Abstract:
This invention focuses on resolving outstanding problems of pharmaceutical dispensing systems. A need for dispensing of both medicaments and pre-packed medications has been addressed. This invention comprises an accurate counting system for multiple concurrently dispensed medicaments. Accurate, high speed medicament dispensing with little or no jam ups is achieved. Self recovery is provided to prevent medicament over counts. Machine self learn modes replace manual intervention by pharmacy personnel. Concurrent multi-tasking is provided and a quick action robotic arm further expedites the dispensing process. A touch screen computer is provided for coordinating the individual modules and overall control. The apparatus covers internal security and restricts access to unauthorized persons.

Description:
CROSS REFERENCE TO RELATED APPLICATIONS 
     
       
         
               
               
               
               
             
           
               
                   
                   
               
             
             
               
                   
                 7,014,063 B2 
                 March 2006 
                 Shows 
               
               
                   
                 6,974,050 B2 
                 December 2005 
                 Williams 
               
               
                   
                 6,974,049 B2 
                 December 2005 
                 Williams 
               
               
                   
                 6,971,544 B2 
                 December 2005 
                 Williams 
               
               
                   
                 6,971,541 B2 
                 December 2005 
                 Williams 
               
               
                   
                 6,910,601 B2 
                 June 2005 
                 Thomas 
               
               
                   
                 6,905,046 B2 
                 June 2005 
                 Coughlin 
               
               
                   
                 6,899,148 B1 
                 May 2005 
                 Geltser 
               
               
                   
                 6,899,144 B1 
                 May 2005 
                 Geltser 
               
               
                   
                 6,883,681 B1 
                 April 2005 
                 Coughlin 
               
               
                   
                 6,742,671 B2 
                 June 2004 
                 Hebron 
               
               
                   
                 6,722,525 B1 
                 April 2004 
                 Boyer 
               
               
                   
                 6,667,473 B1 
                 December 2003 
                 Worthington 
               
               
                   
                 6,659,304 B1 
                 December 2003 
                 Geltser 
               
               
                   
                 6,631,826 B2 
                 October 2003 
                 Pollard 
               
               
                   
                 6,625,967 B1 
                 July 2004 
                 Hebron 
               
               
                   
                 6,625,952 B1 
                 September 2004 
                 Chudney 
               
               
                   
                 6,578,734 B1 
                 June 2003 
                 Coughlin 
               
               
                   
                 6,578,733 B2 
                 June 2003 
                 Geltser 
               
               
                   
                 6,592,005 B1 
                 July 2003 
                 Coughlin 
               
               
                   
                 6,497,339 B1 
                 December 2002 
                 Geltser 
               
               
                   
                 6,421,584 B1 
                 July 2002 
                 Norberg 
               
               
                   
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                 April 2002 
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                 6,161,721 
                 December 2000 
                 Kudera et al. 
               
               
                   
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                 5,907,493 
                 May 1999 
                 Boyer 
               
               
                   
                 5,897,024 
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                 Coughlin 
               
               
                   
                 5,884,806 
                 March 1999 
                 Boyer 
               
               
                   
                 5,873,488 
                 February 1999 
                 Guerra 
               
               
                   
                 5,860,563 
                 January 1999 
                 Guerra 
               
               
                   
                 5,798,020 
                 August 1998 
                 Coughlin 
               
               
                   
                 5,768,327 
                 June 1998 
                 Pinto 
               
               
                   
                 5,762,235 
                 June 1998 
                 Coughlin 
               
               
                   
                 5,671,262 
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                 Boyer 
               
               
                   
                 5,638,417 
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                 Boyer 
               
               
                   
                 5,520,450 
                 May 1996 
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                 5,473,703 
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                 5,463,839 
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                 5,337,919 
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                 5,317,645 
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                 Perozek 
               
               
                   
                 5,213,232 
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                 5,027,938 
                 June 1991 
                 Haggarty 
               
               
                   
                 4,901,841 
                 February 1990 
                 Haggarty 
               
               
                   
                 3,985,264 
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                 3,917,045 
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     STATEMENT REGARDING FEDERALLY SPONSORED RESEARCH OR DEVELOPMENT 
     Not applicable. 
     THE NAMES OF THE PARTIES TO A JOINT RESEARCH AGREEMENT 
     Not applicable. 
     INCORPORATION-BY-REFERENCE OF MATERIAL SUBMITTED ON A COMPACT DISC 
     Not applicable. 
     BACKGROUND OF THE INVENTION 
     (1) Field of Invention 
     Pharmacies normally dispense medication based on patient&#39;s prescriptions as either pre-packaged where the correct number of doses are pre packed in a container, or as medicament where a prescribed number of pills are counted into a vial from a supply container. Several inventions have been made over the last 30 years to automate segments of the counting and dispensing process. 
     (2) Description of the Related Prior Art Including Information Disclosure 
     Automatic pharmacy dispensing systems have improved over the last three decades. Prior art has, however, not resolved the problems as listed below. 
     Prior art medicament counting problems: 
     Prior art using basic one emitter and one receiver sensors: 
     These basic light beam medicament counters have two main drawbacks. The first drawback is that a restrictive channel must be used to force each and every medicament through the light beam. Those skilled in the art would agree this leads to jam ups. Further, these restrictive channels are usually difficult to get to inside the dispenser mechanism, requiring emptying of the medicament supply bin. Additionally, pharmacy personnel have to set up these restrictive channels for different medicament sizes. The second drawback is that if the restrictive channel is not narrow enough at the counting point, two or more medicaments, one in the other&#39;s shadow, can be counted as one. 
     Those skilled in the art would agree that the counting process is eased with greater separation gaps between medicaments. This is readily achievable through free fall. Free fall, by definition, is not possible through a restrictive channel. 
     Prior art, (U.S. Pat. No. 6,592,005 B1, Jul. 7, 2003, Couglin et al) relies on widening of a single light source and finally concentrating the single light source after sensing into a single receiver. The aforementioned does not provide the ability to discern what specific areas, or beams within the sensing plane was affected by medicaments passing through. The above patent claims the emitter and detector on opposite sides of the detection plane. It should be noted that all claims are to a single medicament being sensed a time since medicaments could be erroneously counted when moving adjacent one another through the sensing plane. Also the physically bulky nature of opposed through-beam sensor configurations imposes limitations on the layout and technology used in a very critical area. 
     Prior art using wide beams with array receiver sensors, where individual elements of the array, or pixels, can be individually accessed: 
     Prior art U.S. Pat. No. 5,768,327, July 1998, Itzhak Pinto et al. shows two charge coupled array sensors, spaced relative to each other at 90 degrees, used for a free fall bulk, very large volume, medicament counter. The physical layout of two sets of sensor arrays is cumbersome and costly. In the disclosure it becomes apparent that the device was not intended to be a unit accurate counter. Note in this patent&#39;s disclosure, the adjustable fall distance pipe to reduce the chances of miscounting medicaments during tumbling. It should be noted that more recent patents to the same assignee have moved the emphasis from relying only on two axis array detection systems to improving singulation. 
     Prior art and medicament dispensing problems: 
     Those skilled in the art would agree that prior art has a direct relationship between singulation and jam ups. The narrower the passageway, the better the singulation, however also the greater the probability of a jam occurring. Prior art U.S. Pat. No. 5,213,232, May 1993, Kraft et al. and U.S. Pat. No. 5,884,806 Mar. 1999, Boyer et al. show the advantages of Archimedes screw dispensers but, as disclosed, jam problems exist. There is thus a need over prior art for a medicament dispenser with speed, good singulation and that does not jam. Preferably it should do it&#39;s own set up in a learn mode. 
     Prior art lacks dispensing error recovery systems. 
     Even with good singulation, accurate counting and good control algorithms, the possibility always exists that few medicaments may be teetering on the edge and instead of dispensing one last medicament to complete the needed count, a few more will fall into the vial. Some prior art systems slow down to a snail&#39;s pace when nearing the full count. While this improves the problem it does so at a dispensing time cost and the over count problem is still not eliminated. 
     Prior art lacks dispensing of medicament dispensing and prepackaged medication in one system: 
     Prior art lacks adequate collation area suitable for medicament vials and pre-packed medication. 
     Prior art does not provide both medicament and pre-packaged dispensing from one system. The existing pharmacy dispensing automats are thus only half automats, leaving mostly the pre-packaged dispensing to be done manually. Pre-packaged dispensing capability is critical for the export market. 
     Efficient use of pharmacy floor space and running costs: 
     Prior art is not modular and thus can not be customized to pharmacy floor layouts. Without modularization automation can not grow as customers requirements and their budgets grow. Prior art systems are complicated and thus costly to purchase and run. This makes return of investment more difficult to achieve. 
     Although, over the last three decades, the automatic pharmacy dispensing automats&#39; have made great strides forward, the problems highlighted above have not been solved in prior art. 
     BRIEF SUMMARY OF THE INVENTION 
     The system comprises, empty vial holding bins with vial retrieval, labeling, robotic arms for moving empty vials to a plurality of medicament supply bins with dispensers, medicament counter, capping station and an a plurality of output holding stations. Pre-packaged medication is retrieved from holding conveyors. 
     Of special significance are resolved problems: 
     Resolving medicament counting problems:
         By orienting the medicaments falling through a counting zone, the position of medicaments in each others&#39; shadow can be anticipated, and only one linear positional sensing array can provide multiple medicament resolution.       

     Resolving medicament dispensing problems:
         An Archimedes screw based dispensers offer both speed and good singulation. An Archimedes screw positioned above a stationary trough which allows medicament to fall back over the side of the trough into the medicament supply bin instead of getting jammed provides reliable dispensing. No jam-up prone restrictive channels are used. Pharmacy personnel set-up has been replaced by a machine self learn mode.       

     Providing error recovery means.
         Error recovery is by means of a medicament holding and return system. Immediate counts that, if added to the vial, would cause an over count, are returned to the medicament supply bin. The process is iterated until the correct count can be achieved.       

     Provision for medicament dispensing and prepackaged medication in one system:
         Ample, multi conveyor area is provided for collation of both medicament vials and pre-packed medication.   Modularity provides both medicament and pre-packaged dispensing in one system.       

     Efficient use of pharmacy floor space and costs:
         The volume of medicament supply bins is very efficiently applied resulting in the best use of floor space. Modularization allows system growth to customers requirements and their budgets.   Through simplification, this invention is cost effective to purchase and operate. This makes return of investment a reality.       

     The greater degree of automation, increased speed, collation and accuracy of dispensing, allows the pharmacists more peace of mind and quality time with their patients. The system cost effectiveness results in a quicker realization of return on investment. By adequately addressing pre-packaged medication, the invention becomes viable as an export product. 
    
    
     
       BRIEF DESCRIPTION OF THE SEVERAL VIEWS OF THE DRAWINGS 
         FIG. 1   a . General view of Automated dispenser for medicament and pre-packaged medications arranged in rows and columns. 
         FIG. 1   b . General view of Automated dispenser for medicament and pre-packaged medications arranged as a multi-level carousel. 
         FIG. 2   a . Top view of medicament supply bin. 
         FIG. 2   b . Cross section view of medicament supply bin. 
         FIG. 2   c . Isometric view of medicament supply bin with return path. 
         FIG. 2   d . Medicament slide from medicament supply bin with medicament obscured in shadow of adjacent medicament. 
         FIG. 2   e . Orthogonal front view of  2   d.    
         FIG. 2   f . Orthogonal front view of  2   d.    
         FIG. 3   a . General view of vial dispenser with label applicator visible below. 
         FIG. 3   b . Detail view of vial dispenser with vial inverted in arm-gripper. 
         FIG. 3   c . View of vial dispenser with prong in the receive position. 
         FIG. 3   d . View of vial dispenser with prong in the label applicator position. 
         FIG. 4   a . Pre-packed medications storage and transport, general isometric view. 
         FIG. 4   b . Pre-packed medications storage and transport, side view. 
     
    
    
     DETAILED DESCRIPTION OF THE INVENTION 
     Detailed Description 
       FIG. 1   a  shows a general view of medicament vials and robotic arms in a column and row configuration. This view shows touch screen computer,  30  and keyboard  29 . Each robotic arm is provided with a column vertical elevator moving means  1  and a horizontal moving means  2 . The robotic head is pivotal to engage one side for a single sided configuration or both sides, of a paired, dual sided configuration.  FIG. 1   b  indicates a multi-level carousel configuration. The vertical elevator carries the gripper  34 , while the rotary movement is provided by arm  33 . 
     The robotic arm&#39;s operational equipment comprises a simple passive, spring loaded claw to grip the vial. Empty vials of various sizes are dispensed from a space saving vertical Cartesian matrix,  3 , in  FIG. 1   a . A required vial is released by toggling of the support holders  4  in  FIG. 3   a . After release the vial slides down the trough,  5 , open end first, onto the prong equipped with rollers  6 . See printer/labeler,  7 . Once a vial is positioned over the prong  6 , the prong pivots down to press the vial against the labeler capston  8 . The capstan,  8 , rolls the vial for label application. After labeling the vial is turned up to a vertical position. The mechanism  9 ,  FIG. 3   b , is the spring loaded claw for holding the vial. The robotic arm lifts and inverts the vial and then moves to the medicament dispensing position. 
       FIG. 2   a ,  2   b  and  FIG. 2   c  show details of the medicament supply bin with an inclined Archimedes screw with rotate able helix and a fixed open top trough. The helix is driven by direct current motor,  10 , to raise medicaments up the trough from the bottom to top of the helix,  11 . Once the medicaments on the helix rise above the medicament supply bin medicament level, the inclination of generally 40 degrees causes excess medicaments  12 , to tumble back out of the trough,  13 , with good singulation on the remaining medicaments,  14  in the trough. The angle (pitch) of the helix and the smoothness of the trough are predetermined to exclude the possibility of friction leading to pinching of the medicaments but to rather singulate them towards the helix top, or fall out of the open top slot of the trough. The stationary open top trough and the rotational helix are self regulating and clearing, making jam-ups virtually impossible. Guide  15 , holds the helix down in the trough. Rotational speed of the helix is self learning and manipulated in software for the various medicament sizes. At the top of the helix the medicaments fall onto a slide,  16 , to further increase singulation. Those skilled the science will agree that all medicaments move down the slide at very close to the same speed. This implies that, due to the constant of gravity, and almost equal starting velocity, all the medicaments must follow very close to the same trajectories  18 . Round medicaments are typically unstable, but by running down the trough are imparted a rotational movement on exiting the dispenser. This rotation gives these medications, anti-tumble stability through gyroscopic action. 
     The further implication is thus that concurrently falling medicaments are side by side  31  as seen in  FIG. 2   d .  FIG. 2   e  is a view at 90 degrees to the trough showing one medicament being obscured by another.  FIG. 2   d , using light emitter  24  and light sensor array  25 , to monitor detection laminar zone  23 , is the basis of using only one charge coupled device (CCD) or CMOS array. From this angle, being orientated, it can be determined if one, two or three medicaments are present to be counted. This process is by a very high speed digital signal processor (DSP). The parameters of each and every medicament supply bin is continuously learned and, together with other medicament supply bin specific parameters, updated to a data base. The reference strip is  17 . When commencing vial filling at a new medicament supply bin, the appropriate parameters are retrieved from the data base to precisely control all aspects of the dispensing. 
     After leaving the laminar detection counting zone, the medicaments pass down to a special holding zone,  19 . This holder is equipped with a selectable exit means. Door  20  passes the medicaments to the vial, or a return means to return them to the medicament supply bin. The counting plane is  22 . This return means to medicament supply bin could be by air jet,  21 . The return channel is  35 . During normal initial counting, this selectable means routes the medicaments to the vial with the door,  20 , open. As the total count is approached the medicaments&#39; free path to the vial is closed and the medicaments are held back in the holder. At this point the count in the holding area is monitored to ascertain that the total of vial contents plus holding contents does not exceed the total count. Should this be the case the medicaments in the holding section are returned to the medicament supply bin and the system continues iteration until the right count is achieved. In one embodiment the return means of the medicament holding system could be an air jet and in another the means could be an electric solenoid. A concurrent multitasking embodiment is envisaged where the final count can held in the output chute until it can be serviced by the robot arm. Vial drop off position is  27  (only one shown), with release mechanism  26  (only one shown). Medication collation is on multiple rows,  28 .  FIG. 1   a  shows an arrow on medication collation conveyor  28  to show direction of travel after vial has been dropped of on conveyor by vial gripper-arm. At  32 , an electronic ID device is attached for locating the different items of a specific patient&#39;s prescription. 
     A fiber optic linking system, not shown in the drawings, is arranged with interfacing connectors between the frame and medicament supply bins so that a signal being carried by the link would be interrupted if a medicament supply bin was removed. This interruption would indicate a medicament supply bin was moved and would initiate a system scan, using the robotic arm equipped with a scanner and indicia on each medicament supply bin, to ascertain and log the position of all medicament supply bins to a data base. 
     In  FIGS. 4   a  and  4   b , pre-packed medication,  37 , is housed on pre-packed bulk supply conveyors,  38 , which may, depending on size of medication, be in stacked or linear form. If in stacked form, a minimal restraint arm would allow the top remaining quantity to be stacked one position down when the conveyor, with greater friction, withdraws the bottom pre-pack from the stack one by one. If stacking is due to shape or dimensions not possible, the larger pre-packed medications lie flat on the pre-packed bulk supply conveyor. At the end of each pre-packed bulk supply conveyor is an independently driven roller,  36 , with higher frictional coating than the conveyors. Light sensor  40  initiates the transfer to the roller  36  to the transfer conveyor  39 . As the medication traverses this roller, its weight on the roller, which is very slightly higher than either the conveyors, causes increased force and thus friction on the roller to move the medication over to the next conveyor. 
     Holding conveyors can be coupled together to form larger compartments. 
     Additional Applications 
     The medicament counting accuracy of the dispensing means, as detailed above, lends itself to an embodiment of a general purpose, desk top medicament counter. Yet another embodiment is, in stead of dispensing to vials, to dispense to a central chute system for take off to a pouch or bagging system. 
     CONCLUSION 
     The improvements under the present invention provide new wide ranging performance improvements beyond the expectancy of the changes. The greater degree of automation, increased speed, collation and accuracy of dispensing, allows pharmacists more peace of mind and quality time with patients. The system cost effectiveness results in a sound business model with quick realization of investment. By adequately addressing pre-packaged medication, the invention becomes viable as an export product.