A method of dispensing medication from a plurality of medication containers , using a dispensing system comprising a probe for collecting a medication dosage from a medication container comprising: receiving a medication selection; selecting a medication container , from said plurality of medication containers , based on said medication selection; matching a collection protocol to be applied to said medication container including one or more parameter for control of said dispensing system; and dispensing said medication selection from said medication container according to said collection protocol; characterized in that the method further comprises: receiving a measurement signal; determining a quality of coupling of a pill to said probe , based on said measurement signal; wherein said determining comprises one or more of receiving a probe suction level measurement; receiving a weight measurement of said medication container ; and receiving a weight measurement of said probe ; changing at least one parameter of said collection protocol if said determining indicates that quality of coupling is insufficient; wherein said changing comprises changing a suction level, based on medication data and wherein said medication data includes one or more of: a pill weight; and historical successful suction levels; repeating said determining and said changing until said determining indicates that said quality is sufficient; removing said probe and said pill from said medication container . receiving a medication selection; selecting a medication container , from said plurality of medication containers , based on said medication selection; matching a collection protocol to be applied to said medication container including one or more parameter for control of said dispensing system; and dispensing said medication selection from said medication container according to said collection protocol; characterized in that the method further comprises: receiving a measurement signal; determining a quality of coupling of a pill to said probe , based on said measurement signal; wherein said determining comprises one or more of receiving a probe suction level measurement; receiving a weight measurement of said medication container ; and receiving a weight measurement of said probe ; changing at least one parameter of said collection protocol if said determining indicates that quality of coupling is insufficient; wherein said changing comprises changing a suction level, based on medication data and wherein said medication data includes one or more of: a pill weight; and historical successful suction levels; repeating said determining and said changing until said determining indicates that said quality is sufficient; removing said probe and said pill from said medication container . receiving a measurement signal; determining a quality of coupling of a pill to said probe , based on said measurement signal; wherein said determining comprises one or more of receiving a probe suction level measurement; receiving a weight measurement of said medication container ; and receiving a weight measurement of said probe ; changing at least one parameter of said collection protocol if said determining indicates that quality of coupling is insufficient; wherein said changing comprises changing a suction level, based on medication data and wherein said medication data includes one or more of: a pill weight; and historical successful suction levels; repeating said determining and said changing until said determining indicates that said quality is sufficient; removing said probe and said pill from said medication container . <EOS>