not be stored in the housing but must be kept in separate bins and added to the housing as required. 
         [0088]      FIG. 2B  depicts a detailed view of an exemplary prior art vacuum drum  202  shown in  FIG. 2A . This figure illustrates the operation of vacuum drum  202  to lift and carry pills  201  for dispensation. Pill apertures  204  are located on the outside front wall of the hollow drum. Inside the hollow drum is a channel to a vacuum source that creates negative pressure at pill apertures  204  to attract and hold pills  201  to the external surface. As shown in the figure, the hollow drum rotates to carry the pills. The rotation of the hollow drum creates a centrifugal force that works in opposition to the vacuum force holding the pills to the apertures on the front wall. Thus, the vacuum force must be strong enough to attract pills  201  to pill apertures  204  despite minimal help from gravity, as well as overcome the centrifugal force, which results from rotation of the drum. 
         [0089]      FIG. 3A  depicts a front perspective view of the major components of the article dispensing mechanism of an alternative embodiment of the present invention. The main components per-bin include transport substrate  104 , in this case a hollow vacuum ring, pill apertures  105 , misplaced article ejection  106 , counting zone  108 , cleave point  112 , separated article guide  114  and drive gears  110  that rotate transport substrate  104  with an outside torque source. However, several of the components are preferably embedded on an end-effector and therefore not duplicated for every bin. 
         [0090]      FIG. 3B  depicts a rearview perspective of system  300  including all of the main subsystem components. 
         [0091]      FIG. 4A  shows a detailed view of the transport substrate  104  which may be constructed of any type of material such as plastic that is disposable after a limited number of uses and approved for contact with pharmaceuticals by the Food and Drug Administration. In the preferred embodiment, each bin includes its own transport substrate  104 . Transport substrate  104  contains pill apertures  105  that function as local attraction points (“LAPs”). A vacuum force  401  inside the transport substrate attracts pills  103  to pill apertures  105  with negative pressure. The vacuum force  401  is presented through a vacuum port located on the end-effector, which mates to each bin and draws air through the transport substrate. The vacuum force  401  may be created by any type of small, quiet vacuum source  401  capable of generating a negative pressure. Gravity works in favor of pills  103  finding and adhering to pill apertures  105 . Pills  103  rest upon a surface of the transport substrate  104 , exploiting the effect of gravity to adhere to pill apertures  105  as they rotate below the collection of pills  103 . Inherently, the rotation of the transport substrate  104  agitates the pills  103 , which also aids in pills  103  adhering to pill apertures  105 . 
         [0092]    The pills adhere to pill apertures  105  and are carried to the top of the underside of the transport substrate  104  as it rotates. The rotation of the transport substrate  104  causes a centrifugal force that works in favor with the vacuum force  401  to attract and hold pills. The faster the transport substrate  104  is rotated, the stronger the centrifugal force becomes, ensuring that the pills adhere to the transport substrate  104 . Thus, the centrifugal force may assist in holding pills. Another advantage of this design is that it facilitates elimination of misplaced articles. When the pills reach the top of the underside of the transport substrate  104 , gravity will cause the pills that are not attached to pill apertures  105  to fall down. 
         [0093]      FIG. 4B  depicts a transport substrate  104  with a focused air source  120 . As the transport substrate  104  rotates, it carries pills  103  until the force of gravity is greater than the friction of the pills against the transport substrate  104 . As a result, the pile of pills  103  “thins” in the direction of rotation of the transport substrate  104 . Air directed from the focused air source  120  pushes the pills  103  against the transport substrate  104 , improving singulation of the pills  103  where the pile has thinned. 
         [0094]      FIG. 4C  is magnified view of the output of focused air source  120 , wherein the positive pressure from the focused air source  120  in conjunction with the negative pressure from the LAP  105 , increases the likelihood that a pill  103  will be attracted to a LAP  105 . This increases overall singulation of pills  103  and improves count rates. 
         [0095]    Air entering the focused air source  120  is controlled by a check valve (not shown) that allows air to enter a bin  101  when the vacuum is pulled but prevents air from entering a bin  101  otherwise. The check valve may be opened passively when the vacuum is pulled or may be actively opened by a mechanism on the end-effector  102  or activated by the end-effector  102 . Additionally, air entering to supply the focused air source  120  may be directed to a cross-flow airflow used for misplaced article ejection (not shown). 
         [0096]      FIG. 5A  depicts an exemplary misplaced article ejection (“MAE”) device  106  of the system of the present invention. The MAE  106  prevents articles not associated with local attraction points from passing through cleave point  112  and into vial  116  (shown in  FIG. 1B ). The removal of straggler articles takes place before counting zone  108 . Many types of MAE techniques may be employed.  FIG. 5A  shows an exemplary MAE “cow-catcher device”  106  that operates as a mechanical filter. Cow-catcher device  106  remains in a fixed position while the transport substrate  104  rotates. Cow-catcher device  106  filters by both orienting pills  103  on LAPs  105  and ejecting extra pills  508  that are sharing a LAP or not associated with a LAP. This is illustrated in drawings  502 ,  504  and  506  showing the progression in which the cow-catcher device  106  operates to remove an extra pill  508  attached to a LAP  105 . 
         [0097]      FIG. 5B  shows an alternative method of removing straggler articles from continuing through the rest of the system. In this figure, brush  510  is used to remove free riding extra pills  508  while the attracted pill  103  passes through the brush unaffected. In the preferred embodiment of the present invention, additional methods of misplaced article ejection may be used with the system of the present invention either alone or in combination. For example, the vacuum source may be used to create a cross-flow air flow to sweep any pills not associated with a LAP off the transport substrate  104 . Further methods of misplaced article ejection include but are not limited to unstable surface contour, positive pressure, gravity, etc. 
         [0098]      FIG. 6  shows a typical counting zone  108  of an embodiment of the present invention. The counting zone may be located either before or after cleave point  112  (not shown). Once straggler articles are removed, break beam counter  600  is used to accurately keep track of the number of pills being dispensed. Counter  600  may be a typical prior art cross-beam and photo-detector. However, counter  600  may be embedded on an end-effector and thus not permanently affixed to a single bin. The counter is a closed-loop counter and contains a sensor  603  which may preferably be formed from visible (LED) light, infrared light or ultraviolet light, wherein the pill or article breaks the beam between the emitter and receiver. However, sensor  603  is not limited to light sensors, but could include any type of sensor capable of detecting a pill passing within a sensor&#39;s detection range, such as image/pattern analysis, echo-return, etc. 
         [0099]      FIG. 7  depicts cleave point  112  and separated article guide  114  of the preferred embodiment of the present invention. Cleave point  112  is the point where articles are physically separated from their LAPs. In the preferred embodiment, cleave point  112  is a typical prior art shear plate, shaped to fit the contour of the transport substrate  104  and minimize pill damage. A vacuum neutralizing plate may also be used to assist in separating pills. A vacuum neutralizing plate works by blocking the negative pressure from the vacuum source at certain pill apertures  105 . Placing a vacuum neutralizing plate at cleave point  112  helps ensure that the pills  103  are removed from pill apertures  105 . The neutralization plate helps prevent a reduced vacuum force due to unoccupied LAPs. For example, after pills  103  are cleaved from the transport substrate  104 , the LAPs are open (i.e., leaking) to the ambient environment within the bin  101 , reducing the level of vacuum and efficiency at other LAPs. Blocking unused LAPs increases overall vacuum at LAPs between the bottom of the transport substrate  104  and the cleave point  112 . 
         [0100]    Once separated at cleave point  112 , pills  103  are guided by a separated article guide (SAG)  114 , which in the preferred embodiment is a channel. The SAG may be any type of channel, chute, slide, duct, etc., that extends from cleave point  112  to a vial  116  (not shown) or temporary storage point. The pill is dispensed through the channel by gravity and momentum. Additionally, the vacuum source may again be used to boost the speed of the pill down the channel. Pills  103  collect in vial  116  that may be any type of plastic container suitable for consolidation of a set number of pills. 
         [0101]    Once the correct number of pills is collected from a specific bin, an overflow article return mechanism is activated, as illustrated in  FIGS. 8A and 8B . If too many pills are sent towards the vial, the extra pills can be blocked and sent back to the bin. Referring to  FIG. 8A , pills travel from SAG  114  and into vial  116 . At this point, gate  118  is open to allow pills to fill vial  116  and the vacuum boost  802  is shown to assist in forcing pills down SAG  114 . Referring to  FIG. 8B , gate  118  is closed, providing a physical barrier to prevent extra pills from entering vial  116 . The pills are then forced back through channel  114  via reverse air pressure  804 . The airflow direction of the vacuum boost may also be reversed using the exhaust air to return extra pills back to bin  101 . 
         [0102]      FIG. 9  depicts end-effector  102  shown in  FIG. 1A . In the preferred embodiment, end-effector  102  includes counter  108 , pill vial  116 , gating actuator  902 , high-pressure air or vacuum source  904  and vacuum extractor  906 . Next to end-effector  102  is bin  101 . End-effector  102  may also include a torque source for rotation of transport substrate  104  inside bin  101 . Preferably, the torque source controls speed and position of the rotation, depending on the number of pills required to be dispensed, may have a brake that can stop rotation, and can reverse direction to return pills to the bin and avoid accidental overfilling. In the preferred embodiment, the torque source is held in position on the end-effector by at least one spring. The spring allows the torque source an amount of tolerance or “compliance” and ability to mate with a bin if the end-effector does not properly align the torque source with the bin. 
         [0103]    In addition to the torque source, a timing belt may be required to transfer torque from the motor to transport substrate  104 . The motor may be any conventional electric motor used in the prior art. 
         [0104]    In another embodiment, counter  108 , held on end-effector  102 , slides over and straddles the transport substrate of each bin to count the, pills. Preferably, the vacuum extractor  906  embedded in end-effector  102  mates to bin  101  and provides the force for the local attraction points, the separated article guide booster, the cross-flow misplaced article ejection and the overflow article return. 
         [0105]    A mechanism controller, also attached to end-effector  102 , operates the electro-mechanical functions of the system of the present invention. The mechanism controller drives and monitors the entire system and is similar to systems of the prior art. The mechanism controller may consist of a micro-controller, LCD, keypad, etc., and may preferably be connected to a user-interface. In the preferred embodiment, the mechanism controller receives a command or request for a certain number of articles from a specific bin. The mechanism controller may then activate the LAPs, transport substrate and misplaced article ejection to begin the process of extracting articles from the pool. The mechanism controller is also responsible for tallying the number of articles that pass through the counting zone  108 . The mechanism controller may also act as a closed-loop controller that receives feedback signals from the counter. It can control the vacuum pressure and speed of the torque source as needed based on the number and type of articles being collected. Vacuum pressure will also vary based on size and type of pill, with more force being necessary to attract heavier pills. The mechanism controller further controls movement and operation of end-effector  102 . 
         [0106]      FIG. 10A  depicts a bin  1001  of the preferred embodiment of the present invention. The figure depicts a vacuum check valve  1018  that allows airflow through the bin during operation of vacuum applied to the transport substrate  1004 . The surface of the bin  1001  contains a counter interface  1020  and vacuum interface  1022  that mate with an end-effector  1200  (not shown). Also shown are the external surface of a transport substrate  1004  and a separated article guide  1014 . 
         [0107]      FIG. 10B  depicts a cut-away view of the bin  1001  of  FIG. 10A . Shown are the main components per bin  1001  include the a transport substrate  1004 , a misplaced article ejector  1006 , a cleave point  1012 , a first counting zone  1008  provided at the end of a counter infrastructure  1028 , a vacuum infrastructure  1030 , a bearing  1032  at the juncture of the vacuum infrastructure  1030  and the transport substrate  1032  that allows the vacuum to pass from the end-effector  1200  (not shown) through the transport substrate  1004 , and a separated article guide  1014 . The bottom  1024  of the bin  1001  is slanted to direct pills or other articles (not shown) contained within bin  1001  towards and over the transport substrate  1004 . A bowl shaped bottom  1026  of the bin  1001  is provided to guide pills or articles to the local attraction points  1005  on the transport substrate  1004 . 
         [0108]      FIG. 10C  depicts a rearview perspective of bin  1001  of  FIG. 10B . A vacuum neutralization plate  1034  covers a portion of the transport substrate  1004 , blocking local attraction points  1005  to aid in removing pills or articles at the cleave point  1008  and to increase vacuum pressure at other local attraction points  1005 . 
         [0109]      FIG. 11  is a sectional view of the transport substrate  1004  of the preferred embodiment of the present invention. As shown in this figure, the transport substrate  1004  of the preferred embodiment is hollow, allowing a vacuum to be passed through the bearing  1032  and vacuum infrastructure  1030  to the transport substrate  1004  and ultimately through the local attraction points  1005 . 
         [0110]      FIG. 12  depicts the preferred embodiment of an end-effector  1200  situated in front of a bin  1001  of the present invention. The end-effector  1200  provides a vacuum source to each bin  1001  through a supply-side vacuum interface  1218  which is supplied by a vacuum supply line  1204 , supplies the counter mechanism through the supply-side counter interface  1220  and powers the rotation of the transport substrate (not shown) via a torque source  1216 . 
         [0111]    In operation, the end-effector  1200  is positioned in front of a selected bin  1001  through operation of a Z-axis linear actuator  1202 , Z-axis rotary actuator  1206 , Y-axis linear actuator  1208  and an X-axis linear actuator  1210 , each of which facilitate the placement of the end-effector  1200  three-dimensionally in space. After proper positioning, the end-effector  1200  provides the bin  1001  with vacuum, counting and torque capabilities and collects the articles dispensed from the bin  1001  in a vial  1212  held by holder  1214 . In the preferred embodiment, the vial holder  1214  holds the vial  1212  utilizing a vacuum, however, one skilled in the art will recognize that that the vial  1212  may be held in any number of fashions, including but not limited to, clasping arms, seated positioning, a shelf, etc. 
         [0112]      FIG. 13A  depicts a magnified rear view of the end-effector  1200  of the preferred embodiment of the present invention. The magnified view depicts a second count zone  1222 , best seen in the next figure, which allows a redundant counting and possible color identification for quality control of articles dispensed for both accuracy and determining whether articles counted within the bin  1001  have properly been cleaved and dispensed. 
         [0113]      FIG. 13B  depicts a magnified front view of the end-effector  1200  of the preferred embodiment of the present invention. A vial holder  1214  utilizing a vacuum based design is depicted. 
         [0114]      FIGS. 14A-C  depict the end-effector  1200  interfacing with a bin  1001 .  FIG. 14A  depicts an end-effector  1200  properly aligned with a bin  1001 . The end-effector  1200  is aligned such that the supply-side vacuum interface  1220  and the supply-side counter interface properly line up with the vacuum interface  1020  and the counter interface  1022  of the bin  1001 , respectively. As well, the torque source  1216  properly connects with the outer surface of the transport substrate  1004  to spin the transport substrate  1004  during operation (best seen in  FIG. 14C ). 
         [0115]      FIG. 14B  depicts the end-effector  1200  completely interfaced with a bin  1001 . After the end-effector  1200  is completely interfaced, a vial  1212  held by holder  1214  is properly positioned under the separated article guide  1014  to collect dispensed articles from the bin  1001 .  FIG. 14C  depicts a rear view of the end-effector  1200  interfaced with a bin  1001 . 
         [0116]      FIG. 15  depicts an automated dispensing system  1500  of the preferred embodiment of the present invention. The system  1500  contains a plurality of bins  1516 , each preferably containing a unique article to be dispensed. The bins  1516  are provided with functional elements (torque, counting means, vacuum means, etc.) by the end-effector  1514 , which collects articles from the bin  1516 . The end-effector  1514  is connected to electronics  1512  that provide instructions to the end-effector  1514  as to which bin  1516  to operate, and the number of articles to be dispensed. For example, in an automated pharmacy application, a user would provide information pertinent to a prescription to be filled, such as the particular pill to be dispensed, the number of pills to be dispensed and information associated with a patient to be included on a label. The electronics  1512  would activate the end-effector  1514  to fill the prescription according to the information entered. 
         [0117]    One skilled in the art will recognize that the electronics  1512  may be supplied with commands from a keyboard, cursor control device, scanned barcode, smart card, separate computer system, etc. (not shown) providing information regarding the articles to be dispensed. One skilled in the art would also recognize that a keyboard, cursor control device or separate means may be connected to the electronics  1512  either directly, over a local network, or via the internet. 
         [0118]    The system  1500  also includes a vial carousel  1502  for providing vials for use by the end-effector  1514 , a label printer  1506  for creating labels depicting the vial contents, a capper  1510  for sealing vials and a vacuum source  1508  to provide the end-effector  1514  a vacuum for application to a bin  1516 . 
         [0119]    While the present invention has been described with reference to one or more preferred embodiments, which embodiments have been set forth in considerable detail for the purposes of making a complete disclosure of the invention, such embodiments are merely exemplary and are not intended to be limiting or represent an exhaustive enumeration of all aspects of the invention. The scope of the invention, therefore, shall be defined solely by the following claims. Further, it will be apparent to those of skill in the art that numerous changes may be made in such details without departing from the spirit and the principles of the invention.