Patent Description:
<CIT> discloses "systems and methods for managing canisters used to automatically dispense medication. Canisters are configurable via a design process and a build process to accurately dispense a variety of medications. Design profiles are created and stored by a canister management system, and are federated to workstations used to build and fill the canisters, and to workstations used to dispense the medication. Information related to the build process, the fill process, and the dispense process is also federated by the system. The system also enables the transmission of other types of messages between client applications on the workstations and the canister management system. The system is useful to federate data regardless of a structure of a supply chain used to design, build, distribute, and use the canisters".

International Patent Publication No. <CIT> discloses "a medication dispenser having high space utilization, having a large quantity of medication packages loaded therein, having high medication-dispensing efficiency, and enabling smooth dispensing regardless of the size and type of the medication package. Provided is the medication dispenser comprising: a canister module in which a canister having the medication packages loaded therein is accommodated; and a pickup robot for picking up the medication packages in individual units, wherein the canister includes: L-shaped first and second walls for providing a loading space allowing the medication packages to move therein in the long axis direction of the canister; a guide for moving the first wall toward the second wall so as to adjust a gap with the second wall; a contact plate moving along the loading space, and bringing the medication packages into close contact with each other by pressure; and a spiral spring providing the pressure to the contact plate, having a strip shape, and wound in a coil shape".

<CIT> discloses "storage and distribution system for products in unit doses, including a plurality of housing units, each including a plurality of locations for products in unit doses. The housing units are organized on a vertical plane to produce at least one portion of a picking wall, in which the locations for products in unit doses face selective picking members. A picking unit includes picking members oriented on the picking wall for picking products packaged in unit doses. A collecting unit, arranged on a second side of the picking unit, includes a rack having a plurality of pegs facing towards the first side of the picking unit. The pegs are reached by the picking members so as to pick therefrom or deposit thereon products packaged in unit doses. The plurality of pegs as a whole can collect a smaller number of unit dose products than those that can be stored in the automatic store".

US Patent application No. <CIT> discloses a medication dispensing system, having a medication panel, a plurality of docking ports for accommodating medication containers, a gripper, and a receptacle carrier having a mount for holding the receptacle and movable by one or more actuators. In some embodiments, the system includes control circuitry, outputting positioning signals to move the receptacle carrier, and outputting dosage-manipulation signals to move the gripper to pick and manipulate a medication dosage out of the medication container, and the horizontal distance between the opening of the receptacle and the medication dosage is less than <NUM> at least prior to outputting the dosage-manipulation signals. The method includes extracting a medication out of the medication container, positioning a receptacle by a receptacle carrier in a horizontal distance of less than <NUM> between the medication and the opening of the receptacle, at least prior to the extracting, and dispensing the medication in the receptacle.

US Patent application No. <CIT> discloses a method of dispensing medication from a plurality of medication containers, using a dispensing system for collecting a medication dosage from a medication container including: receiving a medication selection; selecting a medication container, from the plurality of medication containers, based on the medication selection; matching a collection protocol to be applied to the medication container including one or more parameter for control of the dispensing system; and dispensing the medication selection from the medication container according to the collection protocol.

US Patent application No. <CIT> discloses a pill dispensing system includes a shelving unit in array form that holds a number of bulk containers, each holding a bulk amount of a pill to be dispensed. A computer controlled robot removes a selected bulk container and places it on a counter that also dispenses pills. The robot has an arm with a free end portion that can grip a bulk container or a single pill bottle to be filled. The robot is computer controlled to retrieve an empty pill bottle, place it on a label printing and applying unit, then place it next to the counter/dispenser to receive the selected number of selected prescription pills, then place the filled, labeled bottle on a conveyor.

European Patent No. <CIT> discloses an automated Pharmacy Admixture System (APAS) that may include a manipulator system to transport medical containers such as bags, vials, or syringes in a compounding chamber regulated to a pressure below atmospheric pressure. The manipulator system is configured to grasp and convey syringes, IV bags, and vials of varying shapes and sizes from a storage system in an adjacent chamber regulated at a pressure above atmospheric pressure. Various embodiments may include a controller adapted to actuate the manipulator system to bring a fill port of an IV bag, vial, or syringe into register with a filling port at a fluid transfer station in the chamber.

The following describes some examples of embodiments of the invention. Some example of the invention are described herein and an embodiment may include features from more than one example and/or fewer than all features of an example.

According to an aspect of some embodiments of the present invention there is provided a medication dispensing system, comprising one or more medication panels, each having a plurality of docking ports located at a vertical displacement one from another. The medication dispensing system comprises: a plurality of medication container assemblies for storing medication, coupled to the plurality of docking ports; one or more actuators; a gripping assembly, movable vertically by the one or more actuators to a proximate one or more of the medication container assemblies for picking a medication dosage out of the one or more of the medication container assemblies; and a receptacle carrier having a receptacle mount for holding one or more medication receptacles configured to receive the medication dosage from the gripping assembly; the one or more medication receptacles being positioned below said gripping assembly during said receive; wherein the one or more medication panels comprise one or more port surfaces; and the plurality of docking ports are coupled to said port surfaces, and protrude in a direction, which transverse to said one or more port surfaces in an acute angle.

According to some embodiments of the invention, the receptacle carrier is coupled to the gripping assembly for holding one or more medication receptacles to have an overlap between a projection of a medication container assembly on a vertical plane, with a projection of the one or more receptacles on a vertical plane, after the picking of said mediation dosage out of the medication container assembly.

According to some embodiments of the invention, the receptacle carrier is coupled to the gripping assembly for holding one or more medication receptacles below the medication dosage.

According to some embodiments of the invention, the plurality of medication container assemblies are characterized by one or more of:.

According to some embodiments of the invention, the plurality of docking ports comprise a docking surface, which is transverse to a vertical plane in an acute angle.

According to some embodiments of the invention, the one or more medication panels are slanted in respect to a vertical plane.

According to some embodiments of the invention, the receptacle carrier is movable vertically by said one or more actuator to approximate one or more of said medication container assemblies.

According to some embodiments of the invention, the medication container assemblies comprise:.

According to some embodiments of the invention, the gripping assembly comprises:.

According to some embodiments of the invention, vertically adjacent medication container assemblies have an overlap between a part of a medication container assembly on a vertical plane, with a part of another vertically adjacent medication container assembly on a vertical plane and
wherein said overlap is greater than <NUM>% of a part of one or more of said vertically adjacent medication container assemblies on said vertical plane.

According to an aspect of some embodiments of the present invention there is provided a method for dispensing medication dosage, by a system having medication container assemblies for storing medication, the method comprises:.

According to some embodiments of the invention, the approximating includes manipulating one or more medication receptacles together with said gripping assembly.

According to some embodiments of the invention, the method comprising one or more of:.

According to some embodiments of the invention, the time between said identifying and said dispensing is less than <NUM> sec.

According to some embodiments of the invention, the moving is prior to the dispensing and/or the moving is prior to the manipulating.

As will be appreciated by one skilled in the art, some embodiments of the present invention may be embodied as a system and method. Accordingly, some embodiments of the present invention may take the form of an entirely hardware embodiment, an entirely software embodiment (including firmware, resident software, micro-code, etc.) or an embodiment combining software and hardware aspects that may all generally be referred to herein as a "circuit," "module" or "system. " Furthermore, some embodiments of the present invention may take the form of a computer program product embodied in one or more computer readable medium(s) having computer readable program code embodied thereon. Implementation of the method and/or system of some embodiments of the invention can involve performing and/or completing selected tasks manually, automatically, or a combination thereof. Moreover, according to actual instrumentation and equipment of some embodiments of the method and/or system of the invention, several selected tasks could be implemented by hardware, by software or by firmware and/or by a combination thereof, e.g., using an operating system.

For example, hardware for performing selected tasks according to some embodiments of the invention could be implemented as a chip or a circuit. As software, selected tasks according to some embodiments of the invention could be implemented as a plurality of software instructions being executed by a computer using any suitable operating system. In an exemplary embodiment of the invention, one or more tasks according to some exemplary embodiments of method and/or system as described herein are performed by a data processor, such as a computing platform for executing a plurality of instructions.

Any combination of one or more computer readable medium(s) may be utilized for some embodiments of the invention.

Such a propagated signal may take any of a variety of forms, including, but not limited to, electromagnetic, optical, or any suitable combination thereof.

Program code embodied on a computer readable medium and/or data used thereby may be transmitted using any appropriate medium, including but not limited to wireless, wireline, optical fiber cable, RF, etc., or any suitable combination of the foregoing.

Computer program code for carrying out operations for some embodiments of the present invention may be written in any combination of one or more programming languages, including an object oriented programming language such as Java, Smalltalk, C++ or the like and conventional procedural programming languages, such as the "C" programming language or similar programming languages.

Some embodiments of the present invention may be described below with reference to flowchart illustrations and/or block diagrams of methods, apparatus (systems) and computer program products according to embodiments of the invention.

Some of the methods described herein are generally designed only for use by a computer, and may not be feasible or practical for performing purely manually, by a human expert. A human expert who wanted to manually perform similar tasks, such as drug dispensing into medical receptacles, increasing dispensing speed, and reducing dispensing failures, might be expected to use completely different methods, e.g., making use of expert knowledge and/or the pattern recognition capabilities of the human brain, which would be vastly more efficient than manually going through the steps of the methods described herein.

The present invention, in some embodiments thereof, relates to a medication dispensing system and, more particularly, but not exclusively, to preparing medications for dispensing by extracting medication out of medication containers and inserting medication in medication receptacles.

A broad aspect of some embodiments of the disclosure relates to an arrangement of assemblies within a medication dispensing system to affect operational parameters. Some examples of the operational parameters include: increasing dispensing rate, controlling vertical size, reducing horizontal size, increasing number of medication types available for dispensing, reducing mean time to repair, reducing mean time to prepare system, reducing mean time system accessed by, and reducing idle time.

According to some embodiments, the medication dispensing system has a gripping assembly that picks a medication dosage out of medication container assemblies arranged vertically on one or more medication panels, and dispenses the medication dosage into a medication receptacle. In some embodiments, the gripping assembly moves vertically between the container assemblies to approximate selected medication. In some embodiments, the receptacles move vertically to approximate medication container assemblies.

According to some embodiments, the vertical arrangement of the medication container assemblies allows positioning of both the gripping assembly and the receptacles nearby a medication container assembly during the dispensing process.

According to some embodiments, reducing the distance between the gripping assembly and the receptacles affect one or more of the operational parameters. In some embodiments, the operation parameter is affected by a minimal movement of a medication dosage, between extracting from a medication container assembly and disposing the dosage into a receptacle. In some embodiments, the receptacle carrier and the receptacles are both coupled to a gripping assembly and move together. In some embodiments, the dispensing rate is affected by reducing movement of the gripping model in respect to the receptacle and/or vice versa.

According to some embodiments, there is no horizontal movements between the gripping assembly and the medication receptacles after taking a medication dosage. A potential advantage of reducing the horizontal movements is reducing the medication dispensing time to increase the medication packaging rate.

A broad aspect of some embodiments of the disclosure relates to the arrangement of assemblies of a medication dispensing system that affect usability.

According to some embodiments, the interior arrangement improves usability parameters related to system preparations, system operations, and/or system maintenance. In some embodiments, the interior arrangement affects the size of the system, which enable positioning the dispensing system closer to operators. In some embodiments, the interior arrangement improves the convenience of accessing the medication container assemblies. In some embodiments, the interior arrangement increases the dispensing rate and reduces wait time of a user for packaged medication.

An aspect of some embodiments of the disclosure relates to a medication dispensing system having medication container assemblies arranged vertically.

According to some embodiments, the dispensing system comprises one or more medication panels, and the medication container assemblies are disposed vertically on the panels. A potential advantage of having a medication panel extending vertically is reducing the horizontal sized of the panel. In some embodiments, reducing the horizontal sized of the panel reduces the horizontal size of the system.

According to some embodiments, the medication dispensing system has a gripping assembly configured to move vertically to a proximate one or more of medication container assemblies arranged vertically on a panel.

According to some embodiments, optimizing the arrangement of the medication container assemblies at the panels reduces the travel trajectory of the gripping assembly. In some embodiments, optimizing the arrangement is in accordance to historical data of the gripping assembly movements and/or medication dispensed by the system, and/or a dispensing plan. In some embodiments, the location of the medication container assemblies is determined by data about the medication usage.

According to some embodiments, the gripping assembly has a portion configured to rotate between being positioned to pick a medication out of the medication container assembly, and being positioned above a receptacle for dispensing the medication dosage into the receptacle. A potential advantage is minimizing the time the container assembly is left open between holding a medication by the gripping assembly and releasing the medication dosage. In some embodiments, the time between the grabbing a medication dosage out of the medication container assembly and the dispensing of the medication dosage in a receptacle is shorter than <NUM> sec. Another potential advantage is reducing accidental loosing of the medication dosage from the gripping assembly prior to the dispensing of the medication dosage in a medication receptacle.

According to some embodiments, the medication container assemblies are slanted to a vertical plane. In some embodiments, positioning the medication container assemblies in a slanted orientation, improves the accessibility of a medication opening, used to extract medication out of the medication container assemblies. In some embodiments, positioning the medication container assemblies in a slanted orientation reduces at least some of the horizontal movements of the gripping assembly.

According to some embodiments, the gripping assembly is not actuated horizontally away from the container assembly between extracting the medication dosage from the container assembly and dispensing the medication dosage within the medication receptacle. In some embodiments, the maximal horizontal distance between the gripping assembly and the container assembly remains constant between extracting the medication dosage from the container assembly and dispensing the medication dosage within the medication receptacle. A potential advantage of reducing the maximal horizontal distance is reducing the horizontal size of the system.

An aspect of some embodiments of the disclosure relates to a medication dispensing system having medication container assemblies arranged vertically at a medication panel, and one or more of the container assemblies are accessible by an operator, without moving other container assemblies disposed at the panel.

According to some embodiments, the vertical arrangement of the medication container assemblies enable an ad-hoc access to a medication container assembly. In some embodiments, the access is possible during a dispensing operation. A potential advantage is enabling an un-scheduled access to the medication container assembly. Another potential advantage is reducing access restrictions to the medication containers, e.g. due to a requirement to idle the dispensing system.

An aspect of some embodiments of the disclosure relates to a medication dispensing system having medication container assemblies having a slanted medication-guiding surface.

According to some embodiments, the guiding surface directs a medication dosage within the container assembly towards a probe used for extracting a medication dosage out of the container. According to some embodiments, the container assemblies are disposed in a slanted orientation at the panel, so that the guiding surface is not horizontal therefore allowing to guide the medication dosage by means of gravity force to a desired location within said container assemblies. A potential advantage is increasing the availability of medication dosage in proximity to the probe instead of accumulating away of the probe. A potential advantage is increasing the predictability of the percentage of medication extracted of the container assemblies.

Before explaining at least one embodiment of the disclosure in detail, it is to be understood that the disclosure is not necessarily limited in its application to the details of construction and the arrangement of the components and/or methods set forth in the following description and/or illustrated in the drawings and/or the Examples.

Referring now to <FIG>, which is a simplified schematic illustration of a block diagram of a pharmaceutical dispensing system, according to some embodiments of the disclosure.

As shown in <FIG>, dispensing system <NUM> includes one or more medication panels <NUM> for accommodating medication supply. According to some embodiments, medication is stored in medication container assemblies <NUM>. In some embodiments, medication container assemblies <NUM> are arranged vertically within medication panel <NUM>. According to some embodiments, medication panels <NUM> have a plurality of docking ports for coupling medication container assemblies <NUM> to panels <NUM>. In some embodiments, the docking ports are disposed vertically within medication panel <NUM>.

According to some embodiments, dispensing system <NUM> includes a gripping assembly <NUM> configured to pick a medication dosage from medication containers <NUM> and to hold the medication dosage until disposing the medication dosage in a medication receptacle <NUM>. According to some embodiments, gripping assembly <NUM> is configured to move next to panel <NUM> and to approximate a container assembly <NUM> for picking a medication dosage.

In some embodiments, gripping assembly <NUM> does not move horizontally towards receptacle <NUM> after picking the medication dosage. A potential advantage of reducing the horizontal movements is reducing the medication preparation time to increase the medication packaging rate. Another potential advantage is reducing the risk of losing medication dosage from gripping assembly <NUM>.

According to some embodiments, dispensing system <NUM> includes control circuitry <NUM> that outputs actuation signal to actuate gripping assembly <NUM>. In some embodiments, system <NUM> actuates the gripping assembly <NUM> by using one or more actuators <NUM> and by receiving actuating signals from control circuitry <NUM>.

As shown in <FIG>, dispensing system <NUM> includes one or more receptacle carriers <NUM> for manipulating one or more medication receptacles <NUM> having an opening for receiving medication dosage. According to some embodiments, the receptacle carrier <NUM> is movable independently of the gripping assembly <NUM>. In some embodiments, actuators <NUM> include one or more carrier actuators that move the receptacle carrier <NUM>. In some embodiments, carrier actuators move the receptacle carrier <NUM> linearly. In some embodiments, carrier actuators move the receptacle carrier <NUM> parallel to panel <NUM>. In some embodiments, moving receptacle carrier <NUM> is synchronous with moving of gripping assembly <NUM>.

Referring now to <FIG>, which is a simplified flowchart illustrating a preparation process of medication receptacles for dispensing, according to some embodiments of the disclosure.

According to some embodiments, the preparation process can be divided into the following categories of activities:
Pre-preparation activities, such as: receiving data about selected medication to dispense, and preparing medication in medication container assemblies.

Preparation activities, such as: identifying a target medication container assembly having the selected medication, extracting medication dosage, and inserting medication in a receptacle. In some embodiments, the preparation steps can be repeated, for example, when multiple dosages are inserted in a single or multiple receptacles. In some embodiments, extracting the medication is by a gripping assembly positioned in proximity to the target medication container assembly.

Post-preparation activities, such as: sealing the receptacles, putting target patient details on the receptacle, and placing the receptacles in a collection unit/medication tote.

As shown in <FIG>, an example of preparation activities include:
Identifying <NUM> a target medication container assembly having a selected medication. According to some embodiments, the target medication container assembly is positioned in a vertical displacement to one or more medication container assemblies.

Approximating <NUM> a gripping assembly to the target medication container assembly by moving gripping assembly vertically between medication container assemblies. According to some embodiments, approximating <NUM> is by a linear movement of the gripping assembly. In some embodiments, the linear movement is in a vertical direction. In some embodiments, approximating <NUM> is by a linear movement having horizontal and vertical movements. According to some embodiments, approximating <NUM> is monitored by a control circuitry, outputting approximating signals to one or more actuators to move the gripping assembly.

Manipulating <NUM> the gripping assembly to extract medication dosage out of the target medication container assembly.

Inserting <NUM> medication dosage in a medication receptacle. In some embodiments, there is no linear movement of the gripping assembly in a horizontal direction away of the target medication container assembly between manipulating <NUM> and inserting <NUM>.

According to some embodiments, the preparation process include moving <NUM> receptacle vertically. In some embodiments, moving <NUM> is to approximate the target medication container assembly. In some embodiments, moving <NUM> is to approximate the gripping assembly. In some embodiments, moving <NUM> is prior to inserting <NUM>. In some embodiments, moving <NUM> is prior to manipulating <NUM>. According to some embodiments, moving <NUM> is by a linear movement of the receptacle. In some embodiments, moving <NUM> is by a linear movement having horizontal and vertical movements. According to some embodiments, moving <NUM> is monitored by a control circuitry, outputting signals to one or more actuators to move the receptacle.

According to some embodiments, manipulating <NUM> process include:
Rotating <NUM> at least a portion of the gripping assembly to be angular to a vertical plane. According to some embodiments, rotating <NUM> include outputting rotation signals by control circuitry to one or more actuators to rotate the gripping assembly.

Picking <NUM> the medication dosage by the gripping assembly. In some embodiments, picking <NUM> is by coupling the gripping assembly to a probe inserted within the target medication container assembly. In some embodiments, the probe is a portion of the gripping assembly. In some embodiments, picking <NUM> includes detaching the probe outside the medication container assembly.

According to some embodiments, picking <NUM> include outputting dosage manipulation signals by control circuitry to one or more actuators to move the gripping assembly to manipulate the medication dosage out of the medication container assembly.

Orienting <NUM> the medication dosage above an opening the medication receptacle. In some embodiments, orienting <NUM> include rotating the gripping assembly. In some embodiments, orienting <NUM> include rotating the gripping assembly in a direction opposite to rotating <NUM>. In some embodiments, orienting <NUM> include orienting a probe detached from the medication container assembly. In some embodiments, the maximal horizontal distance between the gripping assembly and the target medication container assembly does not change during orienting <NUM>.

According to some embodiments, the time between approximating <NUM> and dispensing <NUM> is less than <NUM> sec. In some embodiments, the time between approximating <NUM> and dispensing <NUM> is less than <NUM> sec. In some embodiments, the time between approximating <NUM> and dispensing <NUM> is less than <NUM> sec.

Referring now to <FIG> which are simplified schematic illustrations of a portion of a dispensing machine showing a perspective view, a front view, and a side view of a medication containers panel, according to some embodiments of the disclosure.

In some embodiments, dispensing system <NUM>, comprises a medication panel <NUM> configured to accommodate a plurality of medication container assemblies <NUM>, and, in some embodiments, the medication container assemblies <NUM> are arranged vertically.

In some embodiments, two or more medication containers assemblies <NUM> are in a vertical layout when two or more medication containers assemblies <NUM> are positioned one vertically above another. In some embodiments, medication containers assemblies <NUM> are in a vertical layout when there is a vertical distance between the lowest points of adjacent medication containers assemblies <NUM>.

As shown in the exemplary embodiments of <FIG>, panel <NUM> is vertically flat. In some embodiments, panel <NUM> is defined as a vertical panel when the height of panel <NUM> is bigger than its maximal horizontal width. In some embodiments, panel <NUM> is defined as a vertical panel when the height of panel <NUM> is at least <NUM> times bigger than its maximal horizontal width.

A potential advantage of having a vertical panel is reducing the horizontal size of the panel. In some embodiments, reducing the horizontal size of the panel reduces the horizontal size of the dispensing system in at least one direction.

In some embodiments, panel <NUM> is configured to hold between <NUM> and <NUM> medication container assemblies <NUM>. In some embodiments, panel <NUM> is configured to hold between <NUM> and <NUM> medication container assemblies <NUM>. In some embodiments, panel <NUM> is configured to hold between <NUM> and <NUM> medication container assemblies <NUM>. According to some embodiments, panel <NUM> is configured to hold medication container assemblies <NUM> in a matrix having between <NUM> and <NUM> rows. In some embodiments, panel <NUM> is configured to hold medication container assemblies <NUM> in a matrix having between <NUM> and <NUM> rows. In some embodiments, panel <NUM> is configured to hold medication container assemblies <NUM> in a matrix having between <NUM> to <NUM> rows.

According to some embodiments, medication panel <NUM> is formed of a plurality of sub-panels <NUM>-<NUM>/<NUM>-<NUM>. In some embodiments (as shown for example in <FIG>), sub-panels <NUM>-<NUM>/<NUM>-<NUM> have a horizontal layout. In some embodiments, sub-panels <NUM>-<NUM> are sized to form a row of panel <NUM>. In some embodiments, a row of panel <NUM> is formed of a plurality of sub-panels <NUM>-<NUM>. In some embodiments (as shown for example in <FIG>), sub-panels <NUM>-<NUM>/<NUM>-<NUM> have a vertical layout.

According to some embodiments, as shown for example in <FIG>, medication container assemblies <NUM> have a slanted orientation with a vertical plane, when coupled to panel <NUM>. In some embodiments, medication container assemblies <NUM> coupled to panel <NUM> extend in a direction <NUM>', which is angular to a vertical plane in an acute angle α. A potential advantage of disposing container assemblies <NUM> in a slanted orientation is increasing density of container assemblies <NUM> on panel <NUM> (increase the number of container assemblies <NUM> per panel <NUM> height).

In some embodiments, the angle α is between about <NUM> and about <NUM> degrees. Optionally, the angle α is between about <NUM> degrees and about <NUM> degrees. Optionally, the angle α is between about <NUM> degrees and about <NUM> degrees.

According to some embodiments, two vertically adjacent medication container assemblies <NUM>, have an overlap between the projection of one medication container assembly <NUM> on a vertical plane (e.g. in direction X-Y), with the projection of a vertically adjacent medication container assembly <NUM> on a vertical plane (e.g. in direction X-Y). In some embodiments, the overlap between the projections is greater than <NUM>% of a projection of one or more of the vertically adjacent medication container assemblies <NUM> on the vertical plane. According to some embodiments, two vertically adjacent slanted medication container assemblies <NUM>, have an overlap between a projection of an upper portion of one medication container assembly <NUM> on a vertical plane (e.g. in direction X-Y), with a projection of a bottom portion of a vertically adjacent medication container assembly <NUM> on a vertical plane. In some embodiments, the overlap between the projections is greater than <NUM>% of a projection of one or more of the upper portion or the bottom portion of the adjacent medication container assemblies <NUM> on the vertical plane.

A potential advantage of having a vertical overlap is reducing a dead area between medication containers assemblies <NUM> in a vertical direction (Y). Some examples of potential benefits of reducing the dead area are: increasing the density of medication containers assemblies <NUM> on panel <NUM> in a vertical direction, increasing the density of medications provided by containers assemblies <NUM> on panel <NUM> in a vertical direction, reducing a vertical size of panel <NUM> in a vertical direction, and increasing the potential number of containers assemblies <NUM> in system <NUM>.

According to some embodiments, two vertically adjacent medication container assemblies <NUM>, have an overlap between the projection of one medication container assembly <NUM> on a horizontal plane (e.g. in direction X-Z), with the projection of a vertically adjacent medication container assembly <NUM> on a horizontal plane (e.g. in direction X-Z). In some embodiments, the overlap between the projections is greater than <NUM>% of a projection of one or more of the vertically adjacent medication container assemblies <NUM> on the horizontal plane. According to some embodiments, two vertically adjacent slanted medication container assemblies <NUM>, have an overlap between a projection of an upper portion of one medication container assembly <NUM> on a horizontal plane (e.g. in direction X-Z), with a projection of a bottom portion of a vertically adjacent medication container assembly <NUM> on a horizontal plane (e.g. in direction X-Z). In some embodiments, the overlap between the projections is greater than <NUM>%.

A potential advantage of having a horizontal overlap is reducing a dead area between medication containers assemblies <NUM> in a horizontal direction (e.g. Z). Some examples of potential benefits of reducing the dead area are: increasing the density of medication containers assemblies <NUM> of on panel <NUM> in a horizontal direction (e.g. Z), increasing the density of medications provided by containers assemblies <NUM> on panel <NUM> in a horizontal direction, reducing the horizontal size of panel <NUM>, and increasing the potential number of containers assemblies <NUM> in system <NUM>.

According to some embodiments, medication panel <NUM> include a panel base <NUM> and a plurality of docking ports <NUM> are coupled to panel base <NUM>, and medication container assemblies <NUM> are coupled to panel <NUM> by connecting medication container assemblies <NUM> to docking ports <NUM>.

According to some embodiments, panel base <NUM> is vertically slanted, angular to a vertical plane. In some embodiments, panel base <NUM> has an arcuate layout, having an arcuate cross section extending vertically. Optionally, panel base <NUM> has a cylindrical layout having a cylindrical cross section extending vertically. Optionally, panel base <NUM> has a polygonal layout having a polygonal or an unclosed polygonal cross section extending vertically.

According to some embodiments, medication container assemblies <NUM> are stationary in respect to medication panel <NUM>, when coupled to panel <NUM>.

According to some embodiments, medication containers assemblies <NUM> have a medication port <NUM>. In some embodiments, two or more medication containers assemblies <NUM> are define as being in a vertical layout when two or more medication ports <NUM> of the two or more medication containers assemblies <NUM> are positioned one above another. In some embodiments, two or more medication containers assemblies <NUM> are in a vertical layout when there is a vertical distance 307a between the projection of the lowest points of two or more of ports <NUM> on a vertical plane. In some embodiments, the vertical distance 307a is between <NUM> and <NUM>. In some embodiments, the vertical distance 307a is between <NUM> and <NUM>. In some embodiments, the vertical distance 307a is between <NUM> and <NUM>. In some embodiments, the vertical distance 307a is between <NUM> and <NUM> times the maximal length medication containers assemblies <NUM>. In some embodiments, the vertical distance 307a is between <NUM> and <NUM> times the maximal length medication containers assemblies <NUM>. In some embodiments, the vertical distance 307a is between <NUM> and <NUM> times the maximal length medication containers assemblies <NUM>.

According to some embodiments, docking ports <NUM> are shaped to extend in a general port direction transverse to panel base <NUM>. In some embodiments, docking ports <NUM> have a docking surface 306a angular to panel base <NUM>, so that medication container assemblies <NUM> coupled to docking surface 306a are angular to a vertical plane. In some embodiments, docking surface 306a are angular to panel base <NUM>, so that medication container assemblies <NUM> coupled to docking surface 306a are angular to panel base <NUM>.

According to some embodiments, as shown for example in <FIG>, dispensing machine has a gripping assembly <NUM>, which holds gripping assembly <NUM>. In some embodiments, gripping assembly <NUM> holds receptacle carrier <NUM>. In some embodiments, gripping assembly <NUM> is a robotic arm that moves gripping assembly <NUM> vertically next to medication container assemblies <NUM>.

According to some embodiments, dispensing machine <NUM> includes a vertical rail <NUM> movable next to panel <NUM>. In some embodiments, rail <NUM> is movable horizontally. According to some embodiments, gripping assembly <NUM> is moveably mounted on rail <NUM>. In some embodiments, gripping assembly <NUM> is configured to move vertically next to panel <NUM> by sliding head <NUM> on rail <NUM>. In some embodiments, gripping assembly <NUM> is configured to move horizontally next to panel <NUM> by moving rail <NUM> in a horizontal direction. In some embodiments, rail <NUM> is coupled to one or more horizontal rails. According to some embodiments (not shown), gripping assembly <NUM> is moveable on a horizontal rail coupled to medication panel <NUM>, and the linear movement of head <NUM> is on the horizontal rail. In some embodiments, a vertical movement of gripping assembly <NUM> is by moving a horizontal rail on one or more vertical rails provided at medication panel <NUM>.

According to some embodiments, the dispensing machine includes a plurality of abutting medication panels. Optionally, the dispensing machine includes a plurality of non-abutting medication panels. In some embodiments, the plurality of medication panels are positioned vertical to each other. In some embodiments, the plurality of vertical panels are positioned horizontal to each other. According to some embodiments, a plurality of medication panels are disposed at the same side/zone of the dispensing machine. In some embodiments, a plurality of medication panels are disposed at difference sides/zones of the dispensing machine. In some embodiments, the dispensing machine includes medication planes having different geometries/layouts.

Referring now to <FIG>, which is a simplified illustration of a portion of a medication dispensing machine showing a perspective view of a medication containers panel, according to some embodiments of the disclosure.

In some embodiments, the dispensing system <NUM>, comprises a plurality of medication panels <NUM> positioned next to each other, each accommodating a plurality of medication container assemblies <NUM>, and, optionally, the medication container assemblies <NUM> are arranged vertically. According to some embodiments, the gripping assembly (not shown) is movable vertically next to panel <NUM>. In some embodiments, the gripping assembly is coupled to rail <NUM>. According to some embodiments, dispensing machine <NUM> has a panel base <NUM>. In some embodiments, panels <NUM> are coupled to base <NUM>. In some embodiments, one or more of panels <NUM> are pivotally connected to base <NUM> and rotatable along a vertical axis. In some embodiments, gripping head approximates medication container assemblies <NUM> by rotating panels <NUM> along vertical axis. Optionally, panels <NUM> are coupled to base <NUM>, which is rotatable about a vertical axis.

A potential advantage of arranging a plurality of panels in a cylindrical/curved/polygonal/semi-polygonal layout, as shown for example in <FIG>, is a reduction in the horizontal space occupied by the panels. Another potential advantage of approximating gripping assembly to medication container assemblies <NUM> by a rotational movement is reducing horizontal movements, e.g. this may eliminate the need of horizontal rails.

A potential advantage of having a plurality of panels, is providing an operator a safe access to panels which are away of gripping assembly. Another potential advantage is having panels accessible to an operator without idling the dispensing machine.

Referring now to <FIG>, which is a simplified schematic illustration of a portion of a dispensing machine showing a side view of a medication containers panel, according to some embodiments of the disclosure.

According to some embodiments, as shown in the exemplary embodiment of <FIG>, dispensing machine <NUM> includes a medication panel <NUM>, and medication containers assemblies <NUM> coupled in a vertical layout at medication panel <NUM>. In some embodiments, medication containers assemblies <NUM> accommodate medication M and have a medication port <NUM>. According to some embodiments, medication M is in the form of medication pills. In some embodiments, is in the form of powder. In some embodiments, medication M is in the form of fluid. In some embodiments, containers assemblies <NUM> at panel <NUM> accommodate medication M of the same form. In some embodiments, containers assemblies <NUM> at panel <NUM> accommodate medication M in a variety of forms.

In some embodiments, medication dosage is extracted out of medication containers assemblies <NUM> via medication port <NUM>. According to some embodiments, dispensing machine <NUM> has a gripping assembly <NUM> vertically movable next to medication containers assemblies <NUM>, between medication containers assemblies <NUM>. In some embodiments, gripping assembly <NUM> includes a gripper platform <NUM> and a gripper <NUM> movably coupled to gripper platform <NUM>. In some embodiments, gripper <NUM> is movable to approximate medication port <NUM> to pick medication M. In some embodiments, gripper <NUM> is rotatable about a horizontal axis to approximate medication port <NUM>. In some embodiments, gripper <NUM> is linearly movable to approximate medication port <NUM>.

According to some embodiments, dispensing machine <NUM> includes a receptacle carrier <NUM> for manipulating one or more medication receptacles <NUM>. In some embodiments, as shown for example in <FIG>, receptacle carrier <NUM> is coupled to gripping assembly <NUM>. In some embodiments, when receptacle carrier <NUM> is coupled to gripping assembly <NUM>, receptacles are held in proximity to a tip of gripper <NUM>.

According to some embodiments, gripper <NUM> is a probe gripper, configured to pick a probe to hold medication dosage. In some embodiments, gripper <NUM> is configured to apply suction in a probe to pick and hold medication M by the probe.

In some embodiments, gripper <NUM> is configured to grab a probe inserted in a medication container by approximating gripper <NUM> to the probe for grabbing the probe away of the medication container assembly <NUM> by a linear motion. In some embodiments, gripper <NUM> is configured to return the probe to the container by a linear motion towards of medication container assembly <NUM>. In some embodiments, gripper <NUM> is actuated to move linearly by a linear system coupled to platform <NUM>. In some embodiments, moving gripper <NUM> in linear motion is without moving platform <NUM> in respect to medications panel <NUM>.

According to some embodiments, a picked probe is rotated by gripper <NUM> to be positioned above medication receptacle <NUM> for dispensing extracted medication dosage M into medication receptacle <NUM>. In some embodiments, gripper <NUM> is rotationally coupled to platform <NUM>. In some embodiments, rotating of gripper <NUM> is by rotation system <NUM> coupled to platform <NUM>. In some embodiments, head <NUM> is configured to move the gripper <NUM> in a rotational motion without moving platform <NUM> in respect to medication panel <NUM>. In some embodiments, there is no linear movement of gripper <NUM> in a horizontal direction away of container assembly <NUM> between the extracting and the dispensing of medication dosage M. In some embodiments, the rotation is in the range of <NUM> to <NUM> deg. In some embodiments, the rotation is in the range of <NUM> to <NUM> deg. In some embodiments, the rotation is in the range of <NUM> to <NUM> deg.

A potential advantage of reducing linear movements of gripper assembly <NUM> is reducing dispensing time. A potential advantage of coupling gripper assembly <NUM> and receptacle carrier <NUM> and reducing linear movements between them is reducing dispensing time. In some embodiments, the time between grabbing of the probe out of container assembly <NUM> by gripper <NUM> and dispensing medication dosage M in the medication receptacle <NUM> is shorter than <NUM> sec. In some embodiments, the time between grabbing of a probe out of container assembly <NUM> by gripper <NUM> and dispensing medication dosage M in medication receptacle <NUM> is shorter than <NUM> sec. In some embodiments, the time between grabbing of a probe out of container assembly <NUM> by gripper <NUM> and dispensing medication dosage M in medication receptacle <NUM> is shorter than <NUM> sec.

According to some embodiments, there is an overlap between the projection of at least of some of medications M stored in one assembly <NUM> on a horizontal plane (in direction X-Z), with the projection of at least of some of medications M stored in a vertically adjacent assembly <NUM> on a horizontal plane (in direction X-Z). In some embodiments, the overlap between the projections on the medications M is greater than <NUM>%. According to some embodiments, there is an overlap between the projection of at least of some of medications M stored in one assembly <NUM> on a vertical plane (in direction X-Y), with the projection of at least of some of medications M stored in a vertically adjacent assembly <NUM> on a vertical plane (in direction X-Y). In some embodiments, the overlap between the projections on the medications M is greater than <NUM>%.

Referring now to <FIG>, which are simplified schematic illustrations of a portion of a dispensing machine showing side views of a medication panel, according to some embodiments of the disclosure.

Dispensing machine <NUM> is similar to dispensing machine <NUM> described elsewhere herein. In some embodiments, machine <NUM> has a plurality of medication containers assemblies <NUM> disposed in a vertical layout (having medication containers assemblies <NUM> above each other in vertical direction Y) on panel <NUM>. In some embodiments, gripping assembly <NUM> is configured to move across panel <NUM>, and approximate medication containers assemblies <NUM>. In some embodiments, gripping assembly <NUM> is configured to move between medication containers assemblies <NUM> by a linear movement in a vertical direction Y. In some embodiments, the linear movement is a combination of horizontal movements in direction X and vertical movement in direction Y across panel <NUM>. In some embodiments, gripping assembly has a gripper <NUM> configured to manipulate medication dosage M between medication containers assemblies <NUM> and dispensing into a medication receptacle.

In some embodiments, dispensing machine <NUM> has receptacle carrier <NUM> for manipulating one or more medication receptacles <NUM>. In some embodiments, medication receptacles <NUM> are medication envelopes. In some embodiments, receptacle carrier <NUM>, is holding receptacles <NUM> vertically under gripper <NUM>. In some embodiments, when a probe P is used to hold medication dosage M, receptacle carrier <NUM>, is holding receptacle <NUM> vertically under the tip of the probe P, such as a medication disposed at the tip of the probe is dispensed by dropping the medication M from the probe P into the opening of receptacle <NUM>.

In the exemplary embodiment shown in <FIG>, dispensing machine <NUM> has receptacle carrier <NUM> decoupled of gripping assembly <NUM>. According to some embodiments, one or more carrier actuators move receptacle carrier <NUM> horizontally. In some embodiments, receptacle carrier <NUM> manipulates receptacle in horizontal direction X below medication containers assemblies <NUM>. In some embodiments, moving horizontally, is to maintain a maximal horizontal distance D1 between gripper <NUM> and an opening of receptacle <NUM> within a pre-define range. In some embodiments, distance D1 is shorter than <NUM>. In some embodiments, distance D1 is shorter than <NUM>. In some embodiments, distance D1 is shorter than <NUM>. In some embodiments, distance D1 is shorter than <NUM>.

In some embodiments, for example as shown in <FIG>, controlling the distance D1 is by moving both gripping assembly <NUM> and carrier <NUM> in a horizontal direction (e.g. direction X).

According to some embodiments, moving carrier <NUM> to position carrier <NUM> at a horizontal distance from gripper <NUM> is prior to approximating container assembly <NUM>. In some embodiments, moving carrier <NUM> to position carrier <NUM> at a pre-defined horizontal distance from gripper <NUM> is after gripping assembly <NUM> receives a medication dosage M and prior to dispensing it into receptacle <NUM>.

According to some embodiments, receptacle carrier <NUM> is movable vertically in direction Y. In some embodiments, a vertical carrier actuator, moves carrier <NUM> vertically.

According to some embodiments, as shown for example in <FIG>, panel <NUM> can have a plurality of gripping assemblies <NUM>. In some embodiments, gripping assemblies <NUM>-<NUM> to <NUM>-<NUM> are designated to approximate one or more rows of medication container assemblies <NUM> positioned in a column of container assemblies <NUM>. In some embodiments, gripping assemblies <NUM>-<NUM> to <NUM>-<NUM> are configured to move only in a vertical direction, without having a horizontal movement between columns of container assemblies <NUM>. In some embodiments, actuating gripping assemblies <NUM>-<NUM> to <NUM>-<NUM> is simultaneous without a dependency between them. In some embodiments, not having a horizontal movement between columns reduces the complexity of dispensing machine <NUM>, for example components required for horizontal actuation of gripping assemblies. A potential advantage of having multiple gripping assemblies is having a safe access to container assemblies <NUM>, which are coupled on columns, which do not have gripping assembly active in a dispensing process.

According to some embodiments (not shown), dispensing machine <NUM> has a plurality of gripping assemblies <NUM> designated to move horizontally between one or more columns of medication container assemblies <NUM>. In some embodiments, gripping assemblies <NUM> are configured to move only in a horizontal direction, without having a vertical movement between rows of container assemblies <NUM>. In some embodiments, gripping assemblies <NUM>-<NUM> to <NUM>-<NUM> are actuated simultaneously without a dependency between them.

According to some embodiments, as shown for example in <FIG>, receptacle carrier <NUM>-<NUM> is configured to hold a plurality of receptacles <NUM>. In some embodiments, carrier <NUM>-<NUM> does not assume horizontal movements between columns of container assemblies <NUM>. In some embodiments, not having a horizontal movement between columns reduces the complexity of dispensing machine <NUM>, for example components required for horizontal actuation of carrier <NUM>-<NUM>. In some embodiments, carrier <NUM>-<NUM> is configured to be actuated to have vertical movements without having horizontal movements. In some embodiments, carrier <NUM>-<NUM> is stationary to position receptacles <NUM> below gripping assemblies <NUM>. In some embodiments, carrier <NUM>-<NUM> is stationary between extracting medication dosage M and dispensing medication dosage M in receptacles <NUM>.

Referring now to <FIG>, which are simplified illustrations of a schematic view and a perspective view of a medication container assembly, according to some embodiments of the disclosure.

According to some embodiments, the medication container assemblies coupled to the medication panel are identical. In some embodiments, the medication container assemblies coupled to the panel vary in size. In some embodiments, the medication container assemblies coupled to the medication panel vary in shape. According to some embodiments, the medication container assemblies accommodate different types/forms of medication. In some embodiments, the size and the shape of the medication container assemblies are in according to the medication type/form.

According to some embodiments, medication container assembly <NUM> includes a canister <NUM> and a medication collection chamber <NUM> formed within canister <NUM> and configured to accommodate medication to be picked by a gripping assembly.

According to some embodiments, medication is stored in a medication cartridge <NUM>, prior to providing medication in container assembly <NUM>. In some embodiments, transferring medication stored in cartridge <NUM> to container assembly <NUM> (e.g. in direction M1) is by attaching cartridge <NUM> to canister <NUM>. In some embodiments, a collection chamber <NUM> is formed within canister <NUM> to collect medication M from cartridge <NUM>. In some embodiments, medication M drop from cartridge <NUM> into collection chamber <NUM> after the attachment of cartridge <NUM> to canister <NUM>. In some embodiments, container assembly <NUM> does not include cartridge, and medication M is supplied to collection chamber <NUM> by a port at canister <NUM>.

According to some embodiments, medication container assembly <NUM> has a detachable probe <NUM> coupled to canister <NUM> for picking medication dosage M from collection chamber <NUM>. In some embodiments, extracting medication dosage is by grabbing dispensing probe <NUM> out of medication container <NUM> by a gripping assembly (such as <NUM>).

In some embodiments, probe <NUM> has a tip <NUM> at its distal end. In some embodiments, tip <NUM> is configured to be disposed within collection chamber <NUM>, so that probe <NUM> can access medication disposed with chamber <NUM>. According to some embodiments, picking medication dosage by tip <NUM> from collection chamber <NUM> is by applying suction through tip <NUM>. In some embodiments, suction is applied by the gripping assembly, and probe <NUM> is at least partially hollow to transfer suction to tip <NUM>. According to some embodiments, releasing the medication dosage picked by probe <NUM> is by terminating the suction.

In some embodiments, probe <NUM> is configured to pick medication by a grasping element (e.g. a grasping claw). In some embodiments, the grasping element coupled at tip <NUM>. In some embodiments, grasping by probe <NUM> is without applying suction via probe <NUM>.

In some embodiments, increasing the availability of medication dosage in proximity to the probe <NUM> can increasing the predictability of the percentage of medication extracted out of collection chamber <NUM> of container assembly <NUM>. According to some embodiments, grouping medication dosage in proximity to the probe <NUM> is performed by guiding the medication within the container <NUM>, optionally by means of gravity (e.g. in direction M2).

According to some embodiments, as shown for example in <FIG>, collection chamber <NUM> has one or more slanted medication guiding surfaces <NUM>. In some embodiments, at least one guiding surface <NUM>-<NUM> is slanted towards tip <NUM> of probe <NUM> to direct medication dosage within the container assembly <NUM> towards tip <NUM>. In some embodiments, guiding surface <NUM>-<NUM> is divided into two or more surfaces <NUM>-<NUM> and <NUM>-<NUM>, which direct medication towards the center of guiding surface <NUM>-<NUM>.

According to some embodiments, described elsewhere herein (for example as shown in <FIG> and <FIG>), the collection chamber is coupled in a slanted orientation to the medication panel thereby guiding the medication dosage by gravity towards the tip of the probe. In some embodiments, collection chamber has one or more guiding surfaces shaped and oriented for guiding medication dosage by gravity when the medication assembly is coupled to the medications panel.

According to some embodiments, guiding medication dosage towards tip <NUM> of probe <NUM> is performed by applying positive or negative pressure differentials within container <NUM>. In some embodiment, a negative pressure is by suction.

According to some embodiments, viewing the content of chamber <NUM> while container assembly <NUM> is at the panel <NUM> is beneficial for an operator. According to some embodiments, at least one wall of chamber <NUM> is transparent to allowing viewing of medication collected within chamber <NUM>. In some embodiments, the transparent wall is the wall facing a side of panel <NUM>, which is visible by an operator. A potential advantage is viewing by the operator the content of the container while the container is at the panel.

According to some embodiments, probe <NUM> is detachably connected to canister <NUM> by a probe connector <NUM>. In some embodiments, picking probe <NUM> out of container <NUM> is by gripping probe connector <NUM> by the gripping assembly. In some embodiments, the distal end <NUM> of probe <NUM> is connected to probe connector <NUM>. In some embodiments, a suction is applied by the gripping assembly through distal end <NUM> of probe <NUM> for picking medication dosage within collector chamber <NUM>.

According to some embodiments, container assembly <NUM> includes a medication collection dam <NUM> for controlling the amount of medication accumulated in proximity to tip <NUM>.

According to some embodiments, container assembly <NUM> is made of anti-static material. In some embodiments, canister <NUM> is made of anti-static material.

According to some embodiments, container assemblies, such as <NUM> have one or more indication/alert circuits (e.g. <NUM> in <FIG>) to identify/report operational parameters. According to some embodiments, indication provided by containers assemblies <NUM> is visual. In some embodiments, a visual indication is provided with light. In some embodiments, a visual indication is by led disposed on or within the container assembly. In some embodiments, transferring light to indicator <NUM> is by using a light pipe. In some embodiments, indications provided by indicator <NUM> are in two or more colors. In some embodiments, alerts include emission of soundwaves. In some embodiments, alerts include vibrations. In some embodiments, the panel (as any one of the panels disclosed elsewhere herein) include one or more indicators. In some embodiments, the dispensing system include a monitor having one or more alerting devices.

In some embodiments, the medication container assembly has one or more chips or RFID tags <NUM>. In some embodiments, RFID/chips <NUM> store/transmit operational parameters of the medication container assembly.

Some examples of indications related to container assemblies are: cartridge connection state, medications in container, probe attachment state, indications to guide steps in preparation of medication container assembly, etc..

According to some embodiments, one or more of the medication container assemblies comprise electrical/electromagnetic circuit to transmit operational parameters of the medication container assemblies, such as: a need to replace container, an error related to container, an empty container, low medication content than a predefined value, and normal operation.

Referring now to <FIG>, which are simplified illustrations of a side view of a gripping assembly, according to some embodiments of the disclosure.

As shown in <FIG> and <FIG>, gripping assembly <NUM> includes a housing <NUM>. In some embodiments, gripping assembly <NUM> has a movable platform <NUM>, rotatably coupled to housing <NUM>.

According to some embodiments, gripping assembly <NUM> includes a gripper platform <NUM>, and a gripper <NUM> coupled to platform <NUM>. In some embodiments, gripper <NUM> is configured for picking a probe P coupled to a medication container assembly.

As shown in <FIG>, in some embodiments, gripper <NUM> is linearly moveable in respect to housing <NUM> in a proximal direction <NUM>-<NUM> and a distal direction <NUM>-<NUM>. In some embodiments, one or more gripper actuators actuate gripper <NUM> to grab probe P from a medication container assembly by approximating gripper <NUM> to the probe P in a proximal direction <NUM>-<NUM>, and grabbing probe P away of the container assembly by a distal linear motion in direction <NUM>-<NUM>. In some embodiments, returning of probe P to the medication container assembly is by actuating gripper <NUM> by gripper in a proximal linear motion towards of the medication container assembly in direction <NUM>-<NUM>. In some embodiments, moving gripper <NUM> in proximal direction <NUM>-<NUM> and distal direction <NUM>-<NUM> is without moving housing <NUM> in respect to the medication panel (such one of the panels described elsewhere herein). In some embodiments, proximal direction <NUM>-<NUM> and distal direction <NUM>-<NUM> are vertical in direction Y.

According to some embodiments, rotating gripper <NUM> in respect to the medication panel is performed without rotating housing <NUM>. In some embodiments, rotating gripper <NUM> in respect to the medication panel is without moving gripping assembly <NUM> in respect to the medication panel. In some embodiments, for example as shown in <FIG> and <FIG>, gripping assembly <NUM> includes one or more gear mechanisms <NUM>, interconnecting platform <NUM> and housing <NUM>. In some embodiments, rotating of gripper <NUM> is by rotating gripper platform <NUM>. In some embodiments, gripping assembly <NUM> includes one or more gear mechanisms <NUM>, confirmed to rotate gripper <NUM> in directions <NUM>-<NUM> and <NUM>-<NUM> (shown in <FIG> and <FIG>). In some embodiments, rotational directions <NUM>-<NUM> and <NUM>-<NUM> are about axis X which is perpendicular to axes Y and Z.

According to some embodiments, gripping assembly <NUM> is configured to update information encoded in the medication container assembly. As shown in <FIG> and <FIG>, gripping assembly <NUM> includes a RFID/tag reader and/or encoder <NUM>, coupled to gripper <NUM>. In some embodiments, gripper <NUM> is configured to actuate reader/encoder <NUM> in a proximal direction <NUM>-<NUM> and a distal <NUM>-<NUM> direction, to enable approximating and detracting to/from an RFID tag/Chip coupled to a medication container assembly.

In some embodiments, reader/encoder <NUM> is movable in respect to housing <NUM>. In some embodiments, for example as in <FIG>, reader/encoder <NUM> is configured to move together with gripper <NUM>, for example, for approximating RFID tag/Chip of container, while picking probe P by gripper <NUM>. In some alternative embodiments, reader/encoder <NUM> is configured to move independently of gripper <NUM>.

In some embodiments, gripping assembly <NUM> includes one or more linear gear mechanisms <NUM>, interconnecting gear module <NUM> and housing <NUM>. In some embodiments, moving of gear module <NUM> by gear <NUM>, moves gripper <NUM> in directions <NUM>-<NUM> (shown in <FIG>) and <NUM>-<NUM> (shown in <FIG> and <FIG>). In some embodiments, linear gear mechanism <NUM> interconnects gear module <NUM> and gripper platform <NUM>. In some embodiments, connecting gear <NUM> to gripper platform <NUM>, enables actuating of gripper <NUM> and/or reader <NUM> in both linear and rotation motion in respect to housing <NUM>.

According to some embodiments, gripping assembly <NUM> includes envelope carrier <NUM> for coupling one or more medication envelopes E to gripping assembly <NUM>. In some embodiments, for example as shown in <FIG>, envelope carrier <NUM> is coupled to housing <NUM>, below gripper <NUM>. According to some embodiments, envelope carrier <NUM> includes envelope mount <NUM>, which is configured to hold one or more envelopes E when dispensing medication dosage into envelope E. As shown in <FIG>, envelope mount <NUM>, is holding envelope E vertically under gripper <NUM>. In some embodiments, when a probe P is used to hold a medication dosage, envelope mount <NUM>, is holding envelope E vertically below the tip of probe P, such that a medication disposed at the tip of probe P is dispensed by dropping the medication from the probe P into the open envelope. In some embodiment, holding envelope E by carrier <NUM> is by suction power applied to a surface of the envelope by mount <NUM>. In some embodiments, provide suction to envelope carrier <NUM> is by a suction system is connected gripping assembly <NUM>.

As used herein with reference to quantity or value, the term "about" means "within ± <NUM> % of".

The terms "comprises", "comprising", "includes", "including", "has", "having" and their conjugates mean "including but not limited to".

As used herein, the singular forms "a", "an" and "the" include plural references unless the context clearly dictates otherwise.

Throughout this application, embodiments of this disclosure may be presented with reference to a range format. It should be understood that the description in range format is merely for convenience and brevity and should not be construed as an inflexible limitation on the scope of the disclosure. For example, description of a range such as "from <NUM> to <NUM>" should be considered to have specifically disclosed subranges such as "from <NUM> to <NUM>", "from <NUM> to <NUM>", "from <NUM> to <NUM>", "from <NUM> to <NUM>", "from <NUM> to <NUM>", "from <NUM> to <NUM>", etc.; as well as individual numbers within that range, for example, <NUM>, <NUM>, <NUM>, <NUM>, <NUM>, and <NUM>.

Unless otherwise indicated, numbers used herein and any number ranges based thereon are approximations within the accuracy of reasonable measurement and rounding errors as understood by persons skilled in the art.

Claim 1:
A medication dispensing system, comprising:
one or more medication panels (<NUM>, <NUM>, <NUM>), each having a plurality of docking ports (<NUM>) located at a vertical displacement one from another;
a plurality of medication container assemblies (<NUM>, <NUM>, <NUM>, <NUM>, <NUM>) for storing medication, coupled to said plurality of docking ports (<NUM>);
one or more actuators;
a gripping assembly (<NUM>, <NUM>, <NUM>, <NUM>, <NUM>), movable vertically by said one or more actuators to a proximate one or more of said medication container assemblies (<NUM>, <NUM>, <NUM>, <NUM>) for picking by a probe, which is inserted within said one or more of said medication container assemblies (<NUM>, <NUM>, <NUM>, <NUM>), a medication dosage out of said one or more of said medication container assemblies (<NUM>, <NUM>, <NUM>, <NUM>); and
a receptacle carrier (<NUM>, <NUM>, <NUM>, <NUM>), comprising a receptacle mount for holding one or more medication receptacles (<NUM>, <NUM>, <NUM>) configured to receive said medication dosage from said gripping assembly; said one or more medication receptacles (<NUM>, <NUM>, <NUM>) being positioned below said gripping assembly during said receive;
wherein said one or more medication panels (<NUM>, <NUM>, <NUM>) comprise one or more port surfaces; and said plurality of docking ports are coupled to said port surfaces, and protrude in a direction, which is transverse to said one or more port surfaces in an acute angle.