Methods and systems for automated medicine dispensing

Abstract

In an aspect, the present disclosure proves methods and systems for automated medicine dispensing. The automated medicine dispensing may comprise (a) providing a system comprising (i) a storage container comprising said medicine, (ii) one or more cameras, and (iii) a medicine container; (b) dispensing said medicine from said storage container; (c) subsequent to (b), imaging said medicine with said one or more cameras, thereby generating images of said medicine; (d) processing, using one or more computer processors, said images of said medicine to verify a characteristic of said medicine; and (e) dispensing said medicine into said medicine container, wherein (b) - (e) are performed automatically.

Description

METHODS AND SYSTEMS FOR AUTOMATED MEDICINE DISPENSINGCROSS-REFERENCE

[0001] This application claims the benefit of U.S. Provisional Application No. 63 / 551,261, filed February 8, 2024, which is incorporated herein by reference in its entirety.BACKGROUND

[0002] The process of dispensing medicine can utilize human pharmacists to verify the identity, amount, and dosing of a medicine. Human pharmacists can provide a bottleneck to the medicine dispensing process, particularly for prescribed medicines, due to the volume of medicines expected to be filled by the pharmacist.SUMMARY

[0003] Recognized herein is a need for fast and automated distribution of medicines to users. On site pharmacist supervised distribution of medicine can create a bottleneck in the care process of a patient, which can be compounded by short staffing and timing considerations. Additionally, offsite pharmacist-based distribution of medicine can have similar issues, with the use of the pharmacist still providing a bottleneck in the distribution process.

[0004] Additionally, recognized herein is the need for autonomous verification of machine distributed medicines. Verification, including verification using a plurality of factors, may be important to ensure that medicine distributed to a user is both a correct medicine as well as a unspoiled medicine. The use of verification may be especially important for an automated distribution system that does not include human verification.

[0005] The methods and systems of the present disclosure can provide enhanced chain of custody of medicine dispensing. By utilizing verification of the medicine being loaded into the system (e.g., through tracking of manufacturer, lot number, manufacturing date, manufacturing facility, identity of the medicine, packaging identity, etc.) as well as control of the loading of the medicine into the system (e.g., permitting access to only a storage container being removed from the system), the chain of custody of the medicine can be maintained.

[0006] In an aspect, the present disclosure provides a method of automatically dispensing a medicine to a user, comprising: (a) providing a system comprising (i) a storage container comprising the medicine, (ii) one or more cameras, and (iii) a medicine container; (b) dispensing the medicine from the storage container; (c) subsequent to (b), imaging the medicine with the one or more cameras, thereby generating images of the medicine; (d) processing, using one or morecomputer processors, the images of the medicine to verify a characteristic of the medicine; and (e) dispensing the medicine into the medicine container, wherein (b) - (e) are performed automatically.

[0007] In some embodiments, the characteristic is an identity of the medicine. In some embodiments, the characteristic is an integrity of the medicine. In some embodiments, the method further comprises, prior to (a), receiving an indication from the user. In some embodiments, the indication comprises an indication of a presence of the user at the system. In some embodiments, the method further comprises a dispenser disposed in contact with the medicine. In some embodiments, the dispenser comprises an element configured to transport the medicine to the medicine container. In some embodiments, the one or more computer processors are comprised within the system. In some embodiments, the system further comprises one or more sensors. In some embodiments, the one or more sensors comprise one or more optical sensors. In some embodiments, the one or more optical sensors detect the medicine in (b). In some embodiments, the one or more sensors comprise one or more photogates. In some embodiments, the one or more sensors comprise one or more weight sensors. In some embodiments, the one or more weight sensors weigh the medicine container before or after the medicine is dispensed into the container. In some embodiments, the processing comprises use of a computer vision algorithm. In some embodiments, the method further comprises a gantry system configured to move the one or more cameras and the medicine container to the storage container. In some embodiments, (a) - (e) occur in an absence of human intervention. In some embodiments, the system dispenses at least about 30 different medicines in a time period of at most about 24 hours. In some embodiments, the system comprises at least about 40 different medicines. In some embodiments, the method further comprises verifying an identity of the storage container using the one or more cameras. In some embodiments, the method further comprises verifying the identity of the storage container using the images of the medicine. In some embodiments, the dispensing comprises dispensing the medicine one at a time. In some embodiments, the imaging is of a plurality of sides of the medicine. In some embodiments, the imaging of the plurality of sides of the medicine occurs at a substantially same time. In some embodiments, a chain of custody of the medicine is maintained through the dispensing. In some embodiments, the medicine is dispensed in an absence of cross contamination with another medicine.

[0008] A system for dispensing a medicine, comprising: a storage container configured to store the medicine; a dispensing unit, wherein the dispensing unit is configured to receive the medicine from the storage container and actively convey the medicine to a dispensing receptacle; and one or more cameras configured to image the medicine through the dispensing unit.

[0009] In some embodiments, the system further comprises one or more computer processors. In some embodiments, the one or more computer processors are configured to receive one or more images from the one or more cameras and determine at least a portion of a characteristic of the medicine using the one or more images. In some embodiments, the dispensing unit is transparent. In some embodiments, the dispensing unit is configured to directly interface with the storage container. In some embodiments, the storage container is a bulk package for the medicine. In some embodiments, the system further comprises a drive motor separate from the dispensing unit configured to move the dispensing unit. In some embodiments, the drive motor is configured to rotate the dispensing unit. In some embodiments, the dispensing unit is coupled to a track. In some embodiments, the track is connected to the dispensing receptacle. In some embodiments, the dispensing unit is configured to move the medicine from the storage container to the track. In some embodiments, the dispensing unit is configured to convey the medicine to the dispensing receptacle under power. In some embodiments, the system further comprises a temperature control unit configured to maintain a temperature of the medicine. In some embodiments, the dispensing unit is configured to eliminate cross contamination between the medicine and another medicine.

[0010] Another aspect of the present disclosure provides a system comprising one or more computer processors and computer memory coupled thereto. The computer memory comprises machine executable code that, upon execution by the one or more computer processors, implements any of the methods above or elsewhere herein.

[0011] Additional aspects and advantages of the present disclosure will become readily apparent to those skilled in this art from the following detailed description, wherein only illustrative embodiments of the present disclosure are shown and described. As will be realized, the present disclosure is capable of other and different embodiments, and its several details are capable of modifications in various obvious respects, all without departing from the disclosure. Accordingly, the drawings and description are to be regarded as illustrative in nature, and not as restrictive.INCORPORATION BY REFERENCE

[0012] All publications, patents, and patent applications mentioned in this specification are herein incorporated by reference to the same extent as if each individual publication, patent, or patent application was specifically and individually indicated to be incorporated by reference. To the extent publications and patents or patent applications incorporated by reference contradict the disclosure contained in the specification, the specification is intended to supersede and / or take precedence over any such contradictory material.BRIEF DESCRIPTION OF THE DRAWINGS

[0013] The novel features of the invention are set forth with particularity in the appended claims. A better understanding of the features and advantages of the present invention will be obtained by reference to the following detailed description that sets forth illustrative embodiments, in which the principles of the invention are utilized, and the accompanying drawings (also “Figure” and “FIG.” herein), of which:

[0014] FIG. 1 shows an example of a system dispensing and verifying a medicine, according to some embodiments.

[0015] FIG. 2 shows an example of a system removing rejected medicines from dispensing, according to some embodiments.

[0016] FIG. 3 shows an example of a system, according to some embodiments.

[0017] FIG. 4 shows an example of a gantry system, according to some embodiments.

[0018] FIG. 5 shows an example of a dispensing unit coupled to a gantry system and a storage container, according to some embodiments.

[0019] FIG. 6 shows a computer system that is programmed or otherwise configured to implement methods provided herein.DETAILED DESCRIPTION

[0020] While various embodiments of the invention have been shown and described herein, it will be obvious to those skilled in the art that such embodiments are provided by way of example only. Numerous variations, changes, and substitutions may occur to those skilled in the art without departing from the invention. It should be understood that various alternatives to the embodiments of the invention described herein may be employed.

[0021] Whenever the term “at least,” “greater than,” or “greater than or equal to” precedes the first numerical value in a series of two or more numerical values, the term “at least,” “greater than” or “greater than or equal to” applies to each of the numerical values in that series of numerical values. For example, greater than or equal to 1, 2, or 3 is equivalent to greater than or equal to 1, greater than or equal to 2, or greater than or equal to 3.

[0022] Whenever the term “no more than,” “less than,” or “less than or equal to” precedes the first numerical value in a series of two or more numerical values, the term “no more than,” “less than,” or “less than or equal to” applies to each of the numerical values in that series of numerical values. For example, less than or equal to 3, 2, or 1 is equivalent to less than or equal to 3, less than or equal to 2, or less than or equal to 1.

[0023] Certain inventive embodiments herein contemplate numerical ranges. When ranges are present, the ranges include the range endpoints. Additionally, every sub range and value within therange is present as if explicitly written out. The term “about” or “approximately” may mean within an acceptable error range for the particular value, which will depend in part on how the value is measured or determined, e.g., the limitations of the measurement system. For example, “about” may mean within 1 or more than 1 standard deviation, per the practice in the art. Alternatively, “about” may mean a range of up to 20%, up to 10%, up to 5%, or up to 1% of a given value. Where particular values are described in the application and claims, unless otherwise stated the term “about” meaning within an acceptable error range for the particular value may be assumed.

[0024] The term “medicine” as used herein, may generally refer to one or more compounds administered for the treatment and / or prevention of a health condition. A medicine can be prescribed by a medical professional. A medicine may be available without a prescription (e.g., be an over-the-counter medicine). A medicine can be a pharmaceutical. A medicine can be a biologic. A medicine may comprise one or more of a tablet, capsule, gel, syrup, liquid, suspension, cream, patch, inhaler, injectable, pills, or the like. Examples of medicines include, but are not limited to, biologies, biologically active compounds, analgesics, antibiotics, anticoagulants, etc.

[0025] In an aspect, the present disclosure provides a method of automatically dispensing a medicine to a user. The user may be a patient (e.g., a person undergoing medical care). The user may be a person authorized to receive the medication for a patent (e.g., a caregiver, etc.). The user may be present at the system. For example, the user may be physically proximal to the system. The user may provide one or more inputs or indications to the system. The one or more inputs may comprise an indication of a prescription to be filled by the system, a verification of an authorization for the user to receive the medicine, an identification of the user, a presence of the user, or the like, or any combination thereof.

[0026] In some cases, the system can comprise a storage container comprising the medicine. The storage container may be configured to comprise a plurality of the medicine. For example, the storage container can comprise a bulk storage container of the medicine. In some cases, the bulk storage container may be a container that the medicine is distributed in (e.g., a wholesale container). The storage container may be introduced into the system without a removal of a cap of the storage container, without a removal of a safety seal from the storage container, or a combination thereof. For example, the storage container may be placed into the system with a cap removed but a safety seal left intact, and the system can pierce the safety seal prior to dispensing the medicine from the storage container. In another example, the storage container can be placed in the system with the cap on and the safety seal intact, and the system can remove these elements to access the medicine. The storage container may comprise a polymer. The storage container may comprise at least about 1, 5, 10, 20, 30, 40, 50, 60, 70, 80, 90, 100, 200, 300, 400, 500, 600, 700,800, 900, 1,000, or more doses of the medicine. The storage container may comprise at most about 1,000, 900, 800, 700, 600, 500, 400, 300, 200, 100, 90, 80, 70, 60, 50, 40, 30, 20, 10, 5, or less doses of the medicine. The storage container may comprise a number of doses of the medicine in a range as defined by any two of the preceding values. In some cases, the storage container can comprise non-medicine components (e.g., safety seals, desiccants, filters, fillers, cotton, etc.). The system may be configured to automatically remove or filter the non-medicine components. For example, the system may dispense a cotton ball from the storage container and move the cotton ball to a trash container.

[0027] The storage container may comprise one or more indications of an identity of the medicine contained within the storage container (e.g., on a label of the storage container, etc.). The one or more indications of the identity may include one or more of a name of the medication, a universal product code (UPC), one or more barcodes, one or more images, or the like, or any combination thereof. The one or more indications may, individually or in combination, be able to identify the storage container and / or the medicine therein.

[0028] In some cases, the system can comprise one or more cameras. The one or more cameras may comprise at least about 1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14, 15, 16, 17, 18, 19, 20, or more cameras. The one or more cameras may comprise at most about 20, 19, 18, 17, 16, 15, 14, 13, 12, 11, 10, 9, 8, 7, 6, 5, 4, 3, 2, or less cameras. The one or more cameras may be a number of cameras in a range as defined by any two of the preceding values. The one or more cameras may comprise one or more still image cameras (e.g., cameras configured to acquire a single image at a time). The one or more cameras may comprise one or more video cameras (e.g., cameras configured to acquire a continuous series of images). In some cases, the one or more cameras may comprise one or more digital cameras (e.g., visible digital cameras, infrared digital cameras, etc.).

[0029] In some cases, the system can comprise a medicine container. The medicine container may comprise a commercial medicine container (e.g., a commercial pill container, commercial medicine vial, etc.). The medicine container may be configured to be provided to the user after the dispensing of the medicine. For example, the medicine container may be configured to be removable from the system. The medicine container may be marked (e.g., labeled). The system may comprise one or more printers configured to generate the markings on the medicine container or on a label applied to the medicine container.

[0030] The medicine can be dispensed from the storage container. For example, the medicine can be removed from the storage container and transported into the system. The dispensing of the medicine may be through a dispensing unit as described elsewhere herein. For example, the dispensing unit can comprise an element configured to actively transport the medicine to themedicine container. The dispensing of the medicine may comprise dispensing a predetermined amount of the medicine. For example, the predetermined amount of the medicine may be an amount of medicine prescribed for a user. In this example, the system can dispense an amount of medicine to, after removal of any broken or rejected medicine, provide the number of medicine doses prescribed to the user.

[0031] In some cases, the dispensing may comprise dispensing prepackaged medicine. For example, the dispensing may comprise dispensing a blister pack of medicine. In another example, the dispensing may comprise dispensing a pre-loaded autoinjector. The dispensing the prepackaged medicine may comprise providing the prepackaged medicine, verifying the prepackaged medicine (e.g., verifying a characteristic as described elsewhere herein), labeling the prepackaged medicine, and dispensing the prepackaged medicine.

[0032] The dispensing may be dispensing at least about 1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14, 15, 16, 17, 18, 19, 20, 21, 22, 23, 24, 25, 26, 27, 28, 29, 30, 60, 90, 120, or more units (e.g., pills) of the medicine at one time. The dispensing may be dispensing at most about 120, 90, 60, 30, 29, 28, 27, 26, 25, 24, 23, 22, 21, 20, 19, 18, 17, 16, 15, 14, 13, 12, 11, 10, 9, 8, 7, 6, 5, 4, 3, 2, or 1 unit of the medicine at one time. For example, the medicine can be dispensed out of the storage container and fed one unit at a time for the imaging to decrease imaging errors. In another example, the medicine can be dispensed out of the storage container and fed in multiples for imaging to increase thruput.

[0033] The dispensing may comprise removing the medicine from the storage container and transporting the medicine through a portion of the system that is viewed by the one or more cameras. For example, the dispensing can comprise moving the medicine past a field of view of the one or more cameras. While the medicine is moved past the one or more cameras, the one or more cameras may image the medicine. The imaging of the medicine may generate images of the medicine. The images of the medicine may comprise at least about 1, 5, 10, 20, 30, 40, 50, 60, 70, 80, 90, 100, 200, 300, 400, 500, 600, 700, 800, 900, 1,000, or more images of the medicine. The images of the medicine may comprise at most about 1,000, 900, 800, 700, 600, 500, 400, 300, 200, 100, 90, 80, 70, 60, 50, 40, 30, 20, 10, 5, 2 or fewer images. The images may comprise a number of images in a range as defined by any two of the preceding values.

[0034] In addition to the one or more cameras, the system may comprise one or more sensors. The one or more sensors may be configured to record one or more signals (e.g., signals related to the medicine, the dispensing of the medicine, etc.). The one or more sensors may provide additional information related to the dispensing of the medicine from the system (e.g., the movement of the medicine from the container, the transit of the medicine through the system, the addition of themedicine to the medicine container, etc.). Examples of sensors include, but are not limited to, weight sensors (e.g., load cells, pressure sensors, scales, etc.), optical sensors (e.g., laser scanners, light detecting and ranging sensors, photogates, photodetectors, etc.), mechanical sensors (e.g., mechanical switches, etc.), proximity sensors, ultrasonic sensors, or the like, or any combination thereof. The one or more sensors may detect the medicine as and / or after the medicine is dispensed. For example, the medicine can be dispensed from the container and imaged with the one or more cameras as well as be detected by the one or more sensors. In this example, the information from the one or more sensors can be used along with the images from the one or more cameras to aid in the verification of the identity and / or the amount of medicine being dispensed. In another example, a weight sensor can weigh the medicine container, before, during, and / or after the medicine is dispensed into the container. In this example, the weight information generated by the weight sensor can be used to verify the amount of medicine dispensed into the medicine container.

[0035] The images of the medicine may be processed, using one or more computer processors, to verify a characteristic of the medicine. The processing may comprise the use of one or more computer vision algorithms, neural networks (e.g., convolutional neural networks, generative adversarial networks, recurrent neural networks, autoencoders, etc.), object detection models, image segmentation models, capsule networks, or the like, or any combination thereof. For example, the processing may comprise inputting one or more images comprising the medicine into a computer vision algorithm, and the computer vision algorithm can determine an identity of the medicine. The processing may comprise one or more of determining a size, shape, color, presence or absence of markings (e.g., logos, etchings, numbers, letters, etc.), or the like, or any combination thereof.

[0036] The one or more cameras and / or the one or more sensors may be used to verify an identity of the storage container. For example, images of the storage container may be processed as described elsewhere herein to confirm an identity of the storage container. In another example, a near field communication (NFC) sensor can read an identity of an NFC chip of the storage container to determine an identity of the storage container (and therefore an expected identity of the medicine). The one or more images of the medicine may be used to at least partially verify an identity of the storage container. For example, a same image used in the verification of the medicine can have a portion of the storage container within the frame of the image. In this example, the same image can be used in the verification of the storage container (e.g., by using the portion of the image comprising the storage container) as well as the verification of the medicine (e.g., by using the portion of the image comprising the medicine). The use of the same cameras and / orimages to verify both the storage container and the medicine can reduce the number of cameras and complexity of the system.

[0037] In some cases, the system may be configured to image the medicine with the one or more cameras at an arbitrary (e.g., any) angle. For example, the medicine can be dispensed from the storage container and imaged in whatever configuration the medicine comes out of the storage container. The system may be configured to use markings, or other identifying features, from any or all of the sides of the medicine. For example, a plurality of cameras can be configured to image all of the sides of the medicine at a same or substantially same time.

[0038] The processing may occur local to the system (e.g., on one or more computer processors comprised within the system). The processing may occur remotely to the system. For example, the images or data derived therefrom can be transmitted to a remote server for processing. The processing may be completed within at least about 1, 5, 10, 15, 20, 30, 40, 50, 60, 70, 80, 90, 100, 200, 300, 400, 500, 600, 700, 800, 900, 1,000, or more milliseconds of the one or more images being acquired. The processing may be completed within at most about 1,000, 900, 800, 700, 600, 500, 400, 300, 200, 100, 90, 80, 70, 60, 50, 40, 30, 20, 15, 10, 5, 1, or less milliseconds of the one or more images being acquired. The processing may be completed in a time in a range as defined by any two of the preceding values.

[0039] The characteristic may comprise one or more of an identity of the medicine, an integrity of the medicine (e.g., a presence or absence of breaks, cracks, missing portions, damage, foreign particles, etc.), or the like, or any combination thereof. The determination of the characteristic may be used to determine of a medicine is in a condition to be dispensed to the user (e.g., is the correct medicine, does not have an integrity deficiency, etc.). The determination may be at least a portion of a verification operation for the dispensing of the medicine. For example, the use of the determination can enable the dispensing of the medicine without supervision of a human pharmacist. The system may be configured to reject medicine that does not reach a predetermined criteria of the characteristic. For example, if the system determines that a medicine being dispensed by the system is damaged, the system can reject the medicine from being dispensed to the medicine container. The rejecting may comprise use of, for example, one or more mechanical shutters, air streams, mechanical pickers, or the like, or any combination thereof. The rejected medicine may be directed to a secured compartment. The secured compartment may be configured to not allow individual access to the rejected medicine. For example, the secured compartment may be configured to be removable as a whole compartment, but not allow access to the medicine by a technician.

[0040] The medicine may be dispensed into the medicine container. The dispensing the medicine into the medicine container may comprise adding medicine to the medicine container until a prescribed dosage has been introduced into the medicine container. For example, a prescription prescribing 30 pills can be filled by dispensing 30 pills into the medicine container. In this example, each pill of the 30 pills can be individually verified using at least the one or more cameras.

[0041] In some cases, the dispensing, processing, and imaging can be performed automatically. The automatically may denote in an absence of human intervention to the system. For example, the medicine can be dispensed and verified without a pharmacist or other technician’s involvement. The automatic nature of the method may enable increased service by automated systems, as the bottleneck of human verification can be avoided for the medicine dispensing process. In this way, the method can provide improvements over other medicine dispensing schemes.

[0042] The system may be configured to provide a chain of custody and / or traceability for the medicine. For example, the system can read (e.g., using the one or more cameras of the system) information (e.g., lot numbers, bottle labels, bottle codes, etc.) on the storage container as the storage container is input into or removed from the machine. For example, as a new bottle is swapped into the system, the system can read the information from the old bottle and the new bottle, thereby ensuring that the technician performing the swap is swapping the correct storage container. The system may comprise one or more locking systems configured to lock the storage container within the system. The system may unlock one or more storage containers in response to an input indicating the one or more storage containers are to be removed and replaced. A technician servicing the system may not have access to other storage containers besides the storage container being serviced. The storage container may be replaced by a human technician. The storage container may be replaced by an automated system (e.g., a robotics system).

[0043] The system can be configured to dispense at least about 1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14, 15, 16, 17, 18, 19, 20, 21, 22, 23, 24, 25, 26, 27, 28, 29, 30, 31, 32, 33, 34, 35, 36, 37, 38,39, 40, 41, 42, 43, 44, 45, 46, 47, 48, 49, 50, 55, 60, 65, 70, 75, 80, 85, 90, 95, 100, or more different types of medicine. The system may be configured to dispense at most about 100, 95, 90, 85, 80, 75, 70, 65, 60, 55, 50, 49, 48, 47, 46, 45, 44, 43, 42, 41, 40, 39, 38, 37, 36, 35, 34, 33, 32,31, 30, 29, 28, 27, 26, 25, 24, 23, 22, 21, 20, 19, 18, 17, 16, 15, 14, 13, 12, 11, 10, 9, 8, 7, 6, 5, 4, 3,2, or fewer different types of medicine. The system may be configured to dispense a number of different types of medicine in a range as defined by any two of the preceding values. The system may be configured to dispense the different types of medicine in a time period of at least about 1, 2,3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14, 15, 16, 17, 18, 19, 20, 21, 22, 23, 24, or more hours. The system may be configured to dispense the different types of medicine in a time period of at mostabout 24, 23, 22, 21, 20, 19, 18, 17, 16, 15, 14, 13, 12, 11, 10, 9, 8, 7, 6, 5, 4, 3, 2, 1, or less hours. The system may be configured to dispense the different types of medicine in a range of times as defined by any two of the preceding values.

[0044] The system may comprise one or more gantry systems configured to move the one or more cameras and / or the medicine container to the storage container. For example, a moving unit on the gantry system can comprise a plurality of cameras and a portion configured to receive the medicine container. In some cases, the moving unit can comprise one or more sensors as described elsewhere herein. For example, a weight sensor can be disposed beneath the medicine container. In some cases, the gantry system may be replaced or augmented with an additional robotic movement system. For example, a robotic arm may be used to move a medicine container to a storage container. Examples of robotic movement system include, but are not limited to, robotic arms, grippers, pickers, pneumatics, or the like, or any combination thereof.

[0045] In another aspect, a system may comprise a storage container configured to store the medicine as described elsewhere herein. For example, the storage container can be a bulk package for the medicine. The system may comprise a dispensing unit. The dispensing unit may be configured to receive the medicine from the storage container. The dispensing unit may be configured to actively convey the medicine to a dispensing receptacle (e.g., a medicine container).

[0046] The system may comprise one or more cameras. The one or more cameras may be configured to image the medicine through the dispensing unit. In some cases, the dispensing unit may be at least partially transparent or translucent. For example, the dispensing unit can comprise a translucent material. In this example, the one or more cameras can image the medicine through the transparent material during dispensing. A portion of the dispensing unit may comprise a transparent or translucent material. For example, the dispensing unit may comprise a window configured for imaging of the medicine. In some cases, the dispensing unit may comprise one or more voids. The one or more voids may enable visual communication between the one or more cameras and the medicine within the dispensing unit. For example, the one or more voids may provide a clear view of the medicine within the di spending unit, and the one or more cameras can then image the medicine. The transparent material may comprise, for example, glass, plastic (e.g., polycarbonate, acrylic, polyethylene terephthalate, polystyrene, etc.), or the like, or any combination thereof.

[0047] The dispensing unit may be configured to directly interface with the storage container. For example, the dispensing unit can screw into the storage container. In another example, the dispensing unit can have an opening configured to accept an opening of the storage container. The dispending unit may comprise a container opening unit. The container opening unit may beconfigured to remove one or more of a cap of the storage container, a lid of the storage container, a safety seal of the storage container, or the like, or any combination thereof.

[0048] The system may comprise a drive motor. The drive motor may be configured to move the dispensing unit. The drive motor may be comprised within a gantry as described elsewhere herein. The drive motor may be configured to reversibly couple to the dispensing unit. For example, the drive motor may be configured to physically interface with a portion of the dispensing unit. The movement may comprise one or more of shaking, rotating, linearly moving, or the like, or any combination thereof. For example, the drive motor can spin the dispensing unit to move the medicine along a ramp within the dispensing unit. The dispensing unit may be configured to convey the medicine to the dispensing receptacle under power. For example, the dispensing unit may use some power to convey the medicine. In this example, the dispensing unit may not be passive (e.g., fed only by gravity, etc.).

[0049] The one or more cameras may be as described elsewhere herein. The system may comprise one or more computer processors as described elsewhere herein. The one or more computer processors may be local to the medicine (e.g., within a same unit as the medicine). The one or more computer processors may be remote from the medicine (e.g., cloud processors, etc.). The one or more computer processors may be configured to receive one or more images from the one or more cameras. For example, after acquisition, the one or more images can be transmitted from the one or more cameras to the one or more computer processors. The one or more computer processors may be configured to determine at least a portion of an identity of the medicine using at least in part the one or more images. For example, the one or more computer processors can take as inputs the one or more images and additional data from one or more sensors to determine an amount and / or a characteristic of medicine dispensed by the system. The determining the amount and / or characteristic may be as described elsewhere herein. For example, determining a characteristic of the medicine can comprise use of a computer vision algorithm.

[0050] The dispensing unit may be coupled to a track. The track may be configured to transport the medicine between the dispensing unit and the dispensing receptacle. For example, as medicine is transported out of the dispensing unit, the medicine can travel along the track to the dispensing receptacle. In this example, the track can reduce loss of the medicine due to overtravel of the medicine during dispensing. In some cases, the track can be connected to the dispensing receptacle. For example, the track can reversibly couple to the dispensing receptacle to reduce spillage of the medicine. The dispensing unit may be configured to move (e.g., actively move) the medicine from the storage container to the track, and the track can be configured to move (e.g., actively move, passively move) the medicine from the dispensing unit to the dispensing receptacle.

[0051] In some cases, the dispensing unit may be disposable. For example, the dispensing unit may be configured to be used with a single type of medicine and then discarded. In this way, cross contamination between medicines can be reduced or eliminated. The dispensing unit may be configured to be removable. For example, when a new medicine is introduced to the system, the previous dispensing unit may be removed and discarded, and a new dispensing unit can be introduced.

[0052] The system may comprise a temperature control unit. The temperature control unit may be configured to maintain a temperature of the medicine. The temperature control unit may comprise one or more temperature probes. The one or more temperature probes may be configured to monitor a temperature within the system. In some cases, a temperature probe can be associated with each medicine within the system. In some cases, a temperature probe can be associated with a region of the system comprising a plurality of medicines. In some cases, a temperature probe can be associated with each medicine that has a temperature storage requirement. The temperature control unit may comprise, for example, one or more heaters (e.g., resistive heaters, heat pumps, thermoelectric heaters, etc.), coolers (e.g., evaporative coolers, chillers, heat pumps, thermoelectric coolers, etc.), fans, or the like, or any combination thereof. The temperature control unit may be a portion of an environmental control unit. The environmental control unit may be configured to maintain an environment of the system (e.g., a humidity, a temperature, a light condition, etc.).

[0053] FIG. 3 shows an example of a system 300, according to some embodiments. The system 300 may comprise one or more gantries 301. The one or more gantries may be configured to move one or more heads 400 through the system. The one or more heads may be configured to hold one or more medicine containers 304 as described elsewhere herein. The one or more heads may be configured to interface with one or more dispensing units 500 of FIG. 5. The system may comprise at least about 1, 2, 3, 4, 5, 6, 7, 8, 9, 10, or more gantries. The system may comprise at most about 10, 9, 8, 7, 6, 5, 4, 3, 2, or 1 gantries. The system may comprise a number gantries in a range as defined by any two of the preceding values. The one or more gantries may be configured to access the medicine storage containers of the system, permit dispensing and verification of the medicine, and hold a medicine container to receive the medicine.

[0054] The gantry system may be configured to access one or more regions 302. The one or more regions may comprise at least about 1, 2, 3, 4, 5, 6, 7, 8, 9, 10, or more regions. The one or more regions may comprise at most about 10, 9, 8, 7, 6, 5, 4, 3, 2, or 1 regions. The one or more regions may be a number of regions in a range as defined by any two of the preceding values. The one or more regions may be individual regions. For example, the one or more regions may be separate from one another. In this example, the regions can be individually sealed such that a technician canaccess one region at a time. The one or more regions may be kept under different conditions. For example, a first region can be kept at sub ambient temperatures while a second region can be kept at low humidity. Medicines may be segregated within the one or more regions by the storage conditions for the medicines. For example, medicines that are stored at sub ambient temperatures can be stored together. In this way, each medicine within the system can be maintained at an optimal storage condition for the medicines.

[0055] The system may comprise one or more prepackaged medicine dispensers 303. The prepackaged medicine dispensers may be configured to dispense medicines contained within nonbulk packaging as described elsewhere herein. For example, the prepackaged medicine dispensers can dispense blister packs of medicines. The same verification systems (e.g., computer vision, sensor based, etc.) can be used to verify the prepackaged medicines dispensed from the prepackaged medicine dispenser.

[0056] FIG. 4 shows an example of a gantry system head 400, according to some embodiments. The head 400 may be configured to be attached to the gantry 301. The head may be movable along the gantry (e.g., configured to move along a major axis of the gantry). In this way, the head may be configured to access regions along the length of the gantry. The head may comprise a motor configured to move the head along the gantry. The head may be configured to rotate around the gantry. For example, the head can be configured to rotate along the arrows shown in FIG. 4.

[0057] The head may comprise one or more cameras 401. The one or more cameras may be as described elsewhere herein. For example, the one or more cameras can be configured to image the medicine, the medicine container, or the storage container, or any combination thereof. The one or more cameras may be configured to image a medicine container placed in medicine container holder 402. The medicine container holder may be configured to hold the medicine container during a dispensing operation of the system and release the medicine container after the fill operation to be dispensed to the user. The head may comprise one or more drive units 403. The one or more drive units 403 may be configured to interface with one or more dispensing units (e.g., dispensing unit 500 of FIG. 5). The one or more drive units may comprise one or more drive motors as described elsewhere herein. For example, a drive unit can be configured to rotate a dispensing unit. The drive unit may comprise one or more engagement members 404. The one or more engagement members may be configured to engage with a dispensing unit to transfer movement of the drive unit to the dispensing unit. Examples of engagement units include, but are not limited to, ridges, posts, flanges, wings, screws, clips, or the like, or any combination thereof.

[0058] FIG. 5 shows an example of a dispensing unit 500 coupled to a gantry system 301 and a storage container 501, according to some embodiments. The dispensing unit may be as describedelsewhere herein. For example, the dispensing unit may be configured to actively convey the medicine (e.g., pills 504) from the storage container 501 to the track 502. In some cases, the dispensing unit may directly convey the medicine from the storage container to the medicine container 503 without an intervening track 502. The dispensing unit may interface with the engagement members of the head as described elsewhere herein. Subsequent to the dispensing and verification of the medicine, the medicine container 503 may be released from the head 400 for downstream processing (e.g., capping, labeling, weight verification, etc.) and dispensing to the user.

[0059] The present disclosure includes systems and methods relating to vending equipment for dispensing medication with machine vision. According to some implementations, this vending equipment can include an automated robotic machine configured to utilize machine vision when receiving a wholesale package of medications, internally unpacking and arranging the medications within the package autonomously, and dispensing the medications directly to consumers. These medications can include prescription and non-prescription medications, such as pills, liquids, gels, tubes, blister packs, prepackaged products, etc. Packages received can include wholesale bottles, boxes, or other like containers.

[0060] The systems (e.g., machines) of the present disclosure can be placed within or externally to licensed pharmacies and / or similarly authorized venues. This can allow consumer patients (e.g., users) to independently interact with these systems in order to have prescription medications immediately, or shortly thereafter, both filled and dispensed directly to them. The machine units may include user interfaces, such as an interactive screen, in order for consumers to engage with the machine to verify and provide information expected during fulfillment of pharmaceutical medications and / or products (e.g., have the consumer to provide their / the patient’s name, birthdate, identification, insurance / co-pays, etc.). This can involve scanning, inputting, or otherwise submitting information for local and / or offsite verification. In some implementations, biometrics (such as, facial, fingerprint, etc.) and enabling technology can be included and utilized by these machine units to verify identity and / or other relevant information required to fill a prescription for medication. A companion application on a third-party user interface, such as a smartphone, can be utilized, in some implementations, to remind consumers of which medications are ready for refilling, details related to their usage, timelines for taking medications, tracking adherence, collecting copays, etc. In some implementations, this companion application can allow for a consumer to simply approach a unit, scan an authorized and unique QR code, and thereby commence filling a prescribed, valid and due prescription previously or thereupon been paidfor. Vending machine units according to the present disclosure may alternatively include card readers, cash accepting mechanisms, or verify digital payments.

[0061] These machines can additionally enable access to a pharmacist or other authorized healthcare provider, as required by state and federal laws. Access to a pharmacist, or other authorized healthcare provider, such as their doctor, can also allow for a consumer to make direct contact in order to request and thereby receive a new or refilled prescription, for example. In some implementations, these machine units may include components allowing for consumers / patients to on-the-spot measure vital signs, such as blood pressure, heart rate, etc., to further assist authorized healthcare providers in assessing patient health.

[0062] These machines can be physically secured to prevent compromising of internal components and / or medications, theft, or other like damages. These units may be manufactured and provided in different sizes to accommodate where they are deployed; for example, a smaller unit may include the most common medications in an office building, whereas a larger unit may include pharmaceutical products mirroring those which an entire pharmacy can stock. In some implementations, a designated servicer, refiller, pharmacist etc. may open the machine to stock wholesale bottles. As previously introduced, in some implementations, these vending machine units may include auto-unpacking capabilities. This can include vending machine units with a “slot”, in which a secure package full of wholesale bottles can be inputted by a designated party, whereby the machine itself unpacks and stocks the wholesale bottles as appropriate ahead of dispensing to consumers.

[0063] These machine units can internally include wholesale bottles of medication in order to sort, analyze, and subsequently dispense directly into a pill bottle or like container of the consumer, rather than simply dispensing prefilled medication supplies. In some implementations, this can take place without requiring an intermediary operation of sending the medication first to a bin, and then to a consumer container. This analysis can include machine vision to measure dispensing amounts accurately and rapidly, such as counting the pills that are filled, as in the present example. These machine units can use this technology, without the use of weight sensors, physical counters, or like methods. In some implementations, the machine units may utilize weight sensors, physical counters, or like methods. In some implementation, these medications do not touch any components during travel between the wholesale bottle and consumer patient bottle.

[0064] FIG. 1 shows an example diagram illustrating the dispensing of medication to a consumer via these machines when entirely correct medication is dispensed. In this example, the wholesale pill bottles or containers, once received from a manufacturer / distributor and ready for install, can be mounted upside-down, or otherwise, within the vending machine. Within the machine, in someimplementations, a conduit, such as a funnel can be attached, screwed, or otherwise secured to the wholesale pill bottle, which can be narrow enough to ensure that a single pill travels from the wholesale bottle through toward the consumer / patient bottle at a time. To additionally control for this, the tip, or bottom, of the conduit can include a shutter mechanism that opens and closes, allowing a single pill through the conduit / funnel at a time. In this example, the patient bottle can be placed under the wholesale pill bottle by the consumer and / or otherwise using a robotic mechanism, so that the patient bottle is supported externally to and / or introduced within the interior vending machine unit as it awaits and / or undergoes filling.

[0065] Also shown in FIG. 1, as the single pill(s) is dropped through the conduit / funnel, one or more cameras, located below the shutter but before into entrance into the patient bottle, can examine, analyze, and identify each individual pill in real-time, using computer vision, machine learning, artificial intelligence, etc. In this way, the camera(s) may be connected to a computer system utilizing local and / or offsite methods of processing this medication information. In this example, if the camera(s) and the accompanying analyses identifies a pill as being the correct and expected one, it can be dispensed into the patient bottle. However, as shown in FIG. 2, if the camera(s) and the accompanying analyses identifies a pill as being incorrect (or broken, split, etc.), robotic mechanisms within the machine unit can extend out a "rejected pills container" to secure the rejected pill(s) before they fall through into the patient bottle. The rejected pills container may then be withdrawn by the robotic mechanism to allow the next pill to be dispensed.Computer systems

[0066] The present disclosure provides computer systems that are programmed to implement methods of the disclosure. FIG. 6 shows a computer system 601 that is programmed or otherwise configured to perform processes related to the automatic dispensing of medicine. The computer system 601 can regulate various aspects of the present disclosure, such as, for example, dispensing and verification of medicines. The computer system 601 can be an electronic device of a user or a computer system that is remotely located with respect to the electronic device. The electronic device can be a mobile electronic device.

[0067] The computer system 601 includes a central processing unit (CPU, also “processor” and “computer processor” herein) 605, which can be a single core or multi core processor, or a plurality of processors for parallel processing. The computer system 601 also includes memory or memory location 610 (e.g., random-access memory, read-only memory, flash memory), electronic storage unit 615 (e.g., hard disk), communication interface 620 (e.g., network adapter) for communicating with one or more other systems, and peripheral devices 625, such as cache, other memory, data storage and / or electronic display adapters. The memory 610, storage unit 615, interface 620 andperipheral devices 625 are in communication with the CPU 605 through a communication bus (solid lines), such as a motherboard. The storage unit 615 can be a data storage unit (or data repository) for storing data. The computer system 601 can be operatively coupled to a computer network (“network”) 630 with the aid of the communication interface 620. The network 630 can be the Internet, an internet and / or extranet, or an intranet and / or extranet that is in communication with the Internet. The network 630 in some cases is a telecommunication and / or data network. The network 630 can include one or more computer servers, which can enable distributed computing, such as cloud computing. The network 630, in some cases with the aid of the computer system 601, can implement a peer-to-peer network, which may enable devices coupled to the computer system 601 to behave as a client or a server.

[0068] The CPU 605 can execute a sequence of machine-readable instructions, which can be embodied in a program or software. The instructions may be stored in a memory location, such as the memory 610. The instructions can be directed to the CPU 605, which can subsequently program or otherwise configure the CPU 605 to implement methods of the present disclosure. Examples of operations performed by the CPU 605 can include fetch, decode, execute, and writeback.

[0069] The CPU 605 can be part of a circuit, such as an integrated circuit. One or more other components of the system 601 can be included in the circuit. In some cases, the circuit is an application specific integrated circuit (ASIC).

[0070] The storage unit 615 can store files, such as drivers, libraries and saved programs. The storage unit 615 can store user data, e.g., user preferences and user programs. The computer system 601 in some cases can include one or more additional data storage units that are external to the computer system 601, such as located on a remote server that is in communication with the computer system 601 through an intranet or the Internet.

[0071] The computer system 601 can communicate with one or more remote computer systems through the network 630. For instance, the computer system 601 can communicate with a remote computer system of a user. Examples of remote computer systems include personal computers (e.g., portable PC), slate or tablet PC’s (e.g., Apple® iPad, Samsung® Galaxy Tab), telephones, Smart phones (e.g., Apple® iPhone, Android-enabled device, Blackberry®), or personal digital assistants. The user can access the computer system 601 via the network 630.

[0072] Methods as described herein can be implemented by way of machine (e.g., computer processor) executable code stored on an electronic storage location of the computer system 601, such as, for example, on the memory 610 or electronic storage unit 615. The machine executable or machine readable code can be provided in the form of software. During use, the code can beexecuted by the processor 605. In some cases, the code can be retrieved from the storage unit 615 and stored on the memory 610 for ready access by the processor 605. In some situations, the electronic storage unit 615 can be precluded, and machine-executable instructions are stored on memory 610.

[0073] The code can be pre-compiled and configured for use with a machine having a processer adapted to execute the code, or can be compiled during runtime. The code can be supplied in a programming language that can be selected to enable the code to execute in a pre-compiled or as- compiled fashion.

[0074] Aspects of the systems and methods provided herein, such as the computer system 601, can be embodied in programming. Various aspects of the technology may be thought of as “products” or “articles of manufacture” typically in the form of machine (or processor) executable code and / or associated data that is carried on or embodied in a type of machine readable medium. Machineexecutable code can be stored on an electronic storage unit, such as memory (e.g., read-only memory, random-access memory, flash memory) or a hard disk. “Storage” type media can include any or all of the tangible memory of the computers, processors or the like, or associated modules thereof, such as various semiconductor memories, tape drives, disk drives and the like, which may provide non-transitory storage at any time for the software programming. All or portions of the software may at times be communicated through the Internet or various other telecommunication networks. Such communications, for example, may enable loading of the software from one computer or processor into another, for example, from a management server or host computer into the computer platform of an application server. Thus, another type of media that may bear the software elements includes optical, electrical and electromagnetic waves, such as used across physical interfaces between local devices, through wired and optical landline networks and over various air-links. The physical elements that carry such waves, such as wired or wireless links, optical links or the like, also may be considered as media bearing the software. As used herein, unless restricted to non-transitory, tangible “storage” media, terms such as computer or machine “readable medium” refer to any medium that participates in providing instructions to a processor for execution.

[0075] Hence, a machine readable medium, such as computer-executable code, may take many forms, including but not limited to, a tangible storage medium, a carrier wave medium or physical transmission medium. Non-volatile storage media include, for example, optical or magnetic disks, such as any of the storage devices in any computer(s) or the like, such as may be used to implement the databases, etc. shown in the drawings. Volatile storage media include dynamic memory, such as main memory of such a computer platform. Tangible transmission media include coaxial cables;copper wire and fiber optics, including the wires that comprise a bus within a computer system. Carrier-wave transmission media may take the form of electric or electromagnetic signals, or acoustic or light waves such as those generated during radio frequency (RF) and infrared (IR) data communications. Common forms of computer-readable media therefore include for example: a floppy disk, a flexible disk, hard disk, magnetic tape, any other magnetic medium, a CD-ROM, DVD or DVD-ROM, any other optical medium, punch cards paper tape, any other physical storage medium with patterns of holes, a RAM, a ROM, a PROM and EPROM, a FLASH-EPROM, any other memory chip or cartridge, a carrier wave transporting data or instructions, cables or links transporting such a carrier wave, or any other medium from which a computer may read programming code and / or data. Many of these forms of computer readable media may be involved in carrying one or more sequences of one or more instructions to a processor for execution.

[0076] The computer system 601 can include or be in communication with an electronic display 635 that comprises a user interface (UI) 640 for providing, for example, a portal for a user to interface with the system to provide prescription information or identification. Examples of UFs include, without limitation, a graphical user interface (GUI) and web-based user interface.

[0077] Methods and systems of the present disclosure can be implemented by way of one or more algorithms. An algorithm can be implemented by way of software upon execution by the central processing unit 605. The algorithm can, for example, be a computer vision algorithm as described elsewhere herein.

[0078] While preferred embodiments of the present invention have been shown and described herein, it will be obvious to those skilled in the art that such embodiments are provided by way of example only. It is not intended that the invention be limited by the specific examples provided within the specification. While the invention has been described with reference to the aforementioned specification, the descriptions and illustrations of the embodiments herein are not meant to be construed in a limiting sense. Numerous variations, changes, and substitutions will now occur to those skilled in the art without departing from the invention. Furthermore, it shall be understood that all aspects of the invention are not limited to the specific depictions, configurations or relative proportions set forth herein which depend upon a variety of conditions and variables. It should be understood that various alternatives to the embodiments of the invention described herein may be employed in practicing the invention. It is therefore contemplated that the invention shall also cover any such alternatives, modifications, variations, or equivalents. It is intended that the following claims define the scope of the invention and that methods and structures within the scope of these claims and their equivalents be covered thereby.

Claims

CLAIMSWHAT IS CLAIMED IS:

1. A method of automatically dispensing a medicine to a user, comprising:(a) providing a system comprising(i) a storage container comprising said medicine,(ii) one or more cameras, and(iii) a medicine container;(b) dispensing said medicine from said storage container;(c) subsequent to (b), imaging said medicine with said one or more cameras, thereby generating images of said medicine;(d) processing, using one or more computer processors, said images of said medicine to verify a characteristic of said medicine; and(e) dispensing said medicine into said medicine container, wherein (b) - (e) are performed automatically.2 The method of claim 1, wherein said characteristic is an identity of said medicine.3 The method of claim 1, wherein said characteristic is an integrity of said medicine.4 The method of claim 1, further comprising, prior to (a), receiving an indication from said user.5 The method of claim 4, wherein said indication comprises an indication of a presence of said user at said system.6 The method of claim 1, further comprising a dispenser disposed in contact with said medicine.7 The method of claim 6, wherein said dispenser comprises an element configured to transport said medicine to said medicine container.8 The method of claim 1, wherein said one or more computer processors are comprised within said system.9 The method of claim 1, wherein said system further comprises one or more sensors.10 The method of claim 9, wherein said one or more sensors comprise one or more optical sensors.11 The method of claim 10, wherein said one or more optical sensors detect said medicine in (b).12 The method of claim 9, wherein said one or more sensors comprise one or more photogates.13 The method of claim 9, wherein said one or more sensors comprise one or more weight sensors.14 The method of claim 13, wherein said one or more weight sensors weigh said medicine container before or after said medicine is dispensed into said container.15 The method of claim 1, wherein said processing comprises use of a computer vision algorithm.16 The method of claim 1, further comprising a gantry system configured to move said one or more cameras and said medicine container to said storage container.

17. The method of claim 1, wherein (a) - (e) occur in an absence of human intervention.

18. The method of claim 1, wherein said system dispenses at least about 30 different medicines in a time period of at most about 24 hours.

19. The method of claim 1, wherein said system comprises at least about 40 different medicines.

20. The method of claim 1, further comprising verifying an identity of said storage container using said one or more cameras.

21. The method of claim 20, further comprising verifying said identity of said storage container using said images of said medicine.

22. The method of claim 1, wherein said dispensing comprises dispensing said medicine one at a time.

23. The method of claim 1, wherein said imaging is of a plurality of sides of said medicine.

24. The method of claim 23, wherein said imaging of said plurality of sides of said medicine occurs at a substantially same time.

25. The method of claim 1, wherein a chain of custody of said medicine is maintained through said dispensing.

26. The method of claim 1, wherein said medicine is dispensed in an absence of cross contamination with another medicine.

27. A system for dispensing a medicine, comprising: a storage container configured to store said medicine; a dispensing unit, wherein said dispensing unit is configured to receive said medicine from said storage container and actively convey said medicine to a dispensing receptacle; and one or more cameras configured to image said medicine through said dispensing unit.

28. The system of claim 27, further comprising one or more computer processors.

29. The system of claim 28, wherein said one or more computer processors are configured to receive one or more images from said one or more cameras and determine at least a portion of a characteristic of said medicine using said one or more images.

30. The system of claim 27, wherein said dispensing unit is transparent.

31. The system of claim 27, wherein said dispensing unit is configured to directly interface with said storage container.

32. The system of claim 27, wherein said storage container is a bulk package for said medicine.

33. The system of claim 27, further comprising a drive motor separate from said dispensing unit configured to move said dispensing unit.

34. The system of claim 33, wherein said drive motor is configured to rotate said dispensing unit.

35. The system of claim 27, wherein said dispensing unit is coupled to a track.

36. The system of claim 35, wherein said track is connected to said dispensing receptacle.

37. The system of claim 35, wherein said dispensing unit is configured to move said medicine from said storage container to said track.

38. The system of claim 27, wherein said dispensing unit is configured to convey said medicine to said dispensing receptacle under power.

39. The system of claim 27, further comprising a temperature control unit configured to maintain a temperature of said medicine.

40. The system of claim 27, wherein said dispensing unit is configured to eliminate cross contamination between said medicine and another medicine.