Patent Description:
The present invention, in some embodiments thereof, relates to a medication dispensing system and, more particularly, but not exclusively, to handling and positioning of medication receptacles in a medication dispensing system.

<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". Similar medication dispensing systems are described in US Patent publication No. <CIT> and European Patent publication No. <CIT>.

According to an aspect of some embodiments of the present invention there is provided a medication dispensing system, which inserts a probe to pick a medication dosage from a medication container, and dispenses the medication dosage into an opening in a medication receptacle. According to some embodiments, the system includes a medication panel, having a plurality of docking ports for accommodating the medication containers, one or more actuators, a gripper attachable to the probe or including the probe, a receptacle carrier comprising a receptacle mount for holding the receptacle, and movable by the one or more actuators. In some embodiments, the system includes control circuitry, outputting positioning signals to the one or more actuators to move the receptacle carrier, and outputting dosage-manipulation signals to the one or more actuators to move the gripper to pick and manipulate the medication dosage out of the medication container. In some embodiments, a 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.

According to some embodiments, the positioning signals maintain a horizontal distance of less than <NUM> between a projection of the opening of the receptacle and a projection of the medication container on a horizontal plane.

According to some embodiments, the dosage-manipulation signals manipulate the medication dosage in a medication path, between the medication container and the opening of the medication receptacles, having a total horizontal length of less than <NUM>.

According to some embodiments, the system includes a dispensing head, supporting the receptacle carrier to form a single unit that moves the receptacle together with the dispensing head. In some embodiments, the gripper is rotatably coupled to the dispensing head. In some embodiments, the dispensing head comprises a head housing, and a movable based platform rotatably coupled to the head housing. In some embodiments, the gripper is coupled to the base platform. In some embodiments, the gripper is linearly moveable in respect to the head housing.

According to some embodiments, the manipulation signals include rotating the gripper, between picking a medication dosage out of the medication container and positioning the medication dosage vertically above the opening of the receptacle.

According to some embodiments, the receptacles are medication envelopes, having an open state in which an upper side of the envelope is open for receiving medication dosage.

According to some embodiments, the system includes an envelope opener module having a manipulator, configured to open the envelope by coupling the manipulator to a face of the envelope.

According to some embodiments, the one or more actuators move the receptacle carrier vertically between the medication containers.

According to some embodiments, at said horizontal distance, there is an overlap between the projection of the opening of the receptacle and the projection of the medication dosage on a horizontal plane, so that the medication dosage falls into the opening when released from said probe. According to some embodiments, the one or more of the actuators or the dispensing head, actuate the receptacle carrier to move horizontally to be in a constant horizontal distance between the opening of the receptacle and the medication dosage.

According to some embodiments, the receptacle carrier is configured to hold more than one receptacle.

According to some embodiments, the receptacle is configured to accommodate one or more medication dosages.

According to some embodiments, the dispensing system comprises one or more output ports, and the receptacle carrier is movable to deliver the receptacle to the one or more output ports.

According to some embodiments, the dispensing system comprises a plurality of dispensing heads.

According to some embodiments, the dispensing system comprises a plurality of receptacle carriers.

According to some embodiments, the receptacle carrier is de-coupled of the dispensing head after dispensing the medication dosage in a receptacle.

According to some embodiments, there is an overlap between the projection of the opening of the receptacle and the projection of the medication container on a horizontal plane, between or during outputting the positioning signals and the dosage manipulation signals.

According to some embodiments, the receptacle carrier is coupled to the dispensing head at least prior to outputting dosage manipulation signals. In some embodiments, the receptacle carrier is coupled to the dispensing head prior to outputting approximating signals. In some embodiments, the receptacle carrier is coupled to the dispensing head after outputting approximating signals.

According to some embodiments, the control circuitry is configured to receive one or more parameters of the medication dosage, to process one or more velocity profiles defined according to the one or more parameters of the medication dosage. In some embodiment, the control circuitry outputs manipulation signals having one or more velocity profiles.

According to an aspect of some embodiments of the present invention there is provided a method for dispensing medications in receptacles, using a dispensing system, having a gripper module for pick a medication dosage from a medication container, and dispenses the medication dosage into an opening in a medication receptacle. According to some embodiments, the method includes extracting the medication dosage out of the medication container by the gripper module or by coupling the gripper module to a probe inserted in the medication container, positioning a receptacle by a receptacle carrier in a horizontal distance of less than <NUM> between the medication dosage and the opening of the receptacle, at least prior to the extracting, and dispensing the medication dosage in the receptacle.

According to some embodiments, the method includes locating the medication dosage to be vertically above the opening in the medication receptacle. According to some embodiments, the positioning comprises moving the receptacle carrier in respect to the gripper.

According to some embodiments, the method includes opening the receptacle prior to the dispensing. According to some embodiments, the method includes opening the receptacle between the positioning and the dispensing. According to some embodiments, the time between the extracting and the dispensing is less than <NUM> sec.

According to some embodiments, the method includes rotating the gripper module to align with a probe inserted within the medication container prior to the extracting.

According to some embodiments, the dispensing system includes a dispensing head supporting the gripper module, and the method includes coupling the receptacle carrier and the dispensing head prior to the extracting.

According to some embodiments, the positioning is prior to the extracting. According to some embodiments, the positioning includes maintaining an overlap between the projection of the opening of the receptacle and the projection of the medication container on a horizontal plane.

According to some embodiments, the method includes approximating the gripping module to the medication container.

According to some embodiments, the method includes closing the receptacle after the dispensing.

As will be appreciated by one skilled in the art, some embodiments of the present invention may be embodied as a system, method or computer program product. 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 positioning medication receptacles in respect to a medication picking probe and dispensing medication dosage in proximity to a medication container in a dispensing system, 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.

A broad aspect of some embodiments of the invention relates to a medication dispensing system for extracting medication dosage out of medication containers and depositing the medication dosage in receptacles provided to the system.

According to some embodiments, the dispensing system has an interior arrangement and interactions configured to affect operational parameters of the medication dispensing system. In some embodiments, the dispensing system comprises a control circuitry and actuators electrically connected to the control circuitry that defines and controls operational parameters of the medication dispensing system. In some embodiments, the operational parameters include minimizing the movements of the medication dosage. In some embodiments, the operational parameters include moving the medication dosage in short movements after being extracted from medication container and prior to being deposited into a receptacle.

An aspect of some embodiments of the invention relates to reducing accidental depositing of medication dosage outside medication receptacles in a medication dispensing system configured to extract one or more medication dosages out of medication containers and deposit the medication dosage in medication receptacles.

According to some embodiments, the dispensing system is mechanically structured to perform short movements of medication dosage to reduce an accidental loosing of the extracted medication dosage prior to the depositing of the medication dosage inside the medication receptacle.

According to some embodiments the medication dispensing system comprises a gripper for picking the medication dosage, and the dispensing system keeps the movements of the medication dosage to be minimal by positioning the medication receptacles in proximity to the gripper. In some embodiments, dispensing system positions the medication receptacles in proximity to the gripper during the extracting of the medication dosage out of the container and the depositing of the medication dosage into the medication receptacles.

According to some embodiments, the system includes a control circuitry that controls the movements of the medication dosage. In some embodiments, the control circuitry outputs signals to one or more actuators that manipulate the medication dosage over a path, referred hereinafter as "a medication path", between the medication container and the receptacle, said medication path having a total horizontal length (defined as the projection of the medication path on a horizontal plane) of less than <NUM>.

A potential advantage in keeping the receptacles in proximity to the gripper is reducing the length and time that the medication dosage travels outside the medication container.

An aspect of some embodiments of the invention relates to a medication dispensing system, having a safe destination for a medication dosage during a dispensing process.

According to some embodiments, the dispensing system comprises a receptacle carrier for carrying the medication receptacles and keeping the receptacles in proximity to the medication dosage. In some embodiments, the medication receptacles comprise an opening acting as a funnel for receiving the medication dosage. In some embodiments, the horizontal distance between the medication dosage and the opening of the receptacle is kept to be less than <NUM>. In some embodiments, the horizontal distance between the medication dosage and the opening of the receptacle is defined as the maximal distance between the projection of the medication dosage on a horizontal plane and the projection of the opening of the receptacle on a horizontal plane.

In some embodiments, the receptacle carrier holds and positions the opening of the medication receptacle in a horizontal distance of less than <NUM> between the extraction of the medication dosage and the depositing of the medication dosage. In some embodiments, the receptacle carrier holds and positions the opening of the medication receptacle vertically below the medication dosage between the extraction of the medication dosage and the depositing of the medication dosage.

According to some embodiments the medication dispensing system comprises a gripper for picking medication dosage. In some embodiments, the medication dispensing system comprises one or more actuators for moving the gripper. In some embodiments, the actuators position the gripper in proximity to a medication container prior to extracting a medication dosage by the gripper. In some embodiments, the dispensing system couples the gripper to a probe, said probe inserted in the medication containers for picking the medication dosage out of the medication container.

According to some embodiments, the dispensing system includes a dispensing head and the gripper is coupled to the dispensing head. In some embodiments, the gripper is movably coupled to the dispensing head. In some embodiments, the gripper is rotatable coupled to the dispensing head. In some embodiments, the actuators move the dispensing head to position the gripper in respect to the medication container. In some embodiments, the actuators move the dispensing head to position the gripper in respect to the receptacle.

In some embodiments, the receptacle carrier is coupled to the dispensing head, so that the receptacle is moving together with the dispensing head. In some embodiments, the receptacle carrier is coupled to the dispensing head prior to picking a medication dosage and at least until the depositing of the medication into the receptacle. In some embodiments, the dispensing head and the receptacle carrier are a single unit.

In some embodiments, the medication receptacles are medication envelopes.

In some embodiments, the probe is used for picking medication dosage out of the containers, and for depositing the medication. In some embodiments, the probe is coupled to the medication containers and extracting medication dosage is by grabbing the probe out of the container by the gripper. In some embodiments, depositing of the medication dosage is by dropping it from the gripper or probe to the opening of the receptacle positioned below the gripper.

According to some embodiments, there is a horizontal overlap between a projection of the opening of the receptacle and a projection of the medication container on a horizontal plane. In some embodiments, the receptacle is positioned below the probe in a horizontal distance of less than <NUM> between picking of the probe and depositing of the medication. In some embodiments, the time between the picking of the probe out of the container and the depositing of the medication dosage is shorter than <NUM> sec.

A potential advantage is reducing the time is the potential avoidance of accidentally losing the medication dosage from the probe prior to depositing the medication dosage. Another potential advantage is minimizing the time the medication container is left open when probe is removed from the container.

An aspect of some embodiments of the invention relates to a medication dispensing system, which extracts a medication dosage out of medication containers and dispenses the medication dosage via an opening formed in medication envelopes during the dispensing process.

According to some embodiments, the dispensing system comprises an envelope opener module configured to open the medication envelopes at a specific period during the dispensing process. In some embodiments, the envelope opener module opens the envelope in the period between the extracting of the medication dosage and the depositing of the medication dosage in the envelope.

According to some embodiments, multiple medication dosages can be dispensed within a single envelope. In some embodiments, when the envelope is not open, it is kept closed to avoid contamination of medication within the envelope.

According to some embodiments, the system includes envelope carrier, configured to hold and to open the medication envelope. In some embodiments, the system has a control circuitry and one or more actuators, and the control circuitry outputs signals to the one or more actuators to actuate the carrier to open the envelope. In some embodiments, the envelope opener module is coupled to the envelope carrier.

An aspect of some embodiments of the invention relates to a medication dispensing system, having a control circuitry outputting signals to actuate one or more actuators to manipulate a medication dosage, between picking of the medication dosage out of a medication container and depositing the dosage in a medication receptacle.

According to some embodiments, the control circuitry processes the timing of the signals and the value of the signal in accordance to one or more medication parameters. In some embodiments, the signals include one or more velocity profiles. In some embodiments, the signals include one or more acceleration values. In some embodiments, the signals include the length and the direction of the movements. Some examples of the medication parameters are weight, type, shape, and cost. In some embodiments, control circuitry includes storage for storing historical data such as medication parameters, velocity profiles, and success/failure rate of dispensing medication dosage having velocity profile selected according to the medication parameters.

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

As shown in <FIG>, medication dispensing system <NUM> includes one or more medication panels <NUM> for accommodating a supply of medications. According to some embodiments, medication is stored in medication containers <NUM>. In some embodiments, medication panels <NUM> have a plurality of docking ports for coupling medication containers <NUM> to panels <NUM>.

Dispensing system <NUM> has a medication gripper <NUM> configured to receive 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, gripper <NUM> is configured to move next to panel <NUM> and approximate a container <NUM> for receiving a medication dosage. In some embodiments, dispensing system <NUM>, has a plurality of grippers <NUM>. In some embodiments, medication gripper <NUM> is configured to dispense medication dosage in a plurality of medication receptacles <NUM>.

According to some embodiments, dispensing system <NUM> dispenses the medication dosage by dropping the medication dosage into medication receptacles <NUM> optionally positioned under medication gripper <NUM>. In some embodiments, dispensing system <NUM> moves gripper <NUM> above medication receptacles <NUM> to allow dropping the medication dosage into medication receptacles <NUM>. In some embodiments, dispensing system <NUM> moves medication receptacles <NUM> under gripper <NUM> to allow dropping the medication dosage into medication receptacles <NUM>. In some embodiments, disposing of the medication dosage is by manipulating the medication dosage into receptacles <NUM> positioned in proximity to medication gripper <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. In some embodiments, receptacle carrier <NUM> manipulates the medication receptacles <NUM> to follow the position of medication gripper <NUM>. In some embodiments, receptacle carrier <NUM> manipulates the medication receptacles <NUM> to have their opening located vertically beneath medication gripper <NUM> in a horizontal distance of less than <NUM>. In some embodiments, receptacle carrier <NUM> manipulates the medication receptacles <NUM> to have their opening located vertically beneath medication gripper <NUM> in a horizontal distance of less than <NUM>. In some embodiments, receptacle carrier <NUM> manipulates the medication receptacles <NUM> to have their opening located vertically beneath medication gripper <NUM> in a horizontal distance of less than <NUM>. In some embodiments, there is an overlap between a projection of the opening of receptacle <NUM> and a projection of the medication dosage on a horizontal plane, so that the medication dosage falls into the opening of receptacle <NUM> when released from gripper <NUM>. In some embodiments, there is an overlap between the projection of the opening of receptacle <NUM> and the projection of container <NUM> on a horizontal plane.

A potential advantage in moving medication receptacles <NUM> in proximity to medication gripper <NUM> is reducing the length and time that the gripper <NUM> travels with a medication dosage for dropping the dosage into receptacle <NUM>. Another potential advantage is reducing the risk of losing medication dosage between receiving the dosage out of container <NUM> and dropping into receptacle <NUM>. For example, an overlap can potentially increase the chances of receiving a medication dosage by receptacle <NUM> if medication dosage falls or it is released from gripper <NUM>.

In some embodiments, gripper <NUM> does not move horizontally towards receptacle <NUM> after receiving 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 gripper <NUM>.

According to some embodiments, dispensing system <NUM> includes a control circuitry <NUM> configured to output actuation signals to actuate gripper <NUM> and receptacle carrier <NUM>. In some embodiments, system <NUM> actuates gripper <NUM> and receptacle carrier <NUM> using one or more actuators <NUM> by delivering actuating signals from the control circuitry <NUM>.

According to some embodiments, the control circuitry <NUM> outputs approximation signals to actuators <NUM> to move gripper <NUM> to approximate medication container <NUM>. In some embodiments, the control circuitry <NUM> outputs dosage manipulation signals to actuators <NUM> to move gripper <NUM> to manipulate medication dosage out of medication container <NUM>. In some embodiments, the control circuitry <NUM> outputs positioning signals to actuators <NUM> to move gripper <NUM> to position the opening of receptacle <NUM> in a horizontal distance of less than <NUM> from the medication dosage. In some embodiments, the control circuitry <NUM> outputs positioning signals between or during the approximating signals and the dosage manipulation signals.

According to some embodiments, multiple medication dosages can be dispensed within a single medication receptacle <NUM>. A potential advantage in dispensing multiple medication dosages in a single medication receptacle <NUM> is reducing the travel of gripper <NUM> and/or carrier <NUM> to collect receptacles and/or deliver packaged receptacles. Another potential advantage is reducing the number of receptacles packaged per patient.

According to some embodiments, receptacle carrier <NUM> is movable independently of gripper <NUM>. In some embodiments, dispensing system <NUM> has one or more carrier actuators <NUM> that move receptacle carrier <NUM>. In some embodiments, carrier actuators move receptacle carrier <NUM> linearly. In some embodiments, carrier actuators move carrier <NUM> parallel to panel <NUM>. In some embodiments, moving receptacle carrier <NUM> is synchronous with moving of gripper <NUM>.

According to some embodiments, dispensing system <NUM> includes a dispensing head <NUM> and gripper <NUM> is coupled to the dispensing head <NUM>. In some embodiments, gripper <NUM> is movably coupled to dispensing head <NUM>. In some embodiments, gripper <NUM> is rotatable coupled to dispensing head <NUM>. In some embodiments, actuators <NUM> move the dispensing head <NUM> to position the gripper <NUM> in respect to a medication container <NUM>. In some embodiments, actuators <NUM> move the dispensing head <NUM> to position the gripper <NUM> in respect to a receptacle <NUM>.

According to some embodiments, dispensing system <NUM> is mechanically configured to move the receptacle carrier <NUM> together with the dispensing head <NUM>. In some embodiments, receptacle carrier <NUM> is configured to be attached to head <NUM> prior to dispensing medication. In some embodiments, receptacle carrier <NUM> is configured to be attached to head <NUM> prior to approximating container <NUM>. In some embodiments, receptacle carrier <NUM> is configured to be attached to head <NUM> prior to picking medication dosage by gripper <NUM>. In some embodiments, receptacle carrier <NUM> is configured to be attached to head <NUM> prior to dispensing medication dosage. In some embodiments, attaching carrier <NUM> to head <NUM> is by moving head <NUM> towards receptacle carrier <NUM>. In some embodiments, attaching carrier <NUM> to head <NUM> is by moving receptacle carrier <NUM> towards head <NUM>. In some embodiments, carrier <NUM> and head <NUM> are part of one unit.

According to some embodiments, receptacle carrier <NUM> is configured to carry one or more medication receptacles <NUM>. In some embodiments, receptacle carrier <NUM> receives and holds medication receptacles <NUM> prior to dispensing medication dosage. In some embodiments, receptacle carrier <NUM> receives and holds medication receptacles <NUM> prior to extracting medication dosage from medication containers <NUM>.

In some embodiments, control circuitry <NUM> outputs positioning signals to actuators <NUM> to move receptacle carrier <NUM> to position the opening of receptacle <NUM> in a horizontal distance of less than <NUM> from the medication dosage. In some embodiments, the horizontal distance is less than <NUM> from the medication dosage. In some embodiments, the horizontal distance is less than <NUM> from the medication dosage. In some embodiments, the horizontal distance between the medication dosage and the opening of the receptacle <NUM> is defined as the maximal distance between the projection of the medication dosage on a horizontal plane and the projection of the opening of the receptacle <NUM> on a horizontal plane.

In some embodiments, control circuitry <NUM> outputs positioning signals to actuators <NUM> to move receptacle carrier <NUM> between medication containers <NUM>. In some embodiments, control circuitry <NUM> outputs positioning signals between or during the approximating signals and the dosage manipulation signals. In some embodiments, moving receptacle carrier <NUM> between medication containers <NUM> is defined as a movement of a receptacle <NUM> from being positioned in proximity to one container <NUM> to being positioned in proximity to another container <NUM>. In some embodiments, the movement of a receptacle <NUM> between containers is horizontal. In some embodiments, the movement of a receptacle <NUM> between containers <NUM> is vertical. In some embodiments, the movement of a receptacle <NUM> between containers <NUM> is without increasing the distance of receptacle <NUM> from panel <NUM>. According to some embodiments, medication receptacles <NUM> are medication envelopes. In some embodiments, medication receptacles <NUM> have 3D geometry, such as rectangular box, cylindrical, conical, etc. In some embodiments, medication receptacles <NUM> are rigid like plastic canister. In some embodiments, medication receptacles <NUM> are non-rigid like plastic, nylon bag, and paper.

According to some embodiments, dispensing system <NUM> includes one or more receptacle supply units <NUM> for storing receptacles <NUM>. In some embodiments, carrier <NUM> is configured to acquire receptacles <NUM> from receptacle supply unit <NUM>. In some embodiments, supply unit <NUM> is loaded with receptacles <NUM> of different sizes. In some embodiments, the dispensing system <NUM> has a plurality of supply unit <NUM> fitted to accommodate receptacles <NUM> of different types as described elsewhere herein.

According to some embodiments, dispensing system <NUM> has a labeling or printing unit <NUM> for labeling medication receptacles <NUM> with information related to medications disposed in receptacle <NUM>, e.g. patient information, medication dosage information, time, etc. In some embodiments, printing unit <NUM> is configured to print on a surface of receptacle <NUM>. In some embodiments, labeling medication receptacles <NUM> by placing a sticker on a surface of receptacles <NUM>.

According to some embodiments, dispensing system <NUM> has a receptacle sealer <NUM>. In some embodiments, when receptacles <NUM> are envelopes, sealer <NUM> can be a crimping device. In some embodiments, sealer <NUM> is a device configured for closing receptacles <NUM> by a lid/cover.

According to some embodiments, dispensing system <NUM> has one or more output ports for accommodating medication receptacles <NUM> after having medication dosage. According to some embodiments, one or more of the output ports are in the form of medication totes <NUM> for accommodating medication receptacles <NUM> after having medication dosage. In some embodiments, one or more of the output ports are PRN outputs for providing medication not through medication totes <NUM>.

In some embodiments, the dispensing system <NUM> comprises a power source <NUM> configured to supply the necessary energy to the parts of the system <NUM>. In some embodiments, the power source <NUM> allows the system <NUM> to operate without the need of external power sources.

Turning to <FIG>, which is a simplified block diagram of modules of the dispensing system that participate in handling medication envelopes configured to receive one or more medications, according to some embodiments of the invention.

As shown in <FIG>, dispensing system <NUM> comprises one or more envelope storage units <NUM> for storing medication envelopes <NUM>.

According to some embodiments, system <NUM> comprises a label printer <NUM> configured to print on envelope <NUM>. In some embodiments, printer <NUM>, prints on envelope <NUM> information related to medication dosages disposed therein.

According to some embodiments, system <NUM> comprises a dispensing head <NUM> configured to receive and hold envelopes <NUM> during the dispensing operation. In some embodiments, dispensing head <NUM> includes an envelope carrier to receive and hold envelopes <NUM>. In some embodiments, dispensing head <NUM> receives and hold envelopes <NUM> by coupling head <NUM> and envelope carrier.

According to some embodiments, the dispensing head <NUM> is configured for picking a medication dosage <NUM> from a medication container <NUM> located within a medication containers panel <NUM>. In some embodiments, dispensing head <NUM> includes a gripper to pick medication dosage <NUM> from a medication container <NUM>. In some embodiments, one or more envelopes <NUM> are coupled to dispensing head <NUM> prior to picking medication dosage <NUM>. In some embodiments, the envelopes <NUM> are coupled to a lower portion of the dispensing head <NUM> when disposing medication dosage <NUM> in envelope <NUM>, such as medication dosage <NUM> are dispensed by dropping medication dosage <NUM> from a higher portion of head <NUM> into envelope <NUM> located at the lower portion. In some embodiments, envelope <NUM> is positioned under the gripper prior to dropping medication dosage <NUM> from the gripper into envelope <NUM>.

According to some embodiments, envelope <NUM> has an open state in which the volume of envelope <NUM> is expanded to allow inserting dosage <NUM> into the envelope. In some embodiments, head <NUM> is configured to modify the state of envelope <NUM> to an open state. In some embodiments, an envelope carrier coupled to head <NUM> sets the state of envelope <NUM>. In some embodiments, opening of envelope <NUM> is after envelope <NUM> is coupled to head <NUM>. In some embodiments, head <NUM> opens envelope <NUM> prior to disposing medication dosage <NUM>. In some embodiments, at least <NUM>% of the projection of the receptacle at an open state on a horizontal plane is a funnel for medication dosage, and when a medication dosage is dropped into that projection, the medication dosage will be funneled into the receptacle.

According to some embodiments, dispensing system <NUM> has a control circuitry <NUM> that controls the movements and operation of dispensing head <NUM>. In some embodiments, control circuitry <NUM> controls the setting the state of envelope <NUM>. In some embodiments, control circuitry <NUM> actuates head <NUM> to set envelope <NUM> to an open state. In some embodiments, control circuitry <NUM> actuates head <NUM> to couple envelope <NUM> to head <NUM>. In some embodiments, control circuitry <NUM> actuates head <NUM> to pick a medication dosage <NUM> from a medication container <NUM> by outputting dosage manipulation signals. In some embodiments, control circuitry <NUM> actuates head <NUM> to dispose medication dosage <NUM> in envelope <NUM>, by outputting dispensing signals.

According to some embodiments, system <NUM> comprises a crimper <NUM>, which receives and seals envelope <NUM> after being filled with medication dosage <NUM>. In some embodiments, envelope <NUM> has a closed state in which envelope <NUM> is flat, having its volume in minimal state. In some embodiments, holding envelope <NUM> in an open state is terminated prior to receiving envelope <NUM> by crimper <NUM>.

According to some embodiments, system <NUM> comprises one or more medication totes <NUM>, to receive and store the sealed envelopes <NUM>. In some embodiments, facility personnel unload envelopes <NUM> from medication totes <NUM> in order to distribute the medications packaged in envelopes <NUM>.

Referring now to <FIG> which are simplified flow charts illustrating the preparation process of medications to be dispensed, according to some embodiments of the invention. Some of the differences between the preparation processes described in <FIG> are: the ways the receptacles are positioned in proximity to the dispensing gripper, the order some of the actions, and optional actions such as inserting multiple dosages in a receptacle that can be added to any one of the preparation processes.

According to some embodiments, the preparation process of medications to be dispensed can be divided into the following categories of activities:
Pre-preparation activities, such as: providing a medication receptacle, and positioning the receptacle in proximity to the dispensing gripper.

Preparation activities, such as: extracting medication dosage, and inserting medication in the receptacle. In some embodiments, the insertion steps can be repeated. For example, when multiple dosages are inserted in a single or multiple receptacles.

Post-preparation activities, such as: sealing the receptacles, and placing the receptacles in a collection unit/medication tote.

According to some embodiments, for example as show in in <FIG>, <FIG>, and <FIG>, the medication receptacle (e.g. <NUM>) is coupled to a dispensing head (e.g. <NUM>) having a gripper (e.g. <NUM>) prior to the preparation of the envelopes containing the medication dosage. A potential advantage of coupling the medication receptacles to the dispensing head prior to the preparation, is reducing the travel of the gripper during the preparation process.

As shown in <FIG>, according to some embodiments, providing a medication receptacles includes the following steps:.

As shown in <FIG> and <FIG>, according to some embodiments, providing a medication receptacles is by attaching a receptacle carrier (<NUM>) to the dispensing head (<NUM>) and includes the following steps:.

As shown in <FIG>, the dispensing process includes approximating <NUM> the gripper to a medication container (such as <NUM>) within medication containers panel (such as <NUM>).

According to some embodiments, approximating is by a linear movement of the gripper. In some embodiments, the linear movement is in a vertical direction. In some embodiments, the linear movement is in one or more horizontal directions. In some embodiments, the linear movement is a combination of horizontal and vertical movements. In some embodiments, the linear movements include movements which are angular to the medication container.

According to some embodiments, approximating is by control circuitry (e.g. <NUM>), outputting approximation signals to one or more actuators (e.g. <NUM>) to move the gripper to approximate the medication container.

According to some embodiments, for example such as shown in <FIG>, one or more of the receptacle preparation steps, such as coupling <NUM>-<NUM>, conveying <NUM>-<NUM>, and labeling <NUM>, can be performed in parallel to one or more activities performed by the dispensing head or gripper, such as approximating <NUM> and extracting <NUM>. A potential advantage in performing receptacle preparation step(s) in parallel to dispensing head or gripper activities is increasing dispensing rate.

As shown in <FIG>, after medication gripper is positioned next to a medication container that contains a targeted medication, the gripper picks and holds a medication dosage. As shown in <FIG>, <FIG>, and <FIG>, according to some embodiments, the medication receptacle is coupled to the dispensing head prior to the step of extracting a medication dosage.

According to some embodiments, extracting the medication is by extracting <NUM> the medication dosage out of the medication container. In some embodiments, extracting <NUM> is by providing suction through an extraction probe. In some embodiments, extracting is by gripping a medication dosage. In some embodiments, extracting includes lifting an extraction probe out of the medication container.

According to some embodiments, extracting <NUM> includes outputting dosage manipulation signals by control circuitry to one or more actuators to move one or more of the dispensing head and the gripper to manipulate the medication dosage out of the medication container. In some embodiments, the signals include one or more velocity profiles. In some embodiments, the signals include one or more acceleration profiles. In some embodiments, the signals include the length and the direction of the movements. In some embodiments, outputting the dosage manipulation signals is preceded by receiving one or more parameters of the medication dosage, and processing one or more velocity profiles according to the one or more parameters of the medication dosage. Some examples of the medication parameters are: weight, type, shape, and cost. In some embodiments, the processing of the velocity profiles includes processing of historical data such as medication parameters, velocity profiles, and success/failure rate of dispensing medication dosage having velocity profile selected according to medication parameters.

As shown in <FIG>, the preparation process includes orienting <NUM> the medication dosage to be located above the medication receptacle prior to inserting it into the receptacle. In some embodiments, orienting <NUM> include orienting the extraction probe. In some embodiments, the distance between the dispensing head and the medication container does not change during orienting <NUM>. In some embodiments, there is no linear movement of the gripper in a horizontal direction away of the container between extracting and inserting.

As shown in <FIG>, the preparation process includes positioning <NUM> a receptacle below the extracted medication dosage. In some embodiments, positioning <NUM> applies when receptacle is not earlier coupled to dispensing head prior to extracting medication dosage. In some embodiments, positioning <NUM> applies when the dispensing system includes a receptacle carrier configured to move independently of the inserting without coupling the receptacle to the dispensing head prior to extracting medication dosage. In some embodiments, positioning <NUM> is of the opening of the receptacle below the extracted medication dosage.

According to some embodiments, positioning <NUM> include outputting positioning signals by the control circuitry to one or more actuators to move one or more of: the dispensing head, the gripper, and the receptacle carrier, to position the opening of the receptacle in a horizontal distance of less than <NUM> from the medication dosage between or during the approximating <NUM> and extracting <NUM>. In some embodiments, the horizontal distance is less than <NUM>. In some embodiments, the horizontal distance is less than <NUM>. In some embodiments, the horizontal distance is less than <NUM>.

According to some embodiments, for example, when receptacle is an envelope (e.g. <NUM>), the preparation process includes opening <NUM> receptacle to an open state. In some embodiments, opening <NUM> is for expanding the volume of a receptacle envelope to allow inserting medication dosage. In some embodiments, for example as shown in <FIG>, opening <NUM> is between extracting <NUM> and inserting <NUM>. In some embodiments, opening <NUM> is after positioning <NUM>. Opening <NUM> is exemplified in <FIG>, however, it can apply to the flows described in any one of <FIG>, or other embodiments, not described in <FIG>.

As shown in <FIG>, the preparation process includes inserting <NUM> the medication dosage in the medication receptacle (e.g. <NUM>).

In some embodiments inserting <NUM> is by dropping medication dosage directly from the medication container into the receptacle through a port in the container.

In some embodiments, when medication is held by the medication gripper using suction, inserting is performed by reducing the suction and dropping dosage into the receptacle.

According to some embodiments, for example as shown in <FIG> and <FIG>, inserting <NUM> is following by the optional step of checking <NUM> if additional dosage is required to be inserted in the same receptacle. In some embodiments, checking <NUM> is an optional step in other flow options of the preparation process, such as these shown in <FIG> and <FIG>.

According to some embodiments, having a probe picked out of a medication container, the post-preparation activities include returning the probe to the medication container. In some embodiments, returning of the probe includes re-orienting and inserting the probe into the medication container. In some embodiments the distance between the dispensing head and the medication container does not change during re-orienting and inserting. According to some embodiments, there is no linear movement of the medication gripper between approximating <NUM> to a medication container and inserting the probe into the medication container. In some embodiments, there is no linear movement of the medication gripper in a vertical direction between approximating <NUM> and inserting. In some embodiments, there is no linear movement of the medication gripper in a horizontal direction between approximating <NUM> and inserting.

According to some embodiments, a receptacle having a medication dosage is sealed and delivered to a receptacle collection zone. Some of the post-preparation activities include:
Sealing <NUM> the medication receptacle after being filled with medication dosage. According to some embodiments, sealing <NUM> include covering the receptacle. In some embodiments, covering is by a lid.

In some embodiments, the receptacle is a medication envelope (e.g. <NUM>) and sealing <NUM> is by crimping the envelope. In some embodiments, post-preparation activities include closing the envelope to be flat with minimal volume. In some embodiments, closing the envelope is by terminating a force which holds the envelope in an open state is terminated. In some embodiments, closing the envelope is prior to receiving the envelope by the crimper.

Placing <NUM> the medication receptacles filled with a medication dosage in the collection unit/medication tote. In some embodiments, placing <NUM> is followed by dispensing the medication receptacles to patients.

According to some embodiments, the preparation process includes labeling <NUM> the receptacle with prescription information. Labeling <NUM> can be a pre-preparation step, a preparation steps, or a post-preparation step. In some embodiments, for example as shown in <FIG>, labeling <NUM> is performed prior to attaching <NUM> to the dispensing head. In some embodiments, for example as shown in <FIG>, labeling <NUM> is after inserting <NUM>. In some embodiments, labeling <NUM> is after sealing <NUM>. In some embodiments, labeling <NUM> is prior to conveying <NUM>.

Referring now to <FIG>, which are simplified illustrations of a perspective view of medication containers panels, according to some embodiments of the invention.

As shown in <FIG>, according to some embodiments, medication containers panel <NUM> accommodates a plurality of medication containers <NUM>. In some embodiments, panel <NUM> has a plurality of docking ports <NUM> for coupling medication containers <NUM>.

As shown in <FIG>, the medication containers <NUM> are arranged vertically (in direction Y) within a container panel <NUM>-<NUM>. In some embodiments, panel <NUM>-<NUM> is vertically flat. In some embodiments, containers <NUM> are slanted on panel <NUM>-<NUM>. In some embodiments, containers <NUM> are slanted by shaping docking ports <NUM>-<NUM> to couple containers to be in a slanted orientation.

In some embodiments, the panel is slanted. In some embodiments, the panel is arcuate. In some embodiments (not shown), the panel is cylindrical.

A potential advantage of having a medication panel extending vertically 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.

As shown in <FIG>, according to some embodiments, the medication dispensing system has medication container panel <NUM>-<NUM>, configured to accommodate a plurality of medication containers <NUM>, arranged horizontally within container panel <NUM>-<NUM>. In some embodiments, panel <NUM>-<NUM> is horizontally flat. In some embodiments, panel <NUM>-<NUM> is circular or arcuate about a vertical axis (Y).

A potential advantage of having a medication panel extending horizontally is reducing the vertical size of the panel. In some embodiments, reducing the vertical size of the panel reduces the vertical size of the dispensing system. In some embodiments, disposing the medication containers <NUM> in a horizontal arrangement reduces the horizontal size of the system.

According to some embodiments, as shown in <FIG>, a dispensing head (e.g. <NUM>/<NUM>/<NUM>) described elsewhere herein is moveable on a vertical rail <NUM> moveable mounted on medication panel <NUM>, and the dispensing head is configured to move vertically on vertical rail <NUM>. In some embodiments, the dispensing head is configured to move horizontally by moving vertical rail <NUM> on or more horizontal rails <NUM>/<NUM> provided at panel <NUM>. According to some embodiments (not shown), the dispensing head is moveable on a horizontal rail coupled to the medication panel, and the linear movement of the head is on the horizontal rail. In some embodiments, a vertical movement of the dispensing head is by moving the horizontal rail on or more vertical rails provided at the medication panel.

Referring now to <FIG>, which is a simplified illustration of a block diagram of a dispensing head, according to some embodiments of the invention.

Dispensing head <NUM> is configured to grab medication from medication containers accommodating medication. According to some embodiments, dispensing head <NUM> is configured to move in one or more directions to approximate medication containers <NUM> and receive a medication dosage. According to some embodiments, e.g. when the layout of the medication panel is vertical (e.g. <NUM>-<NUM>), approximating a medication container is by moving dispensing head <NUM> in at least a vertical direction (e.g. direction Y in <FIG>). In some embodiments, e.g. when the layout of the medication panel is horizontal (e.g. <NUM>-<NUM>), moving dispensing head <NUM> is at least in a horizontal direction (e.g. directions X and Z in <FIG>).

As shown in <FIG>, dispensing head <NUM> includes one or more base platforms <NUM> for holding modules of head <NUM>. According to some embodiments, head <NUM> includes a gripper <NUM> for picking medication dosage out of a container. In some embodiments, gripper <NUM> is a probe gripper, configured to pick a probe which holds medication dosage. In some embodiments, gripper is configured to apply suction in a probe to pick and hold medication by the probe.

According to some embodiments, dispensing head <NUM> includes a receptacle carrier <NUM> for coupling one or more medication receptacles such as <NUM> to head <NUM>.

According to some embodiments, dispensing head <NUM> is moveable by one or more motors. In some embodiments, motor <NUM> moves head <NUM> in horizontal direction X. In some embodiments, motor <NUM> moves head <NUM> in vertical direction Y. In some embodiments, one of motors <NUM> or <NUM> moves head <NUM> in horizontal direction Z. In some embodiments, one or more of motors <NUM>/<NUM> are actuated by control circuitry <NUM>. In some embodiments, control circuitry <NUM> is coupled to dispensing head <NUM>. In some embodiments, for example as shown in <FIG>, control circuitry <NUM> is located outside head <NUM>. In some embodiments, motor <NUM> is coupled to head <NUM>. In some embodiments, for example as shown in <FIG>, motor <NUM> is disposed outside head <NUM> and motor motion is transferred to head <NUM>. In some embodiments, motor <NUM> is coupled to head <NUM>. In some embodiments, for example as shown in <FIG>, motor <NUM> is disposed outside head <NUM> and motor motion is transferred to head <NUM>. In some embodiments, one or more of motors <NUM>/<NUM> are step motors. In some embodiments, one or more of motors <NUM>/<NUM> are servo motors.

According to some embodiments, the dispensing system includes a suction system <NUM> connected to head <NUM>, for attaching medication dosage to an extraction probe as described elsewhere herein. In some embodiments, suction is provided by suction system <NUM> to gripper <NUM> for applying suction through the probe. In some embodiments, suction system <NUM> includes a suction pump <NUM>. In some embodiments, suction system <NUM> includes a suction controller <NUM> connected to suction pump <NUM> for controlling the suction provided to gripper <NUM>. In some embodiments, suction controller <NUM> is disposed within head <NUM>. In some embodiments, determining the required suction power is according to the characteristic and parameters of the medication dosage (e.g. type, shape, weight, etc.). In some embodiments, suction system <NUM> includes a suction sensor for measuring suction power provided to gripper <NUM>. In some embodiments, the suction sensor is connected to gripper <NUM>. In some embodiments suction power is controlled by one or more suction valves coupled to dispensing head <NUM>.

According to some embodiments, control circuitry <NUM> controls the movement speed of head <NUM> according to the characteristic and parameters of the medication dosage (e.g. type, shape, weight, etc.). A potential advantage of controlling the speed of head <NUM> and/or suction power is potentially reducing the possibility of losing of a medication dosage coupled to dispensing head <NUM> after being extracted out of the container. Another potential advantage of controlling the suction power is reducing of failures in extracting medication dosage by the dispensing head <NUM>.

According to some embodiments, gripper <NUM> is linearly moveable in respect to platform <NUM>. 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 container by a linear motion. In some embodiments, gripper <NUM> is configured to return the probe to the container by a linear motion towards of the container. In some embodiments, gripper <NUM> is actuated to move linearly by a linear system <NUM> coupled to platform <NUM>. In some embodiments, moving gripper <NUM> in linear motion is without moving platform <NUM> in respect to the medications panel.

According to some embodiments, a picked probe is rotated by gripper <NUM> to be positioned above a medication receptacle for inserting the extracted medication dosage into the medication receptacle. 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 the medication panel. In some embodiments, there is no linear movement of gripper <NUM> in a horizontal direction away of the container between the extracting and the inserting of medication dosage. 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.

In some embodiments, control circuitry <NUM> outputs positioning signals to actuators <NUM>/<NUM> to move gripper <NUM> to position the opening of the receptacle in a horizontal distance of less than <NUM> from the medication dosage. In some embodiments, control circuitry <NUM> outputs positioning signals between or during outputting approximating signals and outputting dosage manipulation signals.

A potential advantage in limiting the motion of the probe by head <NUM> is that the time the medication container is left open when probe is out of the container minimized. In some embodiments, the time between grabbing of the probe out of the container by gripper <NUM> and inserting the medication dosage in the medication receptacle is shorter than <NUM> sec. In some embodiments, the time between grabbing of the probe out of the container by gripper <NUM> and inserting the medication dosage in the medication receptacle is shorter than <NUM> sec. In some embodiments, the time between grabbing of the probe out of the container by gripper <NUM> and inserting the medication dosage in the medication receptacle is shorter than <NUM> sec. Another potential advantage is reducing accidental loosing of the medication dosage from the probe prior to inserting the medication dosage inside the medication receptacle.

According to some embodiments, head <NUM> is configured to communicate with the medication container via a chip or RFID tag mounted at the container, or by using barcode at the container. In some embodiments, the RFID/chip is used to transmit operational parameters of the container. Some examples of information that can be communicated via RFID/chip are: identifying medication within container, counting medication dosages, receiving status details, preparation status, etc. In some embodiments, head <NUM> is updating information encoded on the container. For example: updating medication dosage remaining within container after extracting dosage by head. In some embodiments, head <NUM> has a RFID/tag reader and/or encoder <NUM>. In some embodiments, read/encoder <NUM> is coupled to platform <NUM>. In some embodiments, read/encoder <NUM> is coupled to gripper <NUM>.

According to some embodiments, reader/encoder is movable to enable approximating and detracting to/from the medication container. In some embodiments, read/encoder <NUM> is configured to move together with gripper <NUM>. For example, for approximating RFID tag/Chip of container, while picking a probe by gripper <NUM>. In some embodiments, reader/encoder <NUM> is configured to move independently of gripper <NUM>. In some embodiments, reader/encoder <NUM> is configured to rotate with gripper <NUM>, and to move linearly independently of gripper <NUM>. A potential advantage in moving reader/encoder <NUM> is that the head <NUM> is communicating with medication containers, without further moving the head <NUM>. This can help minimizing travel for the head <NUM> and reducing preparation process time. A communication of head <NUM> with container can also help avoiding an initiation of medication extraction in case reader <NUM> detects some unexpected input from a chip of the container, e.g. out of medication. Such exception can proceed to moving head <NUM> automatically to another container, without proceeding a faulty dispensing process. This can increase usability, by reducing fault handling by an operator. This can also reduce idling of the dispensing system.

Turning to View A in <FIG>, which is a simplified block diagram illustration of receptacle carrier <NUM> according to some embodiments of the present invention.

According to some embodiments, receptacle carrier <NUM> includes receptacle mount <NUM>, which is configured to hold one or more receptacles (e.g. <NUM>) when inserting medication dosage into the receptacle.

According to some embodiments, the receptacles are attached to head <NUM> by coupling the receptacle to a receptacle mount <NUM>. In some embodiment, coupling is by suction power applied to the receptacle by mount <NUM>. In some embodiments, suction system <NUM> is connected receptacle carrier <NUM> to provide the suction to mount <NUM>. In some embodiments, suction system <NUM> connected to carrier <NUM> is different than suction system connected to gripper <NUM>.

According to some embodiments, carrier <NUM> includes a state detector <NUM> for determining if the receptacle held by mount <NUM> is in an open state or a closed state. In some embodiments, dispensing operation is performed only when state is open. In some embodiments, detector <NUM> is connected to control circuitry <NUM> to control dispensing of medication based on receptacle open/closed state. A potential advantage of detecting the open/close state of the receptacle is reducing the risk of missing medication dosage within receptacle. Another potential advantage is reducing waist of medication dosages dispensed into closed receptacles.

According to some embodiments, the weight of the receptacle increases when dispensing medication dosage. In some embodiments, a weight sensor <NUM> is used for measuring the weight of the receptacle. In some embodiments, suction provided to receptacle mount <NUM> is determined according to weight measured by sensor <NUM>. In some embodiments, suction controller <NUM> increases the suction power when weight measurement increases. In some embodiments, measuring of the weight is used to verifying medication insertion within receptacle.

According to some embodiments, receptacle carrier <NUM> acquires receptacles from a receptacle supply unit (such as <NUM>). In some embodiments, carrier <NUM> includes a receptacle acquirer <NUM>, which acquires receptacle from the supply unit. In some embodiments, head <NUM> is positioned next to engage acquirer <NUM> with the supply unit.

According to some embodiments, transferring receptacles outside carrier <NUM> is required one or more time during a preparation process. In some embodiments, carrier <NUM> includes a receptacle ejector <NUM>, configured for ejecting receptacle from carrier <NUM>. In some embodiments, receptacles are ejected from head <NUM> to a medication output/collection unit, such as medication tote (such as <NUM>), after inserting medication into receptacle.

In some embodiment, acquiring by receptacle acquirer <NUM> and transferring receptacles outside carrier <NUM> by ejector <NUM> is repeated more than once during a single preparation process. For example: acquiring receptacle from receptacle supply unit (e.g. <NUM>) and then transferring receptacle to a labeling or printing unit (such as <NUM>) and back to head carrier <NUM>. Another example: transferring receptacle to and from sealing/crimping unit (such as <NUM>) prior to disposing receptacle in an output/collection unit, such as medication tote (e.g. <NUM>).

According to some embodiments, receptacle carrier <NUM> includes a conveyor <NUM> for transporting receptacles from acquirer <NUM> to mount <NUM>, e.g. prior to inserting medication within the receptacle. In some embodiments, transporting receptacles from mount <NUM> to ejector <NUM>, e.g. after inserting medication is by conveyor <NUM>. In some embodiments, transporting to ejector <NUM> is to discard unfilled receptacles, e.g. when an error occurs during the preparation process.

In some embodiments, dispensing head <NUM> is configured to hold multiple receptacles by having a plurality of receptacle carriers <NUM>. In some embodiments, dispensing head <NUM> is configured to hold multiple receptacles by having a plurality of receptacle mounts <NUM> within receptacle carriers <NUM>.

Referring now to <FIG>, which are simplified illustrations of a side view of a dispensing head, according to some embodiments of the invention.

As shown in <FIG>, dispensing head <NUM> is configured to move across a vertical panel <NUM>-<NUM> and approximate containers <NUM> coupled to panel <NUM>-<NUM>. Head <NUM> is configured to move between containers <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>-<NUM>.

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

According to some embodiments, head <NUM> includes a gripper module <NUM>, coupled to platform <NUM>, and a gripper <NUM> coupled to gripper module <NUM> and configured for picking a probe P coupled to a medication container <NUM>.

As shown in <FIG>, in some embodiments, gripper module <NUM> is linearly moveable in respect to housing <NUM> in a proximal direction <NUM>-<NUM> and a distal direction <NUM>-<NUM>. In some embodiments, gripper module <NUM> is configured to actuate gripper <NUM> for grabbing a probe P from the container by approximating gripper <NUM> to the probe P in a proximal direction <NUM>-<NUM>, and grabbing the probe away of the container by a distal linear motion in direction <NUM>-<NUM>. In some embodiments, returning of probe P to the container is by actuating gripper <NUM> by gripper module <NUM> in a proximal linear motion towards of the container 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 medications panel (such as <NUM>-<NUM>). 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 medications panel is without rotating housing <NUM> and without moving head <NUM>. In some embodiments, for example as shown in <FIG> and <FIG>, head <NUM> includes a gear mechanism <NUM>, interconnecting platform <NUM> and housing <NUM>. In some embodiments, rotating of platform <NUM> by gear <NUM>, rotates gripper <NUM> in directions <NUM>-<NUM> (shown in <FIG>) and <NUM>-<NUM> (shown in <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, as described elsewhere herein, head is configured to update information encoded on the container. As shown in <FIG> and <FIG>, head <NUM> includes a RFID/tag reader and/or encoder <NUM>, coupled to gripper module <NUM>. In some embodiments, gripper module <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 <NUM>.

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 a probe by gripper <NUM>. In some other embodiments, reader/encoder <NUM> is configured to move independently of gripper <NUM>.

In some embodiments, head <NUM> includes a linear gear mechanism <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 platform <NUM>. In some embodiments, connecting gear <NUM> to platforms <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, dispensing head <NUM> includes envelope carrier <NUM> for coupling one or more medication envelopes (such as <NUM>) to head <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 an envelope (e.g. <NUM>) when dispensing medication dosage into the envelope. As shown in <FIG>, envelope mount <NUM>, is holding envelope <NUM> vertically under gripper <NUM>. In some embodiments, when a probe P is used to hold the medication dosage, envelope mount <NUM>, is holding envelope <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 open envelope.

In some embodiment, holding the envelope is by suction power applied to a surface of the envelope by mount <NUM>. In some embodiments, a suction system (such as <NUM>) is connected to envelope carrier <NUM> to provide suction to a suction port disposed in mount <NUM>.

Turning to <FIG>, which are simplified illustrations of side views of dispensing heads and medication container panels, according to some embodiments of the invention.

<FIG> shows a size view and a front view of an embodiment of a vertical containers panel <NUM>-<NUM>, and <FIG> shows a size view and a top view of an embodiment of a horizontal containers panel <NUM>-<NUM>. In both embodiments, carrier <NUM>-<NUM>/<NUM> is decoupled of dispensing head <NUM>-<NUM>/<NUM>.

According to some embodiments, one or more carrier actuators move carrier <NUM>-<NUM>/<NUM> horizontally. In some embodiments, for example as shown in <FIG> and <FIG>, carrier <NUM>-<NUM>/<NUM> moves receptacle <NUM> horizontally below medications panel <NUM>-<NUM>/<NUM>.

In some embodiments, moving horizontally, is to maintain a horizontal distance D1 between head <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, receptacle <NUM> is vertically below dispensing head <NUM>. In some embodiments, for example as shown in <FIG>, distance D1 is measured between gripper <NUM> coupled to dispensing head <NUM>, and an opening of receptacle <NUM>. In some embodiments, for example as shown in <FIG>, distance D1 is measured between the location of holding a medication dosage M by gripper <NUM> and an opening of receptacle <NUM>. In some embodiments, the location of holding a medication dosage M is a tip of probe P (as discussed elsewhere herein).

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

In some embodiments, dispensing system includes a control circuitry having a carrier controller for actuating the carrier <NUM>-<NUM>/<NUM>. In some embodiments, the control circuitry is actuating carrier <NUM>-<NUM>/<NUM> according to an optimization algorithm, which determines the shorter travel of the dispensing head after receiving a medication dosage. In some embodiments, control circuitry controls the speed of moving carrier <NUM>-<NUM>/<NUM> according to a speed optimization algorithm. In some embodiments, as described elsewhere herein, speed is controlled to reduce loosing of medication dosage prior to dispensing into receptacle.

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

As shown in <FIG>, carrier <NUM>-<NUM>, is holding envelope receptacle <NUM> vertically under dispensing head <NUM>, such as a medication is dispensed by head <NUM> by dropping the medication M into the open receptacle <NUM>. <FIG>, illustrates an exemplified path M0-M3 of medication dosage M, from being disposed M1 in container <NUM>, extracted M1 out of container <NUM>, positioned M2 away of container <NUM>, and dropped M3 into a funnel defined by the open envelope <NUM> located vertically underneath medication dosage M after being extracted from container <NUM>.

In some embodiments, for example as shown in <FIG>, horizontal panel <NUM>-<NUM> includes slots <NUM>, which allow to dispense a medication dosage M from head <NUM>-<NUM> located at one side of panel <NUM>-<NUM> (e.g. top of panel) to receptacle <NUM>, located at an opposite side of panel <NUM>-<NUM> e.g. bottom of panel).

According to some embodiments, carrier <NUM>-<NUM>/<NUM> is independent of head <NUM> and is configured to be attached to head <NUM> prior to dispensing medication. In some embodiments, a vertical carrier actuator, moves carrier <NUM> vertically to couple carrier <NUM> to dispensing head <NUM> during the dispensing process (as described elsewhere herein).

As described elsewhere herein, receptacles are in some embodiments of the invention in the form of medications envelopes.

Referring now to <FIG>, which are simplified illustration of a perspective view of an envelope supply unit, according to some embodiments of the invention.

According to some embodiments, envelope supply unit <NUM> is configured to provide receptacles in the form of medication envelopes <NUM>. According to some embodiments, envelope <NUM> has a foldable flap <NUM>. As shown in <FIG>, flap <NUM> has a folded state, in which flap <NUM> is folded over the main body of envelope <NUM>. In some embodiments, envelope <NUM> is stored in supply unit <NUM> in a folded state. In some embodiments, the folded state is a state in which envelope <NUM> is at its most compact size. As shown in <FIG>, flap <NUM> has an unfolded state, in which flap <NUM> is unfolded and is positioned away of the main body of envelope <NUM>. In some embodiments, the unfolded state is the state in which envelope <NUM> is shaped prior to transitioning envelope <NUM> to the receptacle carrier.

According to some embodiments, supply unit <NUM> has a supply unit housing <NUM> in which one or more envelopes <NUM> are stored. In some embodiments, unit <NUM> has one or more flap openers <NUM> coupled to housing <NUM> to open flap <NUM>. In to some embodiments, supply unit <NUM> is turning flap <NUM> of envelope <NUM> from a folded state to an unfolder state by moving envelope <NUM> downward, and pushing flap <NUM> by openers <NUM>. In some embodiments, feeding envelope <NUM> to an envelope carrier is by moving envelope <NUM> downwards and outside housing <NUM>. In some embodiments, feeding an envelope carrier is after coupling supply unit <NUM> to the carrier.

Referring now to <FIG>, which are simplified illustrations of a perspective view (9A) and a top view (9B) of a portion of an envelope carrier on which a medication envelope is mounted during the dispensing process, according to some embodiments of the invention.

Envelope carrier <NUM> can be one of the receptacle carriers described elsewhere herein (e.g. <NUM>, <NUM>). As shown in <FIG>, envelope carrier <NUM> includes an envelope mount <NUM>, configured to hold envelope <NUM>. In some embodiments, mount <NUM> comprises one or more suction cups to couple envelope <NUM> to carrier <NUM> by applying suction on a face of envelope <NUM>. According to some embodiments, carrier <NUM> is configured to hold envelope <NUM> in an open state in which opening <NUM> is formed at its upper portion for receiving a medication dosage.

According to some embodiments, carrier includes retracting module <NUM> that retracts an upper portion of envelope <NUM> to form opening <NUM>. In some embodiments, retracting module <NUM> detracts an upper portion of envelope <NUM> to close opening <NUM>. In some embodiments, retracting module <NUM> is telescopic.

According to some embodiments, carrier <NUM> includes two forks <NUM> that hold envelope <NUM> in an open state. In some embodiments, forks <NUM> hold envelope <NUM>, while retracting module <NUM> retracts its upper portion. In some embodiments, forks <NUM> are movable to change the distance between them. In some embodiments, forks <NUM> clamp envelope <NUM> and reduce the distance between each other to open envelope <NUM>. In some embodiments, closing envelope <NUM> is by increasing the distance between forks <NUM>. In some embodiments, forks <NUM> are coupled to mount <NUM>. According to some embodiments, carrier <NUM> has an envelope sensor <NUM> to check if envelope <NUM> is in open state. In some embodiments, sensor <NUM> is configured to check the state of envelope <NUM> by transmitting an optical beam <NUM>" between a transmitter <NUM> and a receiver <NUM>'. In some embodiments, opening/closing of envelope <NUM> is initiated in accordance to signals of sensor <NUM>.

In some embodiments, carrier <NUM> has a flap sensor that checks if flap <NUM> is unfolded. In some embodiments, flap sensor is configured to check the state of flap <NUM> by sensing an interruption of an optical beam transmitted between a transmitter and receiver, in an unfolded state.

Referring now to <FIG>, which are simplified illustrations of perspective views (9C and 9E), a side view (9D), and a top view (9F) of a portion of an envelope carrier on which a medication envelope is mounted during the dispensing process, according to some embodiments of the invention.

As shown in <FIG>, an example embodiment of envelope carrier <NUM> comprises an envelope opener module <NUM> to modify the state of the envelope between a closed state (as shown in <FIG>) and an open state (as shown in <FIG>).

Envelope opener module <NUM>, comprises a bracket <NUM>, a manipulator <NUM> movably coupled to bracket <NUM> and having a proximal pulling head <NUM> and a distal end <NUM>.

In the example embodiment of <FIG> modifying the state of envelope <NUM> between closed state and open state is by engaging pulling head <NUM> with one face of envelope <NUM> and retracting module <NUM> with an opposite face. In some embodiments, opening is by coupling pulling head <NUM> and retracting module <NUM> to two opposite faces of envelope <NUM> and actuating one or more of pulling head <NUM> and retracting module <NUM> to move away from each other. Closing envelope <NUM> is by approximating pulling head <NUM> and retracting module <NUM>. In some embodiments, control circuitry initiates the moving of one or more of pulling head <NUM> and retracting module <NUM>.

According to some embodiments, coupling pulling head <NUM> with a face of envelope <NUM> is by suction. In some embodiments, suction is applied via distal end <NUM> through manipulator <NUM>. In some embodiments, coupling is by anchoring pulling head <NUM> to envelope <NUM>. In some embodiments, coupling is by applying a sticky material at pulling head <NUM>. In some embodiments, coupling is by applying an electrostatic force at pulling head <NUM>.

In some embodiments, manipulator <NUM> moves linearly towards and away of envelope <NUM> by a screwing within bracket <NUM>. In some embodiments, manipulator <NUM> is telescopic.

According to some embodiments, opener module <NUM> is coupled to envelope supply unit <NUM>. In some embodiments, opener module <NUM> and envelope supply unit <NUM> form a single unit. In some embodiments, carrier <NUM>, opener module <NUM>, and envelope supply unit <NUM> form a single unit. In some embodiments, dispensing head (as described elsewhere herein), carrier <NUM>, opener module <NUM>, and envelope supply unit <NUM> form a single unit.

Referring now to <FIG>, <FIG> and <FIG>, which are simplified flow charts illustrating some of the activities related to operating a pharmaceutical dispensing system (such as <NUM>), according to some embodiments of the invention.

As shown in <FIG>, the activities, according to some embodiments include:
<NUM> Initializing the dispensing system.

In some embodiments, initializing <NUM> comprises: preparing supply of medication. In some embodiments, initializing <NUM> includes feeding system with prescriptions. In some embodiments, initializing <NUM> includes Preparing supply of medication receptacle/envelopes. In some embodiments, initializing <NUM> is for sensors, valves, etc. within the dispensing system. In some embodiments, initializing <NUM> includes feeding control circuitry with movement plan. In some embodiments, initializing <NUM> includes feeding control circuitry with time tables.

Scanning can be for example for: evaluating correct supply of medication in containers, evaluating amount of medication available in medication panel, etc. In some embodiments, scanning is optional, and indication is provided by the dispensing system as described elsewhere herein.

In some embodiments, scanning is by the dispensing head. In some embodiments, scanning is by an operator.

In some embodiments, correcting an error is by an operator/nurse. In some embodiments, correcting the error is by replacing a container. In some embodiments, replacing a container is done by accessing the medication container, and/or a cartridge attached to the medication container, from the medication panel. In some embodiment access to the container and/or cartridge does not require moving other containers. In some embodiment access to the container and/or cartridge does not require moving other containers using medications drawer.

In some embodiments, this step is required when there is a need for acquiring another envelope, for example when there is an additional medication order in queue.

According to some embodiments, the flap of the envelope is required to be unfolded in order to expand be body of the envelope for inserting medication within the envelope. In some embodiments, the flap of the envelope is required to be unfolded in order to print on the envelope.

According to some embodiments, checking for unfolded flap <NUM> is by one or more sensors. In some embodiments, sensor is disposed at the dispensing head. In some embodiments, sensor is disposed at the envelope carrier. In some embodiments, checking <NUM> if flap is unfolded is by a sensor sensing interruptions is light path. In some embodiments, checking <NUM> if flap is unfolded is by pressure sensor receiving a pressure of the flap. In some embodiments, checking <NUM> if flap is unfolded is by proximity sensor.

As shown in <FIG>, according to some embodiments inserting <NUM> includes:
<NUM> Moving head to envelope supply unit.

According to some embodiments, envelope carrier is coupled to the dispensing head and moving <NUM> includes moving of the envelope carrier. <NUM> Mounting envelope on head.

In some embodiments, moving <NUM> and mounting <NUM> are prior to checking <NUM> if envelope is in envelope carrier. In some embodiments, moving <NUM> and mounting <NUM> are prior to checking <NUM> (in <FIG>) if envelope flap is unfolded. <NUM> printing data on envelope.

In some embodiments, printing is on envelope having the flap in an unfolded state. <NUM> Moving dispensing head to proximate a medication container having medication required to be dispensed.

In some embodiments, moving <NUM> includes outputting approximation signals by control circuitry to one or more actuators that move the dispending head to approximate the medication container. <NUM> Grabbing probe from medication container. In some embodiments, grabbing is by a probe gripping module coupled to the dispensing head. In some embodiments, a vacuum is activated by the dispensing head and applied on/via the probe.

In some embodiments, grabbing <NUM> includes outputting manipulation signals by control circuitry to one or more actuators that move the dispending head or the gripping module. <NUM> checking if a pill is found/extracted by probe.

In some embodiments, a sensor disposed at the gripping module to check extracted pill. In some embodiments, checking is by measuring the value of the vacuum at the probe. In some embodiments, vacuum pressure value increases when a pill is picked by the probe. <NUM> checking if envelope is open.

In some embodiments, checking <NUM> is by a sensor configured to measure the shape of the envelope to determine if it is open or flat. <NUM> opening envelope so it is ready for insertion of medication.

According to some embodiments, the envelope is in a flat (closed) state until opening <NUM> by the dispensing system. In some embodiments, opening <NUM> the envelope is by applying suction at a side of the envelope. In some embodiments, opening <NUM> the envelope is by blowing air into the envelope by an air nozzle. In some embodiments, opening <NUM> is by pressing two sides of the envelope.

Checking <NUM> if envelope is open prior to extracting medication can potentially save loosing medication, by preventing dropping medication into a closed envelope. By checking <NUM>, dispensing head is not actuated to dispense medication prior to having an envelope ready.

In some embodiments, the envelope is open after mounting <NUM>, and steps <NUM>-<NUM> are optional. In some embodiments, opening <NUM> is prior to mounting <NUM>. In some embodiments, checking <NUM> is prior to grabbing <NUM> and potentially reduce loosing of medication, since medication is not extracted prior to having an envelope ready for dispensing. In some embodiments, checking <NUM> is prior to moving <NUM> and potentially reduce travel of the head towards medication, prior to having an open envelope. <NUM> placing/inserting pill in envelope.

In some embodiments, placing/inserting pill <NUM> is by dropping the pill into envelope disposed under the pill after grabbing <NUM>. In some embodiments, placing/inserting pill <NUM> is by terminating a suction that holds the pill on a probe.

In some embodiments, when container is empty of pills, the dispensing system is configured to proceed to alerting and ejecting envelope <NUM>. In some embodiments, when container is empty, the dispensing system is configured to locate an alternate location having the medication.

In some embodiments, alert is sent to another system in communication with the dispensing system. In some embodiments, an action depends on a response to the alert. In some embodiments, ejecting is by/to a user, which receives details about the alert. In some embodiments, envelope is marked to identify exception. <NUM> Filling container with medication.

According to some embodiments, the medication panel have redundancy of medications prepared in more than one medication assemblies. In some embodiments, redundancy reduced dispensing failures by moving the head, having an envelope, to another container without a critical alert, discarding the envelope, interruption, system idling, and/or requiring operator attention.

In some embodiments, after filling <NUM>, the dispensing head proceed to repeat dispensing steps, by <NUM> grabbing probe from medication container. In some embodiments, there is an optional step of closing envelope prior to repeating dispensing steps. In some embodiments, the envelope is closed between <NUM>-<NUM>% of the time between moving <NUM> and crimping <NUM>. In some embodiments, the envelope is closed between <NUM>-<NUM>% of the time between moving <NUM> and crimping <NUM>. In some embodiments, the envelope is closed between <NUM>-<NUM>% of the time between moving <NUM> and crimping <NUM>. In some embodiments, envelope is open only between checking <NUM> and placing pill <NUM>. Closing the envelope between operations can potentially reduce contamination of medication disposed inside the envelope.

According to some embodiments, described elsewhere herein, the content of the containers assemblies is known prior to having the dispensing head approximating a container.

If envelope should receive additional pills, the head will proceed to repeat from step <NUM>.

If inserted the last pill required to be placed in envelope, the envelope can be moved <NUM> (See <FIG>) to a crimping module and crimping <NUM>.

According to some embodiments, checking PRN <NUM> is positive when medication is required to be submit to the patient immediately (e.g. when patient is in pain or not yet in database or just enrolled in facility). In some embodiments, ejecting <NUM> is to a nurse in a single manner and not through the medications tote. <NUM> Proceeding to position envelope in medication tote. In some embodiments, proceeding <NUM> is on scheduled medication runs, so than checking PRN <NUM> is negative.

One or more of the checking steps, mention above can be optional. The checking steps can potentially save redundant movements of the dispensing head, for example, when medication is not ready in container or envelope is not in a proper state, save extraction of medication when envelope is not ready, and save movement of head having a medication when envelope is not open.

According to some embodiments, a detachable probe P is coupled to the medication containers (such as <NUM>) for picking medication dosage. In some embodiments, extracting medication dosage is by grabbing probe P out of the medication container by the medication gripper (such as <NUM>/<NUM> described elsewhere herein).

According to some embodiments, the dispensing system has a control circuitry (such as <NUM>) that outputs manipulation signals to actuate the dispensing head to manipulate probe P. In some embodiments, the signals include velocity profile. In some embodiments, signals include acceleration profile. In some embodiments, signals include the length and the direction of movements. In some embodiments, the manipulation signals and/or the positioning signals are selected according to one or more parameters of the medication dosage. In some embodiment the control circuitry is coupled to the dispensing head.

In some embodiments, probe P has a tip configured to be disposed within the medication container, so that probe P can access medication disposed with the container. According to some embodiments, picking medication dosage is by applying suction through the tip of probe P. In some embodiments, suction is applied by the dispensing head and probe P is hollow to transfer suction to its tip. According to some embodiments, releasing the medication dosage of probe P is by terminating the suction.

In some embodiments, probe P is configured to pick medication by a grasping element disposed at the tip of the probe P. In some embodiments, grasping by probe P is without suction.

Medication dosages may be lost/fall during a dispensing operation or due to other circumstances. According some embodiments, dispensing system <NUM> can be configured to for tracking and colleting medication dosage that failed to be disposed into receptacles <NUM>.

Turning back to <FIG>, dispensing system <NUM> includes a lost medication collector <NUM> in which medication dosages, such as pills, can accumulate. In some embodiments, collector <NUM> is disposed at a bottom portion of panel <NUM>. In some embodiments, collector <NUM> is disposed below panel <NUM> (outside the panel). In some embodiments, collector <NUM> is removable. In some embodiments, collector <NUM> is in the form of a drawer. In some embodiments, collector <NUM> collects and conveys lost medication out dispensing system <NUM> automatically. In some embodiments, dispensing system <NUM> provides indications to the operator about one or more lost medication dosages.

A potential advantage of having a collector <NUM> is an increased usability of the dispensing system. Another potential advantage of having a collector <NUM> is increasing liability of the pharmacy by reducing the number of lost drugs and providing tracking records of the medications. Another potential advantage of having a collector <NUM> is reducing system downtime that could be required to release lost medication dosages.

In some embodiments, dispensing system <NUM> includes an internal camera <NUM>. In some embodiments, camera <NUM> can be used to locate medication dosage that failed to be disposed into receptacle <NUM>. In some embodiments, camera <NUM> is coupled to dispensing head <NUM>.

According to some embodiments, dispensing system <NUM> supports the process of returning receptacles/envelopes having medications. In some embodiments, closed receptacles/envelopes can be returned by storing returned receptacles/envelopes in a storage. In some embodiments, storage is configured to maintain the quality of the returned medication. In some embodiments, returning receptacles/envelopes includes scanning of the receptacles/envelopes by a scanner <NUM> connected or in communication with medication databases.

According to some embodiments, the dispensing process shown in <FIG>, includes some preparation activities performed by facility personnel, such as: system technician, nurse, and pharmacist. In some embodiments, the dispensing process is followed by activities on packaged medications performed by the facility personnel.

According to some embodiments, the preparations steps include feeding dispensing system (e.g. <NUM>) with prescription data. The prescription data can be of the patients in the healthcare facility.

According to some embodiments, the preparations steps include preparing a supply of medication receptacles (such as <NUM>).

According to some embodiments, the preparations steps include preparing the medication containers (such as <NUM>). In some embodiments, the medication containers comprise a cartridge by which medication is disposed within the container. In some embodiments, preparing is in accordance to data received about planned medication dosages. In some embodiments, the data is about medication types within prescription data. In some embodiments, preparing is in accordance to operational procedures unrelated to feeding of prescriptions.

Claim 1:
A medication dispensing system, which inserts a probe to pick one single pill from one of one or more medication containers (<NUM>), and dispenses the one single pill into an opening in a medication receptacle, comprising:
a medication panel (<NUM>), having a plurality of docking ports (<NUM>) for accommodating said one or more medication containers (<NUM>);
one or more actuators;
a gripper (<NUM>) attachable to the probe or including the probe;
a receptacle carrier comprising a receptacle mount for holding the receptacle, and movable by the one or more actuators;
control circuitry, outputting positioning signals to the one or more actuators to move the receptacle carrier, and outputting dosage-manipulation signals to the one or more actuators to move the gripper (<NUM>) with the probe to allow the probe to pick and manipulate said pill out of the one of the one or more medicationcontainers (<NUM>); and
wherein a horizontal distance between the opening of the receptacle and said pill is less than <NUM> at least prior to outputting the dosage-manipulation signals.