Automated delivery of good using autonomous robot

• US 9,827,680 B2
• Filed: 05/08/2017
• Issued: 11/28/2017
• Est. Priority Date: 08/29/2011
• Status: Active Grant

• Current Assignee: Pharmabot LLC
• Original Assignee: Brendan Boyce Murphy, Haris Godil, Sonya R. Davey
• Inventors: Davey, Neil S., Murphy, Brendan Boyce, Davey, Sonya R., Godil, Haris
• Primary Examiner(s): CUMBESS, YOLANDA RENEE
• Application Number:
  US15/589,489
• Publication Number:
  US 20170266813A1
• Time in Patent Office: 204 Days
• Field of Search: None
• CPC Class Codes: B25J 11/008 Manipulators for service tasks
• CPC Class Codes: B25J 11/009 Nursing, e.g. carrying sick persons, pushing wheelchairs, distributing drugs
• CPC Class Codes: B65G 1/1373 for fulfilling orders in warehouses
• CPC Class Codes: G06F 17/00 Digital computing or data processing equipment or methods, specially adapted for specific functions information retrieval, database structures or file system structures therefor G06F16/00
• CPC Class Codes: G06F 30/13 Architectural design, e.g. computer-aided architectural design [CAAD] related to design of buildings, bridges, landscapes, production plants or roads
• CPC Class Codes: G16H 20/10 relating to drugs or medications, e.g. for ensuring correct administration to patients
• CPC Class Codes: G16H 20/13 delivered from dispensers
• CPC Class Codes: G16H 40/67 for remote operation
• CPC Class Codes: Y10S 901/01 Mobile robot

Abstract

A pharmacy automation system having a robot having a hardware device and a software for internal mapping to perform simultaneous localization and mapping (SLAM) is disclosed herein. The robot is configured to use the SLAM technique to carry out at least the following different interactions: the robot communicates autonomously with a physician or an assistant directly or via an intermediary; the robot interacts with an inventory of goods and browses the inventory of goods to determine if a prescribed medication is available in the pharmacy; if the prescribed medication is available in the pharmacy, the robot interacts with a medication dispenser, using the internal mapping to fill a container with the prescribed medication, and store the container; when a patient or a proxy arrives to pick up the prescribed medication, the robot checks and approves an identification of the patient or the proxy; and when the patient or proxy presents a prescription containing the prescribed medication, the robot retrieves the container with the prescribed medication and hands the container with the prescribed medication over to the patient or proxy.

Claims

1. A robotic medication dispensing system comprising one or more robots, each robot equipped with various sensor devices, one or more medication storage vaults, wherein each of one or more medication storage vaults has a unique code that is scanned during dispensing to ensure a match with a medication, one or more processing and data storage devices, and a medication dispenser, wherein the robot is configured to use artificial intelligence (AI) and simultaneous localization and mapping (SLAM) to interact as follows:

(a) the robot communicates autonomously with an authorized medication prescriber via an online database containing a list of authorized medication prescribers and patients that are registered as participating members of a pharmacy;

(b) the robot interacts with an online inventory of goods to determine if a prescription can be fulfilled;

(c) if the prescription can be fulfilled, the robot uses an internal mapping of the robot to fill a container with the medication and store the container containing the medication;

(d) when a customer arrives to pick up the container containing the medication, the robot first undertakes identification approval of the customer; and

(e) when the customer presents a copy of the prescription indicating the authorized medication prescriber and the medication that need to be dispensed, the robot retrieves the container containing the medication that matches the prescription and hands the container containing the medication over to the customer;

wherein optionally the customer is the patient.

2. The system of claim 1, wherein the pharmacy comprises a plurality of pharmacies.

3. The system of claim 2, wherein the system is configured to allow a remote pharmacist to provide guidance on the system from a remote location that is remote from the plurality of pharmacies.

4. The system of claim 3, wherein the plurality of pharmacies is interconnected using cameras and the system is configured to allow a remote pharmacist to observe the robot or other device preparing the prescription, and to communicate directly with the customer or a local technician.

5. The system of claim 3, wherein a computer of the remote pharmacist is adapted to permit the remote pharmacist to control the robots in the plurality of pharmacies from the remote location and be in interactive communication with the robots as the robots prepare goods that are to be dispensed a plurality of customers.

6. The system of claim 3, wherein the remote pharmacist has access to one or more processing and data storage devices containing individual patient histories for a group of pharmacies the remote pharmacist serves, general information about the drugs which may be dispensed, rules that apply to various insurance plans accepted by each pharmacy, authorized medication prescribers registered to prescribe medications, and items stocked in each location, wherein the data storage and processing devices is in the same physical location as the remote pharmacist or the pharmacist is connected to the data storage and processing devices through one or more networks.

7. The system of claim 6, wherein the network used by the system is separated from any external network by a firewall or other means to prevent unauthorized access.

8. The system of claim 1, further comprising one or more self-service customer terminals through which the customer can access pharmaceutical services.

9. The system of claim 8, wherein the one or more self-service customer terminals, are walk-up terminals inside the pharmacy or drive-through terminals on the outside of the pharmacy;

wherein the one or more self-service customer terminals include a way for the customer to submit the prescription, to pay for the prescription, and to take delivery of the container containing the medication, and further optionally to communicate with a pharmacist.

10. The system of claim 9, wherein the one or more self-service customer terminals comprise (1) dedicated input devices comprising a card reader, a prescription scanner, or a bar code reader;

(2) dedicated output devices comprising printers adapted to print drug information sheets or receipts; and

(3) interactive communication devices comprising closed circuit television, intranet or internet connections.

11. The system of claim 10, wherein the one or more self-service customer terminals also includes access to a delivery system that delivers the medication to the customer in the one or more self-service customer terminals.

12. The system of claim 1, further comprising a medication preparation area, wherein the medication preparation area a vault in which the robot prepares the medication requested, wherein the vault comprises storage cells containing the medication or ingredients for preparation of the medication, and various automated counting or measuring devices.

13. The system of claim 12, wherein the robot is adapted to perform one or more tasks necessary to prepare the medication, including performing one or more tasks necessary to deliver the ingredients for compounding to form the medication.

14. The system of claim 1, further comprising a medication compounding area to prepare medications which cannot be delivered to the customer in the form in which they are stored in the pharmacy, wherein the compounding includes preparing the medication from several ingredients.

15. The system of claim 14, wherein the medication compounding area includes various devices needed for compounding the several ingredients into the medication, wherein the compounding area is in connection with the medication preparation area.

16. The system of claim 1, further comprising a customer service desk at which the customer speaks directly with an attendant who gathers information from the customer, and transmit it to a remote pharmacist and/or the robot;

wherein the robot prepares and delivers the medication to the customer while the remote pharmacist provides counseling to the customer such that an interaction with the customer at the customer service desk is similar to that at a traditional pharmacy without the system.

17. The system of claim 16, wherein the authorized medication prescriber or the customer uses a telephone to submit the prescription and optionally, depending on the laws of the state, the attendant at the customer service desk either transmits the prescription in the form of an audio or digital recording to the remote pharmacist or enters the prescription into a pharmacy computer which transmits the prescription to the remote pharmacist.

18. The system of claim 1, wherein the system is configured to accept direct computer-to-computer transmissions of the prescriptions from the authorized medication prescriber.