Abstract:
An automated pill dispenser includes a plurality of pill chambers peripherally disposed about a hub. The hub includes a rotatable plate capable of rotating to a selected pill chamber and removing a pill therefrom. A vacuum tip including a bellows extends through an access opening formed within the rotatable plate to withdraw a pill from a bottom portion of the selected pill chamber by grasping the pill from above. A reflective bar code is disposed beneath the rotatable plate and detectable through an opening through the plate to indicate plate position relative to the pill chambers. A computer enables a user to programmably operable the pill dispenser and select the pill chamber, dosage amount and time.

Description:
CROSS-REFERENCE TO RELATED APPLICATIONS  
       [0001]     This application is related to U.S. application Ser. No. 10/438,452 filed May 14, 2003, the contents of which are hereby incorporated into this application by reference. 
     
    
     FIELD OF INVENTION  
       [0002]     This invention relates generally to medication dispensers, and more particularly, to dispensers having the ability to dispense solid pill medications on a user programmed schedule.  
       BACKGROUND OF THE INVENTION  
       [0003]     Pill dispensing systems that dispense pills according to a pre-programmed schedule are widely used and very valuable in today&#39;s society. It is advantageous for such pill dispensers to dispense different dosages of different pills at different frequencies and therefore at different times. Various pill dispensers are currently commercially available having multiple pill chambers and a means for dispensing pills contained within the chambers. However, each of these chambers contains only a single medication dose for a particular time. A single medication dose may include two, three or more different kinds of pill medication to be given at a particular time. Each pill chamber must then be individually filled with these different pill medications for a given particular time. For example, pill chamber 1 may contain two heart pills, a single antibiotic tablet and two cholesterol lowering pills all of which are to be taken by the user at 8:00 a.m. This type of pill dispensing system requires the chamber to be correctly filled with the various types and number of pill medication to be dispensed at a particular time. Thus if a user requires medication four times a day, twenty eight chambers must be individually filled by the user for one week&#39;s worth of medication. Additionally, the user is required to correctly count and place each pill medication into the correct pill chamber. This user intensive technique is prone to human error, makes it difficult to maintain the correct dispensing schedule and dose, and further leads to increased health costs as the result of non-compliance.  
         [0004]     As such, there is a need for an improved automatic pill dispenser that will reliably dispense the correct number of various pills at predetermined programmed times, provides for an easy and efficient means for placing the desired medication into the dispenser, extends the need to replenish the pill medication contained within the pill chambers from days to months, is not prone to failure or malfunction, is easy to manufacture and has a low manufacturing cost. The present invention is directed to overcoming the shortcomings of conventional pill dispensers and providing such an improved pill dispenser.  
       SUMMARY OF THE INVENTION  
       [0005]     The invention provides an improved pill dispensing apparatus comprising a cylindrically shaped base unit having one or more pill dispensing chambers radially aligned along the outer circumference of the base. Each pill-dispensing chamber may include a removable top which protects the pills from air borne contaminants. Each pill dispensing chamber is further composed of a vertically positioned pill storage chamber for storing a large number of one particular pill type which then transitions to a lower dispensing chamber. A portion of the lower dispensing chamber partially protrudes towards the center of the base. The transition region between the pill storage and dispensing chambers is inwardly sloped to guide the pill medication towards the protruding portion of the dispensing chamber. The top portion of the lower dispensing chamber has a hole which allows internal access to the pill medication. Thus the pill chambers are arranged around the circumference of the base providing internal access to each stored pill medication. Additionally, at least one vibrating motor may be mounted on the base to gently vibrate the chambers and assist pill movement from the storage chamber to the dispensing chamber.  
         [0006]     Axially mounted within the interior of the base is a disk shaped rotating platform which is powered by a set of gears and a first DC motor. As the platform rotates, a partially pie shaped hole located on the periphery of the platform allows access through each dispensing chamber hole to the respective pill medication.  
         [0007]     Also affixed to the base unit may be a bar coded semi-reflective strip having reflective and non-reflective stripes. The pattern of stripes forms a unique code for each pill dispensing chamber. Further attached to the rotating platform may be an infra-red optical emitter and detector pair which cooperatively communicate with the bar coded strip. As the platform rotates with respect to the base unit, the optical emitter emits the infra-red emission from the transmitter which is either reflected or absorbed by the strip. The reflection from the strip is received by the optical detector which then produces an electrical signal corresponding to the bar code of each chamber. The electrical signal represents the relative position of the platform with respect to each pill dispensing chamber.  
         [0008]     A DC powered suction pump having an inlet port in fluid communication with an outlet port may be further mounted on top of the rotating platform. When the vacuum pump is powered on, a vacuum is produced at the inlet port. The inlet port then connects to a flexible conduit which then further connects to the inlet port of a solenoid operable fluid switch. The outlet port of the fluid switch is in fluid communication with the atmosphere. Powering the solenoid establishes fluid communication between the atmosphere and the conduit which drastically reduces any vacuum present in the conduit. Further connected to the flexible conduit is the inlet port of a pressure transducer. The pressure transducer produces an electrical signal indicating the presence or absence of a vacuum in the flexible conduit. The flexible conduit then attaches to the top of a pill dispensing assembly.  
         [0009]     The dispensing assembly further comprises a vertically positioned rigid conduit in fluid communication with the aforementioned flexible conduit at the upper end and in fluid communication with an attached flexible silicon bellow at the lower end. A springably biased vertically moveable sheath is concentrically located about the rigid conduit having the bellow protrude through the lower portion of the rigid conduit. A limit switch is positioned above the sheath and closes when the sheath reaches the uppermost allowed vertical position.  
         [0010]     The pill dispensing assembly may be affixed to a vertically moveable rack which further engages a pinion gear powered by a second DC motor. The pill dispensing assembly is further located over the access hole of the rotating platform. Thus the dispensing assembly can move in either an upward or downward direction through the platform access hole which has a position determined by direction of rotation of the second DC motor. Two additional limit switches are further placed at the furthermost allowable vertical top and bottom dispensing assembly positions and respectively close when the assembly reaches these positions.  
         [0011]     A microcontroller is provided and interfaces to all three limit switches, pressure transducer, vacuum motor, table rotation first DC motor, vibration motors, dispensing second DC motor, opto emitter and detector, and solenoid valve. The programmable controller communicates with and controls the mechanical features of the pill dispenser. The microcontroller is further in electrical bidirectional communication with a single board computer having a touch screen liquid crystal display. The computer is programmably responsive to user input and includes a real time clock and associated memory.  
         [0012]     It should be understood that the preceding mechanical description is exemplary only and that various suitable variations may be used.  
         [0013]     In an exemplary embodiment, the user may enter a dispensing schedule by specifying the pill chamber (i.e., pill medication type), quantity of pills to be dispensed from the respective pill chamber and the time for dispensing the medication through an interactive dialog using the LCD touch screen. The single board computer controls the user interface through the interactive dialog and creates the dispensing schedule. Once the user has finished entering the dispensing schedule information, the computer then parses the dispensing schedule into a more basic schedule individually listing each time for dispensing an individual pill from a respective chamber. The single board computer is programmable and the time and/or the number of pills to be dispensed from each of the pill chambers may be programmably preset. The single board computer is operable to maintain a dispensing schedule of the pills from each of the respective pill chambers according to a predetermined dosage amount and a predetermined time. The dosage amount and time may include different frequencies and start times. When the time for dispensing the medication occurs, the computer sends the microcontroller a single pill dispensing command for dispensing only a single pill from a respective chamber. If more than one pill from the same chamber is required, another single pill dispensing command is repeated until the correct number of pills have been dispensed from that pill chamber for that particular pill type. This procedure is continued until all pills from their respective chambers have been successfully dispensed.  
         [0014]     The microcontroller is also programmable to operate the mechanism that withdraws the pills from the pill chambers. In response to a single dispensing command, the microcontroller places the dispensing assembly in the uppermost position as indicated by the closing the uppermost limit switch. The microcontroller then rotates the platform until the opto-circuitry indicates that the platform access hole is over the correct, selected pill chamber. The microcontroller then turns on the vacuum pump, vibrating motors and lowers the dispensing assembly through the platform access hole and into the pill chamber. If the flexible bellow engages a pill, a vacuum will occur in the fluid circuit. In response to the vacuum, the pressure transducer sends a signal to the microcontroller indicating that a pill has been picked up by the bellow. The microcontroller then raises the dispensing assembly and moves the platform over a release tray. The vacuum pump is then stopped and the solenoid switch activated removing the vacuum from the fluid circuit and releasing the pill. The pill subsequently falls under the force of gravity into the release tray. If a pill is not picked up, either the sheath switch or the lowermost limit switch signals the microcontroller. In response to either the sheath or lower limit switch signal, the microcontroller raises the dispensing assembly until the uppermost limit switch signals the microcontroller. The microcontroller again repeats the dispensing procedure for a number of programmed attempts, after which the microcontroller sends a “failure to pick up a pill” command to the single board computer. The single board computer then notifies the user audibly and/or visually using the LCD touch screen.  
     
    
     BRIEF DESCRIPTION OF THE DRAWING  
       [0015]     A full understanding of the invention can be gained from the following description of the various embodiments when read in conjunction with the accompanying drawing in which:  
         [0016]      FIG. 1  illustrates a cutaway view of an exemplary embodiment of the invention having a rack and pinion dispensing assembly;  
         [0017]      FIG. 2  illustrates a top view of an exemplary pill dispenser;  
         [0018]      FIG. 3  illustrates the dispensing platform;  
         [0019]      FIG. 4   a  illustrates a partially cutaway view of an exemplary vacuum dispensing system;  
         [0020]      FIG. 5  illustrates an electrical block diagram of one embodiment of the invention;  
         [0021]      FIG. 6  illustrates the parsing of the dispensing command from the single board computer to the microcontroller;  
         [0022]      FIG. 7  illustrates an exemplary control algorithm for dispensing a single pill medication;  
         [0023]      FIG. 8  illustrates a partially cutaway view of an exemplary vacuum dispensing system engaging a granular pill; and  
         [0024]      FIG. 9  illustrates a radial dispensing assembly. 
     
    
     DETAILED DESCRIPTION  
       [0025]     Referring to  FIG. 1 , a cutaway internal view of the pill dispenser  1  is illustrated having a support hub  10 . Support hub  10 , alternatively referred to as a support base, may be cylindrical in shape and has formed within top surface  11  mounting grooves  12   a ,  12   b  (not shown),  12   c  and  12   d - 12   f  (not shown) which slideably accept and hold respective pill chambers  14   a - 14   c  and  14   d - 14   f  (not shown). Pill chambers  14   a - 14   f  may be radially aligned along the circumference of hub  10  but other configurations may alternatively be used. Each chamber is formed to have respective vertically aligned pill storage chambers  22  and horizontally aligned dispensing chambers  24  that are substantially orthogonal to vertically aligned pill storage chambers  22 . Each dispensing chamber has the capacity to hold a large quantity of one particular pill type. For an example, pill dispenser  1  as described herewith is composed of six pill chambers  14   a - 14   f  and hence is capable of dispensing  6  different types of pill medication. However, the number of chambers can be increased by using a hub  10  with a larger circumference and/or radially aligning more dispensing chambers around the base or using chambers of different dimensions. The inclined transition region  26  between chambers  22  and  24  of each dispensing chamber is formed to inclinably guide the flow of pills being pulled down chamber  22  by the force of gravity and into chamber  24 . Each dispensing chamber is further formed to be interlocked with each other and mounted radially onto the outer circumference of hub  10  such that the entire dispenser  1  has a cylindrically shaped outward appearance. To protect the pills from dust and other air borne contaminants, each dispensing chamber is advantageously fitted with respective removable lids  16   a - 16   c  and  16   d - 16   f  (not shown). Pills  30  are contained within the pill chambers  14   a - 14   f . Although illustrated as having a conventional pill shape, the pills may take on other shapes in other exemplary embodiments. In one exemplary embodiment, the pills may be tablet-shaped or otherwise oblong.  
         [0026]     Still referring to  FIG. 1 , the top of each dispensing chamber  18  has formed an access hole  20  (e.g. illustrated access hole  20   a ) which allows internal access to pills contained within chamber  24 . Pill chambers  14  are preferably fixed to hub  10  and do not rotate. Not shown is release tray  15  and drawer  15   a  which are more fully disclosed in  FIG. 2 .  
         [0027]     Hub  10  has further formed a cylindrically shaped support  13  axially aligned with the circumference of hub  10 . Support  13  extends past top surface  18  of pill chamber  14 . Affixed to support  13  is stationary spur gear  50 . A semi-reflective strip  112  is circumferentially placed on the top surface of gear  50 .  
         [0028]      FIG. 2  is a top view of an exemplary arrangement of pill dispenser  1  that includes pill chambers  14   a - 14   f  circumferentially disposed around support hub  10 . Further shown is pill chamber  14   c  having respective lid  16   c  removed showing pills  30  stored within pill storage chamber  22   c . For clarity, platform  60  and associated parts are not shown. Further shown are pill dispensing chambers  24   a - 24   f  filled with their respective pills of various shapes. A peripherally disposed and inclined release tray  15  is positioned below pill chambers  14   a - 14   f  into which pills are dispensed for the user to access by way of pull out drawer  15   a . Pills withdrawn from chambers  24   a - 24   f  are positioned over and then released into tray  15 . The incline of tray  15  allows gravity to further urge the pills into drawer  15   a . Arrows  15   c  note the typical dispensed pill path from tray  15  to drawer  15   a.    
         [0029]     Referring additionally to  FIG. 3 , cylindrically shaped dispensing platform  60  is rotatably attached to support  13  by pin  62 . Platform  60  has further formed a pie shaped dispensing hole  61   a , a square shaped optical access hole  61   b  and an axially positioned mounting hole  61   c . The shape and orientation of holes  61   a ,  61   b  and  61   c  may vary in other embodiments. Affixed to the top side of platform  60  is electric motor  63 . The shaft of motor  63  protrudes through platform  60  through hole  61   d  and is further attached to pinion gear  64  which is designed to mesh with gear  50 . The diameter of pinion gear  64  is less than the diameter of gear  50  increasing the drive torque produced by motor  63  and also rotating platform  60  at a rotational velocity less than the motor shaft rotational velocity. Motor  63  is further electrically connected to printed circuit board  68  via wires  63   a  and  63   b . Printed circuit board  68  is mounted to platform  60  and rotates along with platform  60 . Powering motor  63  rotates platform  60  and also board  68  so that dispensing hole  61   a  is aligned over the dispensing chamber  24  of the selected pill chamber.  
         [0030]     Further attached to platform  60  is diaphragm suction pump  70  having an inlet port  72  and outlet port  74 . Power for pump  70  is provided via motor  71 . Inlet port  72  is in fluid communication with tube  76 . Attached to tube  76  is solenoid valve  78  having an inlet port  79   a  and an outlet port  79   b . Inlet port  79   a  is in fluid communication with tube  76 . The solenoid connects to printed circuit board  68  via electrical wires  78   a  and  78   b . The outlet port  79   b  is in fluid communication with the surrounding atmosphere. The other end of tube  76  connects to and is in fluid communication with pressure transducer  80 . The other end of pressure transducer  80  connects to and is in fluid communication with tube  82 . The other end of tube  82  connects to and is in fluid communication with dispensing conduit  90 . A flexible silicon bellow  92  is disposed on the other end of conduit  90  but other types of bellows may be alternatively used. Connected to conduit  90  is suction cup assembly  91  more fully explained below. Bellow  92 , conduit  90 , tube  82 , transducer  80 , tube  76 , solenoid valve  78 , inlet port  72 , outlet port  74  and pump  70  form a fluid circuit and are in fluid communication with each other.  
         [0031]     Conduit  90  is further vertically supported by vertically moveable rack  94 . Rack  94  is positioned to engage a corresponding pinion gear  96 . Pinion gear  96  is affixed to shaft  97  of DC motor  98 . Motor  98  is attached to platform  60  via support  99 . Motor wires  98   a  and  98   b  connect to board  68 .  
         [0032]     Limit switches  100  and  102  are affixed to platform  60  by a bracket (not shown) or other means. These switches engage rack  94  at the end of the vertical travel of rack  94  having switch  100  engage at the uppermost end of travel and switch  102  engage at the lowermost end of travel. Switches  100  and  102  are also electrically connected to board  68  with wires (not shown).  
         [0033]     Mounted on the bottom of hub  10  are vibrating motors  105  and  107 . Motor  105  is electrically connected to board  68  via wires  105   a  and  105   b . Motor  107  is electrically connected to board  68  via wires  107   a  and  107   b . Vibration motors  105  and  107  are sized and accordingly powered to be capable of vibrating hub  10  and all pill chambers  14 . Vibration motors  105  and  107  assist in altering the orientation of pills in dispensing chamber  24 , making it easier for the pills to be grasped from above by the vacuum tip of bellow  92  of assembly  91 .  
         [0034]     Infrared optical emitter and detector module  110  is further attached to platform  60  and positioned over gear  50  so that module  110  is in optical communication through hole  61   b  with reflective strip  112 . Module  110  is in electrical communication (not shown) with board  68 .  
         [0035]     Referring to  FIG. 4 , further detail of assembly  91  is depicted having bellow  92  inserted into conduit  90 . Bellow  92  has further an open conduit  106  extending from the bottom through to the top of bellow  92 . Thus fluid communication is continuous from the bottom (vacuum) tip of bellow  92  to port  74  of vacuum pump  70 . Placed along the outside of conduit  90  is moveable shealth  108 . Formed on the side of shealth  108  is slot  109 . A pin  113  is inserted into slot  109  and is attached to the side of conduit  90 . Shealth  108  is free to vertically move a predefined distance as shown by arrows  117 . The extent of vertical movement is defined by the top end  109   a  and the bottom end  109   b  of slot  109 . The bottom  114  of shealth  108  has further hole  115  which allows bellow  92  to freely protrude through and past bottom  114 .  
         [0036]     Affixed to the outside wall of conduit  90  is a push button single pole single throw sheath limit switch  120 . Button  122  when depressed into the body of switch  120  closes the switch which in turn connects switch leads  124   a  and  124   b . Leads  124   a  and  124   b  are further connected to board  68 .  
         [0037]     The upper end of compression spring  126  is attached to conduit  90  having the lower end engage the upper edge  128  of sheath  108 . Thus sheath  108  is springably biased in the vertically extended position having pin  113  engaging the top end  109   a  of slot  109 .  
         [0038]     It is thus understood that assembly  91  moves in a vertical direction as depicted by arrows  130  independently of both sheath  108  and bellow  92  vertical displacements.  
         [0039]     Referring additionally now to  FIG. 5 , an exemplary electrical block diagram of pill dispenser  1  is illustrated showing microcontroller  200  in electrical, bidirectional communication with single board computer  210  via bus  206 . Microcontroller  200  has further random access memory (RAM)  201  and flash and EPROM memory  202 . Memory  201  temporarily stores information received by computer  210 . Memory  202  contains a dispensing algorithm used to control the dispensing of medication stored in pill chambers  14 . In one exemplary embodiment, microcontroller  200  is part number MC68HC08GP32 previously manufactured by Motorola and now manufactured by Freescale Semiconductor, although it is understood that any suitable microcontroller having identical computing resources may alternatively be used as microcontroller  200 . Computer  210  is in bidirectional electrical communication via bus  215  with touch screen LCD  220 . User input and output communication  222  with computer  210  is via the touch screen and the LCD display panel respectively, both of which are incorporated into LCD screen  220 .  
         [0040]     Microcontroller  200  is preferably in further electrical communication with solenoid valve  78 , dispensing motor  98 , vibration motors  105  and  107 , platform rotation motor  63 , vacuum motor  71 , pressure transducer  80 , sheath limit switch  120 , limit switches  100  and  102 , optical emitter  110   a  and optical detector  110   b  of assembly  110  which are thus responsive to microcontroller  200 . Power supply  230  supplies the necessary electrical power to all electrical block components shown in  FIG. 5 . It is further understood that the necessary interface power circuitry for controlling the various motors from the microcontroller control signals is well known in the art and is therefore not included in  FIG. 5 .  
         [0041]     Computer  210  is a single board computer and may advantageously be an Applied Data Systems part number AGX system having a 32 bit digital Xscale PXA250 RISC Intel processor running at 400 MHz, 64 Mbytes of 100 MHz SDRAM, 128 Kbytes of EPROM, 64 Mbytes of synchronous flash memory, an ethernet 10/100BT interface, 22 digital I/O lines, three RS-232 serial ports, SPI communication port, real time clock and other peripherals. It is understood that this is exemplary only and other computers may be used in other exemplary embodiments.  
         [0042]     Opto emitter  110   a  emits infrared radiation  111   a  which is reflected off of the surface of semi-reflective strip  112  and received by opto detector  110   b.  Stationary strip  112  contains a plurality of reflective segments and a non-reflective segment, in particular non-reflective bars  112   a  and reflective bars  112   b  that may form a bar code representing the relative position of platform  60  with respect to pill chambers  14   a - 14   f . It is understood that the relative position of assembly  110  with respect to strip  112  determines whether radiation  111  a is either reflected or absorbed respectively by bars  112   b  or  112   a , and therefore received by opto detector  110   b  as reflected radiation. Opto detector  110   b  then generates an electrical signal representative of the position.  
         [0043]     In operation and now referring to  FIG. 6 , the user enters the amount of medication and the time for dispensing the medication. This procedure is more fully described in previously incorporated pending application Ser. No. 10/438,452 filed May 14, 2003 and entitled Personal Medication Dispenser. Computer  210  receives medication dispensation request information via touch screen LCD  220  and generates a dispensing schedule  300 . Schedule  300  further includes a sequence of time-ordered dispensing time blocks  307 . Each time block  307  includes the dispensing time  310 , pill chamber identification number  330  and the number of pills  320  which should be dispensed at time  310 .  
         [0044]     Computer  210  further parses schedule  300  into parsed schedule  340 . Parsed schedule  340  is further comprised of a sequence of individual time ordered dispensing blocks  315 . Each block  315  contains the time  317  along with a single pill dispensing chamber number identification  319 . Thus, time block  307  which requires two pills from chamber  1  is parsed into two blocks  315   a  and  315   b  each of which contains an individual instruction for dispensing a single pill from pill chamber  1 . Computer  210  then compares the real time clock time with time  317  and if a match occurs, begins the transfer of the dispensing instruction  342  to microcontroller  200  via bus  206  at time t 1 . Thus microcontroller  200  is instructed to only dispense one pill at a time by computer  210 . Dispensing instruction  342  contains the desired pill chamber  14  which stores the pill.  
         [0045]     Referring now additionally to  FIG. 7 , upon receiving a dispensing instruction  342  from computer  210 , microcontroller  200  begins execution of the dispensing algorithm  400 . Before receiving the dispensing instruction  342 , microcontroller  200  is held in wait state  405 . At step  410 , microcontroller  200  receives dispensing instruction  342  from computer at time t 1  and then at step  420  echoes back the received command  343  to computer  210 . Computer  210  then compares the echoed back command with the original instruction  342  and either issues an error and stops dispensing or allows microcontroller to proceed to step  425 . In step  425 , microcontroller  200  inputs the voltage on line  230   a  and checks whether switch  100  is closed. If switch  100  is not closed, microcontroller  200  outputs a command to motor  98  in step  427  to turn pinion  96  in a clockwise direction raising rack  94  and therefore assembly  91 . Motor  98  is continuously powered until switch  100  closes. In response to switch  100  closing, microcontroller  200  shuts off motor  98  stopping the upward vertical movement of rack  94  and proceeds to step  430 .  
         [0046]     In step  430  and having previously positioned rack  94  in the most upward vertical position indicated by switch  100  closing, microcontroller  200  then activates opto emitter  110   a.  Opto emitter  110   a  emits radiation  111   a  which is either reflected or absorbed by strip  112 . The reflected energy  111   b  activates opto detector  110   b  which sends a signal indicating the current position of platform  60  with respect to the desired pill chamber  14  previously received by microcontroller  200  from computer  210  in instruction  342 . In step  435 , microcontroller  200  then energizies motor  63  which in turn rotates platform  60  to position platform  60  and access hole  61   a  and select the pill chamber from which the pill or pills will be withdrawn. As platform  60  rotates, the relative position of platform  60  with respect to the pill chambers  14  is communicated to microcontroller  200  by optical assembly  110  and strip  112 . When platform  60  is aligned with the selected pill chamber  14  having corresponding access hole  61   a  over dispensing chamber  24 , microcontroller  200  in step  440  sends a command to stop motor  63 , stopping platform  60 . Hole  61   a  is now centrally aligned over hole  20  allowing assembly  91  vertical access to pills  30  contained within chamber  24 . All other pill chamber access holes are covered by platform  60 . Program flow then continues to step  445 .  
         [0047]     In step  445 , microcontroller  200  initializes a RAM  201  memory register variable TRY to 5. Microcontroller  200  additionally turns on both pump motor  71  and vibration motors  105  and  107 . Program flow then continues to step  447 , in which microcontroller  200  turns on motor  98  which now rotates in a counterclockwise direction lowering assembly  91 . Assembly  91  now begins a vertical downward decent through access hole  61   a , hole  20   a  and into dispensing chamber  24   a . Program flow now continues to step  450 .  
         [0048]     In step  450 , microcontroller  200  inputs the signal on line  102   a  from switch  102 . If line  102   a  is at a logic high indicating a switch  102  closure, program flow now proceeds to step  455  where microcontroller  200  immediately reverses the direction of motor  98  to clockwise direction raising assembly  91 . A switch  102  closure indicates that assembly  91  is at the furthermost allowed vertical descent into chamber  24 . This would occur for example if pill chamber  24  was empty. Program flow then proceeds to step  462 . If switch  102  is not closed, program flow continues to step  457 .  
         [0049]     In step  457 , microcontroller  200  inputs the signal on line  120   a  and checks the state of switch  120 . If switch  120  is closed, program flow continues back to step  455 . If switch  120  is not closed, program flow continues to step  460 .  
         [0050]     In step  460 , microcontroller  200  inputs a signal from pressure transducer  80 . If bellow  92  has engaged a pill in chamber  24  creating a vacuum seal in the fluid circuit; transducer  80  senses an increase in the vacuum pressure. Program flow then continues to step  480 . If the signal from transducer  80  indicates the absence of a vacuum seal, program flow then loops back to step  450  via node A.  
         [0051]     Referring now additionally to  FIG. 8 , bellow  92  is shown engaging the top surface of pill  500 . Bellow  92  deforms to the surface topology of pill  500  and would normally create a vacuum seal. However, there are instances where bellow  92  is fully deformed and yet a vacuum seal is not formed. This situation may arise if bellow  92  engages a pill edge thereby having conduit  106  still partially opened to atmospheric pressure thus preventing a vacuum seal from forming. With bellow  92  fully compressed and a vacuum seal not formed, sheath  108  begins to move upwardly against the force of spring  126  and switch  120 . Eventually switch  120  closes preventing the further downward motion of assembly  91  and the possible crushing or otherwise breakage of pills located beneath assembly  91 . Further, the downward force of sheath  108  created by the force produced by compressing spring  126  acting on sheath  108  produces a downward directed force  505  on surrounding pill  501  forcing pill  501  away from bellow  92 .  
         [0052]     In step  462 , microcontroller inputs signal on line  100   a  and checks if switch  100  is closed. If switch  100  is closed, program flow continues to step  464 . If switch  100  is open, program flow loops back to step  455  raising arm assembly  91  until switch  100  does close.  
         [0053]     In step  464 , the variable TRY is decremented by 1. Program flow then continues to step  466 .  
         [0054]     In step  466 , microcontroller  200  compares the current value of variable TRY to 0. If TRY=0, program flow continues to step  470 . In step  470 , microcontroller  200  sends failure message  344  to single board computer  210  indicating that a failure has occurred after five attempts of picking up a pill. Microcontroller  200  then shuts off motor  98 . If TRY does not equal 0, program flow loops back to step  447 . The TRY variable can be set to any value and for illustrative purposes has been set equal to five.  
         [0055]     Referring now to step  460 , if bellow  92  picks up a pill a vacuum is established in the fluid circuit and transducer  80  sends a signal to microcontroller  200 . Program flow then continues to step  480 .  
         [0056]     In step  480  and in response to transducer  80  signal, microcontroller  200  turns on motor  98  raising assembly  91 . In addition, vibration motors  105  and  107  are shut off. Program flow then continues to step  482 .  
         [0057]     In step  482 , microcontroller  200  inputs signal on line  100   a  and checks for switch  100  closure. Upon switch  100  closure, program flow continues to step  484 . In step  484 , microcontroller  200  turns off motor  98  thus stopping the vertical movement of assembly  91  and then turns on motor  63  rotating platform  60 . Program flow then continues to step  486 .  
         [0058]     In step  486 , microcontroller  200  inputs the signal from opto detector  110   b  and determines if platform  60  is at the correct position for dropping the picked up pill. The picked-up pill may preferably be dropped into a release tray such as release tray  15  shown in  FIG. 2 . The correct position for dropping the picked-up pill advantageously includes access hole  61   a  shown in  FIGS. 1 and 3 , aligned over an opening between dispensing chambers  24 - 24   f  providing vertical access to release tray  15 . When the drop off position is reached, program flow proceeds to step  490 .  
         [0059]     In step  490 , microcontroller  200  turns off motor  63  which stops the rotation of platform  63 . Microcontroller then turns off pump motor  71  stopping the production of the vacuum in the fluid circuit. Additionally, to quickly release the vacuum and subsequently release the pill, microcontroller  200  turns on solenoid value  78  which allows the fluid circuit to be placed in fluid communication with the atmosphere. The previously held pill is now released and falls under the force of gravity from bellow  92  and into release tray  15  from where it is urged into drawers  15   a  and may be retrieved by the user/patient. Program flow continues to step  492 .  
         [0060]     In step  492 , microcontroller  200  inputs the signal from pressure transducer  80  and determines if the fluid circuit still maintains a vacuum. Microcontroller  200  then waits until the vacuum is dissipated and then program flow continues to step  494 . In step  494 , microcontroller  200  shuts off solenoid valve  78  blocking the atmospheric pressure from the fluid circuit through port  79   b . Program flow continues to step  496 .  
         [0061]     In step  496 , microcontroller sends a success command  344  back to single board computer  210  via bus  206 . Microcontroller  200  then is placed into a wait state in step  405  where it is ready to accept the next sequenced parsed command  315   b  from computer  210 .  
         [0062]      FIG. 9  shows another exemplary embodiment of the pill retrieving mechanisms. Referring to  FIG. 9 , dispensing algorithm  400  can alternatively dispense pills using a radial arm for moving dispensing assembly  91  instead of the rack  94  and pinion  96  system. As illustrated in  FIG. 9 , attached to shaft  97  of motor  98  is a radial arm  600  which further attaches to assembly  91 . Limit switches  100  and  102  are now positioned to to engage and limit the radial movement  605  of arm  600 .  
         [0063]     While specific embodiments of the invention have been described in detail, it will be appreciated by those skilled in the art that various modifications and alternatives to these details could be developed in light of the overall teachings of the disclosure. For example, an AC powered motor could be used in place of DC motor  98 . Additionally, the number of chambers could be either increased or decreased by suitably enlarging the circumference of hub  10  or adjusting the sizes of the chambers accordingly. More or less than the exemplary illustrated six pill chambers may be used. Further, the power supply  230  could also include batteries. Accordingly, the particular arrangements disclosed are meant to be illustrative only and not limiting as to the scope of the invention which is to be given the full breadth of the appended claims and any and all equivalents thereof.