Object dispenser having a variable orifice and image identification

• US 9,501,887 B2
• Filed: 07/23/2013
• Issued: 11/22/2016
• Est. Priority Date: 07/23/2012
• Status: Active Grant

• Current Assignee: Pharmadva, LLC
• Original Assignee: Pharmadva, LLC
• Inventors: Berg, Michel J., Robertson, Jeffrey C., Onderdonk, Lowell A., Reiser, Joel M., Corby, Kenneth D.
• Primary Examiner(s): Crawford, Gene
• Assistant Examiner(s): Akridge, Stephen
• Application Number:
  US13/948,385
• Publication Number:
  US 20140025199A1
• Time in Patent Office: 1,218 Days
• Field of Search: 211/211, 700/232
• US Class Current: 1/1
• CPC Class Codes: A61J 7/0084 for multiple medicaments
• CPC Class Codes: G07F 11/005 Special arrangements for insuring that only one single article may be dispensed at a time
• CPC Class Codes: G07F 17/0092 for assembling and dispensing of pharmaceutical articles medical dispensers for private use, A61J7/00
• CPC Class Codes: G16H 20/13 delivered from dispensers

Abstract

A method and apparatus for dispensing objects from automated storage and retrieval systems such as medications is disclosed which may also include a singulator to assure singulation (retrieval of singular objects). The singulator may be an imaging system to confirm and/or identify the objects being dispensed and/or a variable orifice dynamically adjustable to a specific object or pill size, and through which only a single object or pill is allowed to pass. The system may further include a flexible probe so as to reduce the size of the system where the movement of the probe relative to or while retrieving objects is accomplished by advancing/retracting a flexible tube. The method and apparatus may further include an imaging system.

Claims

1. An object dispensing system, including:

a housing comprising a rotatable carousel below a support frame, the rotatable carousel including a plurality of individually removable containers where each container provides a repository for objects therein;

an access port in the support frame of the housing through which an object may be removed from each of the plurality of containers, in seriatim;

a pre-dispense port in the support frame of the housing providing controlled access to one of a plurality of output containers; and

a retrieval probe, said probe located within the confines of the housing and operatively sliding between the access port and the pre-dispense port, said probe including a compliant tip for releasably engaging an object in one of the plurality of containers via said access port, said probe retrieving the object from a container and then moving between the access port and the pre-dispense port to deliver the object to a dispensing receptacle via the pre-dispense port further comprising;

a controller;

a carousel rotation drive for causing the rotation of the carousel under the programmatic control of the controller;

a retrieval probe slide motor, for causing the movement the sliding of the retrieval probe slide in a horizontal direction over the access port under the programmatic control of the controller;

a vertical slide motor operatively associated with the retrieval probe to control the vertical position of the retrieval probe under the programmatic control of the controller;

wherein the controller operates to alter the relative position between the retrieval probe and the container beneath the access port, thereby enabling the retrieval probe to attempt to retrieve an object from a plurality of horizontally spaced locations within a container.

2. The object dispensing system according to claim 1, further including a singulator, operatively interposed adjacent the access port, said singulator operating to assure that only a single item is removed at a time by the retrieval probe.

3. The object dispensing system according to claim 2, wherein said singulator includes at least one imaging device and a plurality of mirrors to view an object retrieved by the retrieval probe while above the access port, whereby output of the imaging device is analyzed and in the event more than one object is suspended from the compliant tip, the objects will be released.

4. The object dispensing system according to claim 3, wherein said imaging device captures at plurality of images of the object, said system further comprising:

an image database, stored in memory, said database including images and characteristic data for a plurality of objects;

a processor operatively connected to the image database, said processor being suitable for comparing the plurality of images against data stored in the image database to determine a match between the object and an entry in the database in order to determine a characteristic of the object.

5. The object dispensing system according to claim 1, wherein said singulator includes at least one variable orifice through which the compliant tip of the retrieval probe may pass, said variable orifice being capable of adjustment to singulate the object suspended from the compliant tip as the tip is withdrawn from the container and thereby prevent the removal of more than one object at a time from the container.

6. The object dispensing system according to claim 1, wherein each of said removable containers is an open-top container.

7. The object dispensing system according to claim 6, further comprising:

a first movable cover associated with both the access port and pre-dispense port; and

a second movable cover associated with each of the plurality of containers supported by the carousel, wherein the first and second movable covers are operatively engaged to seal the containers and access port and prevent an object from being removed from the container when the system is not in operation.

8. The object dispensing system according to claim 7, wherein a single mechanism is employed to coincidently control the engagement and disengagement of both the first and second covers.

9. The object dispensing system according to claim 1, further comprising a processor operatively associated with the housing, said processor controlling the operation of the carousel and the retrieval probe to assure that an object in a selected container is retrieved and dispensed by the system.

10. The object dispensing system according to claim 1, further comprising:

a re-stock receptacle to receive any non-dispensed items, said restock receptacle storing the items until a manual intervention results in the items being restocked in an appropriate bin; and

a database, stored in memory, for tracking those items that are placed into the restock bin and decrementing the items from a supply of available items, also reflected in the database, until such time as the items are restocked into a respective container.

11. The object dispensing system according to claim 1 wherein said retrieval probe is hollow and is connected to a controllable vacuum source to provide a vacuum tip at one end that releasably engages the object for removal from the container using the vacuum to attach the object.

12. The object dispensing system of claim 3, wherein said probe retracts upon drawing a vacuum at the tip by contacting at least one object.

13. A medicament dispensing method comprising:

providing a dispensing system, including a housing having a rotatable carousel therein with a plurality of removable open-top containers, where the carousel moves under the control of a carousel drive, each open-top container including a repository for objects therein;

an access port in the housing through which an object may be removed from the plurality of open-top containers, in seriatim;

a pre-dispense port in the housing providing controlled access to at least one output container; and

a retrieval probe, said probe located within the housing and operatively movable under the control of a horizontal slide drive by a slide motor between the access port and the pre-dispense port, said probe further including a vertical slide retracting and extending the probe and a compliant tip thereon under control of a vertical slide motor, the probe tip releasably engaging an object in one of the plurality of open-top containers via the access port,

placing a different medicament into at least two of the plurality of containers;

in response to a dispense request, a controller operating to move the carousel to place an open-top container having the requested medicament beneath the access port, and moving the horizontal probe slide into a position so that the probe tip is over the access port, wherein the probe is then extended to engage a medicament, and once engaged by the probe tip, the medicament is raised while attached to the probe tip and retrieved from the open-top container via the access port;

said controller then engaging the horizontal slide drive to cause the horizontal probe slide to move into a position over the pre-dispense port;

releasing the medicament from the probe tip to deliver the medicament to a pre-dispense receptacle beneath the pre-dispense port; and

moving the pre-dispense receptacle, using a pre-dispense slide motor responsive to the controller, to transfer the medicament from the pre-dispense receptacle to a dispense cup accessible by a user.

14. The medicament dispensing method according to claim 13, further comprising:

providing a first sliding cover that moves between an open position that permits access to the access port and the pre-dispense port, and a closed position that covers both ports; and

providing a container cover that is suitable for covering the top surface of the containers except beneath both ports, wherein the container cover employs a cam-operated mechanism to raise the cover to an open position permitting rotation of the containers on the carousel or lower the cover to a position in general contact with the top edges of containers on the carousel;

wherein the first sliding cover is operatively attached to the container cover such that movement of the sliding cover between the open and closed positions similarly moves the container cover between the raised and lowered position, and where a cover motor, operatively attached to the first sliding cover through at least one linkage, causes the first sliding cover to move in response to signals generated from the controller.

15. The medicament dispensing method according to claim 13, further comprising singulating the medicament attached to the end of the probe upon retrieval via the access port to assure that only one object is retrieved.

16. The medicament dispensing method according to claim 13, further comprising applying a vacuum pressure to the probe tip, said vacuum pressure causing an attraction between the probe tip and the medicament, and sensing the pressure at the probe tip to monitor the status of the medicament attaché

to the tip, wherein a loss of vacuum is indicative that the medicament is no longer attached.

17. The medicament dispensing method according to claim 13, further comprising causing a relative movement between the probe and a container by causing a slight movement of at least one of the carousel and the horizontal slide to change the position in the container into which the probe is extended.

18. A medicament dispensing system, comprising:

a housing comprising a rotatable carousel below a support frame, the rotatable carousel including a plurality of open-top, removable containers where each open-top, removable container provides a repository for medicaments therein;

an access port in the support frame of the housing through which an object may be removed from each of the plurality of open-top, removable containers, in seriatim;

a pre-dispense port in the support frame of the housing providing controlled access to one of a plurality of output containers;

a hollow retrieval probe connected to a controllable vacuum source to provide a vacuum tip at one end that releasably engages the medicament for removal from one of the open-top, removable containers using the vacuum to attach the medicament, wherein said probe retracts upon drawing a vacuum at the tip by contacting at least one medicament and where said probe located within the confines of the housing and operatively sliding between the access port and the pre-dispense port, said probe including a compliant tip for releasably engaging an medicament in one of the plurality of open-top, removable containers via said access port, said probe retrieving the medicament from an open-top, removable container and then sliding between the access port and the pre-dispense port to deliver the medicament to a dispensing receptacle;

a singulator, operatively interposed adjacent the access port, said singulator operating to assure that only a single medicament object is removed at a time by the retrieval probe, wherein the singulator is selected from the group consisting of an imaging capturing device;

an iris-type variable orifice, and a variable orifice formed between a pair of rollers each having a cam-shaped recess thereon;

a first movable cover associated with both the access port and the pre-dispense port;

a second movable cover associated with each of the plurality of open-top, removable containers supported by the carousel, wherein the first and second movable covers are operatively engaged to seal the open-top, removable containers and access port and prevent an medicament from being removed from any open-top, removable container when the system is not in operation, wherein the first and second movable covers are operatively connected via a single mechanism employed to coincidently control the engagement and disengagement of both the first and second covers;

a processor enclosed within the housing, said processor controlling the operation of the carousel and the retrieval probe to assure that a medicament in a selected open-top, removable container is retrieved and dispensed by the system;

a re-stock receptacle to receive any non-dispensed items, said restock receptacle storing the items until a manual intervention results in the items being restocked in an appropriate bin;

a database, stored in memory, for tracking those items that are placed into the restock bin and decrementing the items from a supply of available items, also reflected in the database, until such time as the items are restocked into a respective open-top, removable container.

19. The medicament dispensing system according to claim 18, further comprising:

a controller;

a carousel rotation drive for causing the rotation of the carousel under the programmatic control of the controller;

a retrieval probe slide motor, for causing the movement of the retrieval probe slide in a horizontal direction over the access port under the programmatic control of the controller;

a vertical slide motor operatively associated with the retrieval probe to control the vertical position of the retrieval probe under the programmatic control of the controller;

wherein the controller operates to alter the relative position between the retrieval probe and the open-top, removable container beneath the access port, thereby enabling the retrieval probe to attempt to retrieve a medicament from a plurality of horizontally spaced locations within a an open-top, removable container.