Universal feeding mechanism for automatic packaging machines

Abstract

An automatic packaging machine including a bin and a bin mechanism is provided. The bin for the automatic packaging machine includes a reservoir and a wheel, the reservoir being configured to store a plurality of medications, and the wheel including a bottom portion positioned within the reservoir. The bin also includes a scooping member disposed on the wheel to rotate with the wheel and singulate medications from the reservoir. The bin mechanism for the automatic packaging machine includes a camera system and a platform configured to receive medications from the bin. The bin mechanism also includes an electronic processor coupled to the camera system, the electronic processor configured to dispense medications from the bin in response to determining that the intended medications have been delivered to the platform, and to return medications to the bin in response to determining that the intended medications have not been delivered to the platform.

Description

Technical Field

[0001] The present invention relates to an automatic packaging machine for medicines, and more particularly to a supply mechanism for supplying medicines to the automatic packaging machine. Background Art

[0002] Drugstores use several types of packaging to provide pharmaceutical products or medications to consumers. Packaging types may include strip packaging, blister cards, etc. Most drugstores use automatic packaging machines to package medications into strip packaging or blister cards and provide instructions on these packages. In some embodiments, blister cards may also be manually packaged by a pharmacist or drugstore technician. Automatic packaging machines allow drugstores to serve a large number of customers by efficiently packaging medications. The automatic packaging machine includes a motor base to receive one or more boxes. Each box stores medications of a specific type or size and is operated by the motor base to dispense medications into the packaging machine one by one.

[0003] Because of the machinery involved in individually dispensing medications from the cartridges, cartridges are expensive, store a limited amount of medication, and take up a lot of space. Pharmacies may have to keep a large number of cartridges to serve their patients, which increases costs. Cartridges also lack a verification system to verify that medications are being dispensed correctly from the cartridges. Summary of the Invention

[0004] One embodiment provides a cartridge for an automated packaging machine, comprising a reservoir for storing a plurality of medications and a wheel, wherein the reservoir comprises a bottom portion positioned within the reservoir. The wheel is rotatable relative to the reservoir. The cartridge further comprises a scooping member disposed on the wheel to rotate with the wheel and singulate the medications from the reservoir.

[0005] Another embodiment provides a bin mechanism for an automated packaging machine, comprising a camera system and a platform configured to receive medication from a bin. The bin mechanism also includes an electronic processor coupled to the camera system. The electronic processor is configured to control the camera system to capture an image of the platform and, based on the image, determine whether the intended medication has been delivered to the platform. The electronic processor is further configured to dispense the medication from the bin in response to determining that the intended medication has been delivered to the platform. The electronic processor is further configured to return the medication to the bin in response to determining that the intended medication has not been delivered to the platform.

[0006] Another embodiment provides a method for dispensing medication from a bin using a bin mechanism. The method includes delivering the medication to a platform of the bin mechanism and, using an electronic processor, controlling a camera system to capture an image of the platform. The method also includes, using the electronic processor, determining, based on the image, whether the intended medication was delivered to the platform. The method includes dispensing the medication from the bin in response to determining that the intended medication was delivered to the platform, and returning the medication to the bin in response to determining that the intended medication was not delivered to the platform. BRIEF DESCRIPTION OF THE DRAWINGS

[0007] Figure 1A -C is a plan view of an automatic packaging machine according to some embodiments.

[0008] Figure 2 is a perspective view of a universal supply cartridge according to some embodiments.

[0009] Figure 3 According to some embodiments Figure 2 A bottom plan view of a universal supply box.

[0010] Figure 4 According to some embodiments Figure 2 A perspective view of a universal supply box with the top and side frames removed.

[0011] Figure 5 According to some embodiments Figure 2 A plan front view of a bin of a universal feeding mechanism.

[0012] Figure 6 According to some embodiments Figure 5 A plan rear view of the warehouse.

[0013] Figure 7 According to some embodiments Figure 5 A perspective view of the bin with the reservoir removed.

[0014] Figure 8 According to some embodiments Figure 5 A perspective view of the scooping pan of a bin.

[0015] Figure 9A and Figure 9B According to some embodiments Figure 8 A perspective view of a scooping tray.

[0016] Figure 10 According to some embodiments Figure 5 Perspective view of the platform of the warehouse.

[0017] Figure 11 According to some embodiments Figure 5 Block diagram of the warehouse.

[0018] Figure 12 According to some embodiments, Figure 5 A flow chart of a method for dispensing medications into a bin.

[0019] Figure 13 is a perspective view of an automatic packaging machine according to some embodiments.

[0020] Figure 14A and Figure 14B is a perspective view of a universal supply cartridge according to some embodiments.

[0021] Figure 15A 、 Figure 15B and Figure 15C is a perspective view of a universal feed box with the top and side frames removed, illustrating the bin assembly of the universal feed mechanism, according to some embodiments.

[0022] Figure 16 is a perspective view of the cartridge assembly of FIG. 15 , according to some embodiments.

[0023] Figure 17A 、 Figure 17B and Figure 17C is a perspective view of the hopper of FIG. 15 with the spout removed, according to some embodiments.

[0024] Figure 18A 、 Figure 18B and Figure 18C is a perspective view of a scooping pan of the bin of FIG. 15 , according to some embodiments.

[0025] Figure 19 is a perspective view of a scooping pan of the bin of FIG. 15 , according to some embodiments.

[0026] Figure 20 is another perspective view of the scooping pan of the bin of FIG. 15 , according to some embodiments.

[0027] Figure 21 is a plan view of the scooping pan of the bin of FIG. 15 showing a cam and follower mechanism, according to some embodiments.

[0028] Figure 22 is a block diagram of the bin assembly of Figure 15, according to some embodiments.

[0029] Figure 23 is a front perspective view of an automatic packaging machine according to some embodiments.

[0030] Figure 24 According to some embodiments Figure 23 A front perspective view of a universal supply box for an automatic packaging machine.

[0031] Figure 25 According to some embodiments Figure 24Front perspective view of a universal supply box with portions of the housing removed.

[0032] Figure 26 According to some embodiments Figure 24 A plan view of a universal supply box.

[0033] Figure 27 According to some embodiments Figure 24 A perspective view of the bay of a universal supply box.

[0034] Figure 28 According to some embodiments Figure 27 Rear perspective view of the warehouse.

[0035] Figure 29 According to some embodiments Figure 27 Rear perspective view of the warehouse.

[0036] Figure 30 According to some embodiments Figure 27 Cross-sectional view of the bin.

[0037] Figure 31 According to some embodiments Figure 24 A perspective view of the bin mechanism of a universal supply box.

[0038] Figure 32 According to some embodiments Figure 27 The wheels of the warehouse and Figure 31 A perspective view of the camera system and shuttle system of the warehouse mechanism.

[0039] Figure 33 According to some embodiments Figure 27 De Canghe Figure 31 A perspective view of the warehouse mechanism.

[0040] Figure 34 According to some embodiments Figure 27 De Canghe Figure 31 A perspective view of the warehouse mechanism.

[0041] Figure 35 According to some embodiments Figure 31 Block diagram of the warehouse mechanism.

[0042] Figure 36 shows an embodiment of the present invention according to some embodiments of the present invention Figure 31 The backing of the platform of the bin mechanism.

[0043] Figure 37 According to some embodiments, the drug is delivered to Figure 31 A flow chart of a method for a platform of a warehouse mechanism. DETAILED DESCRIPTION

[0044] Before explaining any embodiments of the present invention in detail, it is to be understood that the invention is not limited in its application to the details of construction and arrangement of components set forth in the following description or illustrated in the following drawings. The invention is capable of other embodiments and of being practiced or carried out in various ways.

[0045] Drugstores use several types of packaging to provide pharmaceutical products or medications to consumers. Packaging types may include strip packaging, blister cards, etc. Most drugstores use automatic packaging machines to package medications into strip packaging or blister cards and provide instructions on these packages. In some embodiments, blister cards may also be manually packaged by a pharmacist or drugstore technician. Automatic packaging machines allow drugstores to serve a large number of customers by efficiently packaging medications. The automatic packaging machine includes a motor base to receive one or more boxes. Each box stores medications of a specific type or size and is operated by the motor base to dispense medications into the packaging machine one by one.

[0046] Because of the machinery involved in individually dispensing medications from the cartridges, cartridges are expensive, store a limited amount of medication, and take up a lot of space. Pharmacies may have to keep a large number of cartridges to serve their patients, which increases costs. Cartridges also lack a verification system to verify that medications are being dispensed correctly from the cartridges.

[0047] To reduce costs for pharmacies, an independent embodiment of the present invention provides a universal feed mechanism for a packaging machine that allows pharmacies to use inexpensive, universal bulk tanks to store medications of different types (e.g., shapes, sizes, etc.) and distribute the medications to the packaging machine. The universal tanks have a large capacity to store hundreds of medications. As mentioned herein, the medications may include pills, capsules, tablets, etc.

[0048] Figure 1A -C shows an example automatic packaging machine 100, which includes a first universal supply box 105A, a second universal supply box 105B and a packaging unit 110. The first universal supply box 105A and the second universal supply box 105B may be collectively referred to as the universal supply box 105. The universal supply box 105 receives medication from a bulk tank and dispenses the pills individually to the packaging unit 110. Each universal supply box 105 can dispense 10 individual pills at the same time. Figure 1B and Figure 1C In the arrangement shown in FIG1 , including two universal supply boxes 105, the automatic packaging machine 100 can be used to simultaneously distribute and package twenty different pills. In some embodiments, the automatic packaging machine 100 can include only a single universal supply box 105.

[0049] The packaging unit 110 receives individual pills and packages the pills into blister cards or pouch packs to provide to consumers. Figure 1A and Figure 1BIn the example shown in FIG, the packaging unit is a blister card packaging machine 110. The blister card packaging machine 110 receives individual medications from the universal supply cassette 105 and packages them into blister cards for distribution to consumers. The blister card packaging machine 110 includes a first drawer 112A and a second drawer 112B. The blister card packaging machine 110 alternates between packaging blister cards in the first drawer 112A and packaging blister cards in the second drawer 112B. Thus, while the blister card packaging machine 110 is packaging blister cards in the second drawer 112B, a pharmacist can access the first drawer 112A to remove the packaged blister cards. In some embodiments, the blister cards can be automatically packaged by the blister card packaging machine 110, and the labels can be automatically applied by the blister card packaging machine 110. Alternatively, the blister cards can be packaged and the labels applied by a pharmacist or pharmacy technician.

[0050] exist Figure 1C In the example shown in FIG, the packaging unit is a strip packaging machine 110. Example strip packaging machines are described in U.S. Patent Application Publication No. 2013 / 0318931 and U.S. Patent Application Publication No. 2017 / 0015445, the entire contents of which are incorporated herein by reference. Figure 1A -C only shows an example embodiment of the automatic packaging machine 100. The automatic packaging machine 100 may include Figure 1A The components shown in -C may include more or fewer components and may perform functions in addition to those explicitly described herein.

[0051] Figure 2-6 Several views of the universal supply box 105 are shown. Figure 4 , universal supply box 105 includes a plurality of bins 115 disposed within the housing of universal supply box 105. In one example, the universal supply box may include up to ten bins 115. A pharmacist may load medications from bulk tanks into individual bins in bins 115. The same medication may be loaded into each bin 115, or different medications may be loaded into each bin 115. The bins 115 independently distribute the medications to packaging units 110.

[0052] refer to Figure 2 and Figure 3The universal supply cassette 105 includes a dispensing opening 205 through which the cassette dispenses medication to the packaging unit 110. Furthermore, the universal supply cassette 105 includes a pass-through conduit 225 located at the rear of the universal supply cassette 105. In the automatic packaging machine 100, the pass-through conduit 225 of the first universal supply cassette 105A is aligned with the dispensing opening 205 of the second universal supply cassette 105B. Thus, the packaging unit 110 receives medication from the first universal supply cassette 105A through the dispensing opening 205 of the first universal supply cassette 105A, and receives medication from the second universal supply cassette 105B through the pass-through conduit 225 of the first universal supply cassette 105A.

[0053] like Figure 5-7 and Figure 11 As shown in FIG, each bin 115 includes a chute 120, a reservoir 125, wheels 130, a camera system 135, and a shuttle system 140 (e.g., a verification system). The bin 115 also includes other electronic devices and sensors not shown. The chute 120 is provided on top of the reservoir 125 to guide the medication from the bulk tank to the reservoir 125. The reservoir 125 stores the medication during the dispensing process. The reservoir 125 and the chute 120 can be detached from the bin 115, allowing the pharmacist to remove the reservoir 125 and the chute 120 after the dispensing process. The pharmacist can return any unused medication to the bulk container after the dispensing process by disassembling the reservoir 125 and emptying it into the bulk container using the chute. If the bin 115 is to be loaded with different types of medication, the pharmacist can also clean the chute 120 and the reservoir 125.

[0054] The wheel 130 is disposed inside the bin 115 and includes a bottom portion that is placed in the reservoir 125. The wheel 130 is driven by a motor assembly 145 disposed at the top of the bin 115. Specifically, the wheel 130 includes teeth that interlock with the motor assembly 145, and the motor assembly 145 rotates the wheel 130 using the interlocking teeth of the wheel and the motor assembly 145. Figure 6 , a sensor disk 165 is fixed to the rear surface of the wheel 130 and includes a magnetic bar 170. The magnetic bar 170 is detected by a position sensor 175 of the motor assembly 145 to determine the speed and / or position of the wheel 130. The position sensor 175 is fixed to the side housing of the bin 115 so that the position sensor 175 is aligned with the magnetic bar 170 of the sensor disk 165. In one example, the position sensor 175 is a Hall effect sensor.

[0055] refer to Figure 8-9BA scooping tray 150 (e.g., a scooping member or scooping attachment) snaps onto the wheel 130 to scoop medication 180 from the reservoir 125. The scooping tray 150 includes one or more inward protrusions 155 and pockets 160 located at the outer corners of the inward protrusions 155. In the illustrated example, the scooping tray 150 includes four inward protrusions 155 and four pockets 160. The inward protrusions 155 protrude into the tray toward the wheel 130. During rotation of the wheel 130, when the inward protrusions 155 encounter the reservoir 125 and the amount of medication 180 therein, the medication 180 moves inward into the inward protrusions 155. Due to the rotation of the wheel 130 and the inward protrusions 155, the medication 180 is oriented in the direction of the pockets 160. As the pockets 160 rotate past the oriented medication 180, they scoop individual medications 180. Motor assembly 145 continues to rotate wheel 130, causing cavity 160 to move past the top of wheel 130 and deliver the scooped medication 180 to shuttle system 140. In some embodiments, scooping tray 150 may include a hole for picking up medication 180 instead of inward protrusion 155 and cavity 160. In these embodiments, a vacuum system may be used to pick up medication 180 from reservoir 125. For example, a vacuum pump may be placed at the rear of wheel 130 to provide a vacuum force through the hole. As the hole is moved to reservoir 125 by the rotation of wheel 130, the vacuum force causes medication 180 to adhere to the hole. In some embodiments, scooping tray 150 (e.g., a scooping member) may be integrally formed with wheel 130, rather than being separate from wheel 130. Wheel 130 and scooping tray 150 may be collectively referred to as a singulation mechanism.

[0056] Each cartridge 115 may include a scooping tray 150 having different sized inward projections 155 and cavities 160. This allows different cartridges 115 to be used with different sizes or types of medications 180. The scooping tray 150 may also be removable so that a pharmacist can change the scooping tray based on the size or type of medication being dispensed from the cartridge 115.

[0057] As the cavities 160 and the pleated protrusions 155 pass through the shuttle system 140, the medications 180 are individually delivered to the shuttle system 140. A camera system 135 can be used to verify that the intended medications 180 (e.g., only a single intact (or unbroken) medication 180) are delivered to the shuttle system 140. The illustrated camera system 135 includes a mirror 185 positioned above the shuttle system 140 and a camera 190 positioned on top of the chute 120. The mirror 185 is tilted so that the camera 190 can capture images of the contents of the shuttle system 140. The camera system 135 can additionally include a lighting system (e.g., an LED lighting system) to illuminate the contents of the shuttle system 140 as the camera 190 captures images.

[0058] The shuttle system 140 includes a platform 195, a shuttle 200, and a shuttle driver 210. Figure 10 , the platform 195 includes a central base portion 215, a first opening 220 on a first side of the base portion 215, and a second opening 230 on a second side of the base portion 215. The first opening 220 is positioned above the reservoir 125 to return one or more medications 180 to the reservoir 125. The second opening 230 is positioned between the dispensing opening 205 provided at the bottom of each bin 115 (at Figure 3 195). Platform 195 may be made of a transparent or translucent plastic material. As described above, an LED lighting system may be provided above and / or below platform 195 to illuminate the contents while camera system 135 captures images of the contents on base portion 215 of platform 195. The LED lighting system may emit visible light or infrared light to illuminate base portion 215 for camera 190.

[0059] The shuttle 200 is movable between the base portion 215, the first opening 220, and the second opening 230. The shuttle 200 transfers the drug from the base portion 215 through the first opening 220 to the reservoir 125, or through the second opening 230 to the dispensing opening 205. The shuttle 200 is driven by a shuttle driver 210. The shuttle driver 210 may be a motor assembly, an actuator, etc., which moves the shuttle 200 between the base portion 215, the first opening 220 (e.g., the first position), and the second opening 230 (e.g., the second position).

[0060] Return Reference Figure 5-7 , the cartridge 115 may further include a conduit 235 ( Figure 7 A pill sensor 240 may be disposed adjacent to the conduit 235 to sense whether a pill is dispensed through the conduit 235. The pill sensor 240 may be an object sensor, such as an infrared sensor, an ultrasonic sensor, a photoelectric sensor, a light beam / laser beam, a camera, or the like. A PCB assembly 245 including electronics for the cartridge 115 may also be disposed adjacent to the conduit 235. The PCB assembly 245 is electrically coupled to the camera system 135, the shuttle system 140, and / or the pill sensor 240 to control the operation of the cartridge 115.

[0061] The universal supply box 105 may also include an indicator system 250 (see Figure 11), such as an LED indicator system. In the example shown, one or more LEDs are provided for each bin 115. The indicator system 250 can change color to indicate the status of each bin 115. For example, the indicator system 250 can turn on a green LED to indicate that the bin 115 is functioning properly. The indicator system 250 can turn on a red LED to indicate that the bin 115 is empty or that there is a blockage in the bin 115. The indicator system 250 can also indicate, for example, whether the bin 115 is locked or unlocked, whether the bin 115 needs to be replaced, etc.

[0062] Figure 11 is a block diagram of one embodiment of the cartridge 115. In the example shown, the cartridge 115 includes an electronic processor 305, a memory 310, a transceiver 315, a camera system 135, a shuttle drive 210, and a pill sensor 240. The electronic processor 305, the memory 310, the transceiver 315, the camera system 135, the motor assembly 145, the shuttle drive 210, and the pill sensor 240 communicate via one or more control and / or data buses (e.g., a communication bus 320). Figure 10 Only one example embodiment of the silo 115 is shown. The silo 115 may include more or fewer components and may perform functions in addition to those explicitly described herein.

[0063] In some embodiments, the electronic processor 305 is implemented as a microprocessor with a separate memory, such as memory 310. In other embodiments, the electronic processor 305 may be implemented as a microcontroller (with the memory 310 on the same chip). In other embodiments, the electronic processor 305 may be implemented using multiple processors. In addition, the electronic processor 305 may be implemented in part or in whole as, for example, a field programmable gate array (FPGA), an application specific integrated circuit (ASIC), etc., and the memory 310 may not be required or may be modified accordingly. In the example shown, the memory 310 includes a non-transitory computer-readable memory that stores instructions received and executed by the electronic processor 305 to implement the functions of the warehouse 115 described herein. The memory 310 may include, for example, a program storage area and a data storage area. The program storage area and the data storage area may include a combination of different types of memory, such as read-only memory and random access memory.

[0064] The transceiver 315 enables wired or wireless communication between the control system of the automatic packaging machine 100 and the electronic processor 305. In some embodiments, the bay 115 may include separate transmitting and receiving components (eg, a transmitter and a receiver) rather than the transceiver 315.

[0065] The camera system 135 receives control signals from the electronic processor 305. Based on the control signals received from the electronic processor 305, the camera system 135 controls the camera 190 and the indicator system 250 that illuminates the platform 195. The motor assembly 145 can send signals from the position sensor 175 to the electronic processor 305 and receive control signals to operate the motor of the motor assembly 145 based on the position sensor signals. As described above, the shuttle driver 210 can be a motor assembly or an actuator. The shuttle driver 210 can also include a position sensor to determine the position of the shuttle 200. The shuttle driver 210 can send the position sensor signals to the electronic processor 305, which can send control signals to the shuttle driver 210 to move the shuttle 200 based on the position sensor signals. In some embodiments, the shuttle system 140 can also include a shuttle home position sensor that indicates whether the shuttle 200 is in the home position. The signal from the shuttle home position sensor is provided to the electronic processor 305 to control the movement of the shuttle 200.

[0066] The pill sensor 240 communicates with the electronic processor 305 to provide an indication of whether a pill has been dispensed through the conduit 235. The electronic processor 305 also controls the indicator system 250 to provide an indication of the status of each bin 115. The bin 115 may also include additional electronic devices 325, such as a bin sensor and a solenoid lock. The bin sensor determines whether the bin 115 is in the correct position in the universal supply box 105 and whether the bin 115 is properly installed. The solenoid lock holds the bin 115 in place during the dispensing process to prevent other medications (e.g., of a different type than the medication dispensed by the bin 115) from being added to the bin 115.

[0067] Figure 12 FIG. 4 is a flow chart illustrating an example method 400 for dispensing medication from a reservoir 115. Figure 12 As shown in FIG, method 400 includes rotating the wheel 130 to deliver medication 180 to the shuttle system 140 (at block 405). When the dispensing process begins, the electronic processor 305 provides a control signal to the motor assembly 145 to rotate the wheel 130. A scooping tray 150, secured to the wheel 130, scoops individual medications 180 using the cavities 160. In some embodiments, the scooping tray 150 can pick up the medications 180 using a vacuum system as described above. In these embodiments, the electronic processor 305 can also provide a control signal to operate the vacuum system. When the wheel 130 rotates so that the cavities 160 are positioned over the shuttle system 140, the scooping tray 150 delivers the medication 180 to the shuttle system 140. The medication 180 is delivered to the base portion 215 of the platform 195.

[0068] The automatic packaging machine 100 can only package a single drug belonging to a certain category in any one package. Accordingly, the warehouse 115 may need to verify that the expected drug 180 (e.g., a single unbroken drug 180) is distributed to the packaging unit 110. The method 400 further includes determining whether only a single unbroken drug 180 is delivered to the shuttle system 140 (at box 410). This can also be referred to as singulation verification. The electronic processor 305 controls the camera system 135 to obtain an image of the contents of the base portion 215. The mirror 185 reflects the contents of the base portion 215 to the camera 190, which captures the image. The camera 190 provides the captured image to the electronic processor 305 for verification. The electronic processor 305 can use image recognition technology on the captured image to ensure that only a single unbroken drug 180 is delivered to the shuttle system. Example image recognition technology is described in U.S. patent application publication number 2018 / 0091745, the entire content of which is incorporated herein by reference.

[0069] When the electronic processor 305 determines that more than one medication 180 has been delivered to the shuttle system 140 or a damaged medication 180 has been delivered to the shuttle system 140, the method 400 includes returning the contents of the shuttle system 140 to the reservoir 125 (at block 415). The electronic processor 305 controls the shuttle driver 210 to move the shuttle 200 from the base portion 215 to the first opening 220 (e.g., a first position). The shuttle 200 returns the contents from the base portion 215 through the first opening 220 to the reservoir 125. The method 400 returns to block 405 to deliver the next medication 180 to the shuttle system 140.

[0070] When the electronic processor 305 determines that only one undamaged medication 180 has been delivered to the shuttle system 140, the method 400 includes determining whether the correct medication 180 was delivered to the shuttle system 140 (at block 420). As described above, the electronic processor 305 may use the image recognition technology incorporated above to determine whether the correct type of medication 180 has been delivered to the shuttle system 140.

[0071] When the electronic processor 305 determines that the wrong type of medication 180 was delivered to the shuttle system 140, the method 400 moves to block 415 to return the contents of the shuttle system 140 to the reservoir 125 (as described above). Accordingly, in blocks 410 and 420, the method 400 determines whether the intended medication 180 was delivered to the shuttle system 140. In some embodiments, determining whether the intended medication 180 was delivered may include only one of blocks 410 or 420, or blocks 410 and 420 may be performed in a different order. In other embodiments, rather than checking whether a single, undamaged medication 180 was delivered to the shuttle system 140, determining whether the intended medication 180 was delivered to the shuttle system 140 may include determining whether the correct type of medication was delivered to the shuttle system 140, regardless of the quantity of medication delivered to the shuttle system 140. In still other embodiments, determining whether the intended medication 180 was delivered to the shuttle system 140 may include determining whether the correct amount of medication was delivered to the shuttle system 140 .

[0072] When the electronic processor 305 determines that the correct type of medication 180 is being delivered to the shuttle system 140, the method 400 includes delivering the medication 180 to the packaging unit 110 (at block 425). The electronic processor 305 controls the shuttle driver 210 to move the shuttle 200 from the base portion 215 to the second opening 230 (e.g., the second position). The shuttle 200 delivers the medication 180 from the base portion 215 through the second opening 230, the conduit 235, and the dispensing opening 205 to the packaging unit 110.

[0073] Method 400 also includes verifying the delivery of medication 180 to packaging unit 110 (at block 430). Pill sensor 240 detects whether a pill has been dispensed through conduit 235 and provides an indication signal to electronic processor 305. When electronic processor 305 determines that medication 180 has been delivered to packaging unit 110, the method returns to block 405 to deliver the next medication. When electronic processor 305 determines that medication 180 has not been delivered to packaging unit 110, electronic processor 305 sends an interrupt to the control system of automated packaging machine 100 and returns to block 405 to redeliver medication 180.

[0074] Figure 13 An example automated packaging machine 500 according to another embodiment is shown, including a universal supply cassette 505 and a packaging unit 510. The universal supply cassette 505 receives medication from a bulk tank and dispenses the pills individually to the packaging unit 510. Each universal supply cassette 505 can dispense 10 individual pills simultaneously. In some embodiments, the automated packaging machine 500 may include more than one universal supply cassette 505.

[0075] exist Figure 13In the example shown in FIG, the packaging unit is a strip packaging machine 510. Example strip packaging machines are described in U.S. Patent Application Publication No. 2013 / 0318931 and U.S. Patent Application Publication No. 2017 / 0015445, the entire contents of which are incorporated herein by reference. Figure 13 Only one example embodiment of the automatic packaging machine 500 is shown. The automatic packaging machine 500 may include Figure 13 The components shown in the drawings may include more or fewer components and may perform functions in addition to those explicitly described herein.

[0076] refer to Figure 14A and Figure 14B , the universal supply box 505 includes a plurality of bins 515 arranged within the housing of the universal supply box 505. In one example, the universal supply box 505 may include up to ten bins 515 received in the bin slots 520. A pharmacist can load medication from a bulk tank into each of the bins 515. The same medication can be loaded into each bin 515, or different medications can be loaded into each bin 515. The bins 515 independently distribute the medication to the packaging unit 510.

[0077] The cartridges 515 are removably secured to the universal supply box 505. A pharmacist or technician can remove each individual cartridge 515 from the cartridge slots 520 to fill the cartridge 515 with medication from a bulk tank. The cartridge 515 can then be placed into any of the cartridge slots 520.

[0078] refer to Figure 15A 、 Figure 15B and Figure 15C Each cartridge slot 520 includes a cartridge mechanism 525 that is activated to dispense medication from cartridge 515. The cartridge mechanism 525 and cartridge 515 may be collectively referred to as a cartridge assembly 530. When a cartridge 515 is received in a cartridge slot 520, the cartridge 515 is removably secured to the cartridge mechanism 525.

[0079] refer to Figure 16-17C, the bin assembly 530 includes a chute 535, a reservoir 540, wheels 545, a camera system 550, and a shuttle system 555 (e.g., a verification system). The bin assembly 530 also includes other electronic devices and sensors not shown. The chute 535 is provided on top of the reservoir 540 to guide the medication from the bulk tank to the reservoir 540. The reservoir 540 stores the medication during the dispensing process. The reservoir 540 and the chute 535 can be detached from the bin 515, allowing the pharmacist to remove the reservoir 540 and the chute 535 after the dispensing process. After the dispensing process, the pharmacist can return any unused medication to the bulk container by disassembling the reservoir 540 and emptying it into the bulk container using the chute 535. If the bin 515 is to be loaded with different types of medication, the pharmacist can also clean the chute 535 and the reservoir 540.

[0080] The wheel 545 is disposed inside the bin 515 and includes a bottom portion that is placed in the reservoir 540. The wheel 545 is driven by the motor assembly 560 disposed at the top of the bin assembly 530. In particular, the wheel 545 includes teeth that interlock with the motor assembly 560, and the motor assembly 560 rotates the wheel 545 using the interlocking teeth of the wheel 545 and the motor assembly 560. As described above, a position sensor assembly can be used to determine the position and / or speed of the wheel 545 to control the rotation of the wheel 545.

[0081] refer to Figures 18A-20 , a scooping tray 565 (e.g., a scooping member or scooping attachment) is mounted to the wheel 545 to scoop the medication 180 from the reservoir 540. The scooping tray 565 includes one or more inward protrusions 570 and a retaining pin 575 that protrudes from an inner portion of the scooping tray 565. In the example shown, the scooping tray 565 includes four inward protrusions 570 and four retaining pins 575. The inward protrusions 570 protrude into the tray toward the wheel 545. The inward protrusions 570 include stops 580 along the circumferential ends of the inward protrusions 570. The retaining pins 575 and the stops 580 are used to retain the medication 180 during rotation of the scooping tray 565.

[0082] During rotation of the wheel 545 and the scooping disk 565, when the inward projection 570 encounters the reservoir 540 and the plurality of medications 180 therein, the medications 180 move inwardly into the inward projection 570. As the inward projection 570 moves along the reservoir 540 in the downward position of the wheel 545, the retaining pin 575 retracts. As the inward projection 570 moves out of the reservoir 540, the retaining pin 575 advances toward the circumferential end of the inward projection 570 to engage the medication 180. As a result, as shown in FIG. Figures 18A-18CAs shown in FIG, medication 180 is retained between the circumferential end of inward projection 570, retaining pin 575, and stop 580. Inward projection 570 and retaining pin 575 can be used to retain medications 180 of many different sizes. That is, the same bin 515 can be used for any type of medication 180. Typically, only a single medication 180 is clamped between retaining pin 575 and inward projection 570, while other medications 180 fall back into reservoir 540 during rotation of wheel 545. When inward projection 570 approaches shuttle system 555, retaining pin 575 retracts again, releasing medication 180 into shuttle system 555. Wheel 545 and scooping tray 565 may be collectively referred to as a singulation mechanism. In some embodiments, scooping tray 565 (e.g., a scooping member) may be integrally formed with wheel 545, rather than being separate therefrom.

[0083] Figure 21 A cam and follower mechanism 585 is shown for advancing and retracting the retaining pin 575. The cam and follower mechanism 585 is provided on the inner surface of the scooping plate 565, for example, between the scooping plate 565 and the wheel 545. The cam and follower mechanism 585 includes a cam 590 and a plurality of followers 595. Figure 21 As shown in FIG, the cartridge assembly 530 includes four followers 595 and four retaining pins 575, one follower 595 and one retaining pin 575 for each inward protrusion 570. The cam 590 includes an arcuate portion 592 and a cut-off portion 594. The arcuate portion 592 extends further toward the center of the cam 590 than the cut-off portion 594. The follower 595 includes a first arm 600 that engages the cam 590 and a second arm 605 that is fixed to the retaining pin 575. The first arm 600 and the second arm 605 pivot about the center portion 610 of the follower 595.

[0084] When the first arm 600 is engaged by the arcuate portion 592 of the cam 590, the first arm 600 is pushed toward the circumference of the wheel 545. As a result, due to the pivoting action of the center portion 610, the second arm 605 retracts toward the center of the wheel 545, thereby retracting the retaining pin 575. When the first arm 600 is engaged by the cutout portion 594 of the cam 590, the first arm 600 moves toward the center of the wheel 545. As a result, due to the pivoting action of the center portion 610, the second arm 605 advances toward the circumference of the wheel 545, thereby advancing the retaining pin 575 into the inward protrusion 570. The cam 590 is fixed so that the retaining pin 575 retracts when the inward protrusion 570 drops the medication 180 into the shuttle system 555 and when the inward protrusion 570 is within the reservoir. In addition, the cam 590 is fixed so that the retaining pin 575 advances when the inward protrusion 570 leaves the reservoir 540.

[0085] refer to Figure 20 , when the retaining pin 575 is retracted above the shuttle system 555, the medication 180 is delivered individually to the shuttle system 555. The camera system 550 can be used to verify that the intended medication 180 (e.g., a single intact (or unbroken) medication 180) is delivered to the shuttle system 555. The illustrated camera system 135 includes a mirror 615 positioned above the shuttle system 555 and a camera 620 positioned on top of the chute 535. The mirror 615 is tilted so that the camera 620 can capture an image of the contents of the shuttle system 555. The camera system 550 can additionally include a lighting system (e.g., an LED lighting system) to illuminate the contents of the shuttle system 555 as the camera 620 captures the image.

[0086] The shuttle system 555 includes a platform 625, a shuttle 630, and a shuttle driver 635. The platform 625 can be made of a transparent or translucent plastic material. As described above, an LED lighting system can be provided above and / or below the platform 625 to illuminate the contents on the platform 625 while the camera system 550 captures images of the contents. The LED lighting system can emit visible light or infrared light to illuminate the platform 625 for the camera 620.

[0087] The shuttle 630 can move between the platform 625, above the reservoir 540, and above the catheter 640 (in Figure 15C 6). Shuttle 630 transfers the drug from platform 625 to reservoir 540 or conduit 640. Shuttle 630 is driven by shuttle driver 635. Shuttle driver 635 can be a motor assembly, actuator, etc., which moves shuttle 630 between platform 625, above reservoir 540, and above conduit 640.

[0088] Conduit 640 is similar to conduit 235 described above. Additionally, universal supply cartridge 505 and bin assembly 530 may include components similar to universal supply cartridge 105 and bin 115 as described above.

[0089] Figure 22 is a block diagram of one embodiment of the cartridge assembly 530. In the example shown, the cartridge assembly 530 includes an electronic processor 705, a memory 710, a transceiver 715, a camera system 550, a shuttle drive 635, and a pill sensor 240. The electronic processor 705, the memory 710, the transceiver 715, the camera system 550, the motor assembly 560, the shuttle drive 635, and the pill sensor 240 communicate via one or more control and / or data buses (e.g., a communication bus 720). Figure 22 Only one example embodiment of the cartridge assembly 530 is shown. The cartridge assembly 530 may include more or fewer components and may perform functions in addition to those explicitly described herein.

[0090] In some embodiments, the electronic processor 705, memory 710, and transceiver 715 are implemented similarly to the electronic processor 305, memory 310, and transceiver 315. In some embodiments, the universal supply box 505 or automated packaging machine may include a single electronic processor 705, a single memory 710, and a single transceiver 715 that controls all bin assemblies 530.

[0091] The camera system 550 receives control signals from the electronic processor 705. Based on the control signals received from the electronic processor 705, the camera system 550 controls the camera 620 and the lighting system that illuminates the platform 625. The motor assembly 560 can send position sensor signals to the electronic processor 705 and receive control signals to operate the motor of the motor assembly 560 based on the position sensor signals. As described above, the shuttle drive 635 can be a motor assembly or an actuator. The shuttle drive 635 also includes a position sensor 650 (at Figures 18A-18C ) to determine the position of the shuttle 630. The shuttle driver 635 can send a signal from the position sensor 650 to the electronic processor 705, and the electronic processor 705 sends a control signal to the shuttle driver 635 to move the shuttle 630 based on the position sensor signal. In some embodiments, the shuttle system 555 can also include a shuttle home position sensor that indicates whether the shuttle 630 is in the home position. The signal from the shuttle home position sensor is provided to the electronic processor 705 to control the movement of the shuttle 630.

[0092] The pill sensor 240 communicates with the electronic processor 705 to provide an indication of whether a pill has been dispensed through the conduit 640. The electronic processor 705 also controls the indicator system 250 to provide an indication of the status of each bin 515. The bin 515 may also include additional electronic devices 725, such as a bin sensor and a solenoid lock. The bin sensor determines whether the bin 515 is in the correct position in the universal supply box 505 and whether the bin 515 is properly installed. The solenoid lock holds the bin 515 in place during the dispensing process to prevent other medications (e.g., of a different type than the medication dispensed by the bin 515) from being added to the bin 515.

[0093] Figure 23 An example automatic packaging machine 800 is shown according to yet another embodiment, comprising a universal supply box 805 and a packaging unit 810. In the example shown, the universal supply box 805 can dispense up to 20 individual pills simultaneously. Figure 23In the example shown in , the packaging unit 810 is a strip packaging machine. As discussed above, example strip packaging machines are described in U.S. Patent Application Publication No. 2013 / 0318931 and U.S. Patent Application Publication No. 2017 / 0015445, the entire contents of which are incorporated herein by reference.

[0094] refer to Figures 24-26 The universal supply box 805 includes a housing 815 having a plurality of bin slots 820 therein. An opening 825 is provided on a front side (e.g., a first side) of the housing 815, and a box cover 830 covers a rear side (e.g., a second side) of the housing 815. A dispensing opening 835 is provided on a bottom side of the housing 815. The dispensing opening 835 communicates with a chute 832 of the packaging unit 810.

[0095] exist Figures 24-26 In the example shown in FIG, the universal supply box 805 includes up to twenty bin slots 820. The bin slots 820 are arranged in a dual formation such that the second row of bin slots 820 is disposed above the first row of bin slots 820 within the housing 815. Figure 26 Shown is a side view of the dual form of bin slot 820. Separation platform 834 is arranged between first row of bin slot 820 and second row of bin slot 820. Bin slot 820 receives bin 840 through opening 825. A plurality of bin mechanisms 845 (one bin mechanism 845 corresponding to each bin slot 820) are fixed to the top of housing 815 for second row of bin slot 820, and are fixed to separation platform 834 for first row of bin slot 820. When bin 840 is received in bin slot 820, bin 840 is connected to bin mechanism 845. As described in detail below, bin mechanism 845 dispenses medicine 180 separately from bin 840. Dispensing opening 835 transfers medicine 180 from bin 840 to packaging unit 810 for packaging. Box cover 830 can be removed to approach bin mechanism 845 from the rear side of housing 815. Bin mechanism 845 is removably fixed to housing 815 so that a technician can remove bin mechanism 845 for maintenance.

[0096] refer to Figures 27-30 , the bin 840 includes a reservoir 850, a reservoir cover 855, a wheel 860, and a scooping member 865. The reservoir 850 stores the medicine 180 during the dispensing process. The wheel 860 is provided on one side of the bin 840 and extends into the bottom portion of the reservoir 850. The bottom portion of the reservoir 850 has a curved shape starting from the side opposite to the side of the wheel 860, the front side, and the rear side and ending at the center of the bottom portion of the wheel 860 (see FIG. Figure 30 The curved shape of the reservoir 850 directs the medication 180 within the reservoir 850 toward the bottom of the wheel 860 , and in particular, into the scooping member 865 of the wheel 860 .

[0097] The reservoir cover 855 covers a portion of the reservoir 850 (e.g., the chute portion 870). The reservoir cover 855 is pivotally attached to the chute portion 870 to pivot between an open position and a closed position. When the pharmacist empties the contents of the bin 840, the reservoir cover 855 pivots to the open position to allow the medication 180 to flow from the reservoir 850 into the bulk container. During the dispensing process, the bin mechanism 845 includes a stop 846 to prevent the reservoir cover 855 from opening. As such, during the dispensing process, the medication 180 within the reservoir 850 is not accessible from outside the machine.

[0098] Teeth 875 are provided on the outer circumferential surface of wheel 860. During the dispensing process, teeth 875 interlock with teeth on a shaft driven by the motor assembly of cartridge mechanism 845. Wheel 860 is provided with three scooping members 865 for scooping individual medications 180 from reservoir 850. Scooping members 865 include inward projections 866 extending into wheel 860. The curved surface of reservoir 850 guides medication 180 into the inward projections of scooping members 865. Scooping members 865 include stops 868 along the circumferential ends of the inward projections, which retain medication 180 as wheel 860 rotates. Scooping members 865 can be manufactured in different sizes to accommodate medications 180 of different sizes. Scooping members 865 are interchangeable to configure cartridge 840 to dispense medications 180 of different sizes. Scooping members 865 can also be removed for cleaning. In some embodiments, the scooping member 865 can be integrally formed with the wheel 860, rather than being separate from the wheel 860. In these embodiments, the wheel 860 or the cartridge 840 can be interchanged to dispense medications 180 of different sizes.

[0099] Wheel 860 includes a retaining pin 880 (see Figure 32), which extends and retracts from the inside of wheel 860 during rotation of wheel 860. Scooping member 865 includes an opening for receiving retaining pin 880. As wheel 860 rotates, retaining pin 880, together with a stopper and the circumferential surface of inward projection 866, serves to retain medication 180. During rotation of wheel 860, when inward projection 866 of scooping member 865 encounters reservoir 850, medication 180 in reservoir 850 moves inwardly into scooping member 865 due to the curved shape of reservoir 850. As scooping member 865 moves along reservoir 850 at the bottom portion of wheel 860, retaining pin 880 retracts. As scooping member 865 moves out of reservoir 850, retaining pin 880 advances toward the circumferential end of scooping member 865 to engage medication 180. The medication 180 is retained between the circumferential end of the scooping member 865, the retaining pin 880, and the stopper 868. The scooping member 865 and the retaining pin 880 can be used for any type of medication 180. Typically, only a single medication 180 is clamped between the retaining pin 880 and the scooping member 865, while the other medications 180 fall back into the reservoir 850 during the rotation of the wheel 860. When the scooping member 865 passes over the top portion of the wheel 860, the retaining pin 880 retracts again to release the medication 180 into the bin mechanism 845. The wheel 860 and the scooping member 865 may be collectively referred to as a singulation mechanism.

[0100] Figures 28-29 A cam and follower mechanism 885 for advancing and retracting retaining pin 880 is shown. Cam and follower mechanism 885 is disposed within wheel 860. Cam and follower mechanism 885 includes a cam 890 and a plurality of followers 895. In the illustrated example, cartridge 840 includes three followers 895, one for each retaining pin 880. Retaining pin 880 is attached to followers 895 to move therewith. Cam 890 is fixed to cartridge 840 and remains stationary even when wheel 860 rotates. Cam 890 includes an arcuate portion 892 and a cutout portion 894. Arcuate portion 892 extends further from the center of cam 890 than cutout portion 894. Follower 895 includes a flat portion 896 coupled to retaining pin 880 and an outward projection 898 extending from flat portion 896 to engage the circumferential surface of cam 890. A spring mechanism is connected to the radially inner end of the follower 895 to provide an inward biasing force to the follower 895. When the corresponding follower 895 engages the arcuate portion 892 of the cam 890, the retaining pin 880 advances, and when the corresponding follower 895 engages the cut-off portion 894 of the cam 890, the retaining pin 880 retracts. When the follower engages the cut-off portion 894 of the cam 890, the follower 895 retracts due to the biasing force of the spring mechanism.

[0101] refer to Figures 31-35, the bin mechanism 845 includes a shuttle system 900 (e.g., a verification system), a camera system 905, a motor assembly 910, a printed circuit board 915, and a locking mechanism 916. Figure 33 900 includes a platform 920, a shuttle 925, and a shuttle driver 930. The platform 920 can be made of a transparent or translucent plastic material. As described above, an LED lighting system 922 can be disposed above and / or below the platform 920 to illuminate the contents on the platform 920 while the camera system 905 captures images of the contents. The LED lighting system 922 can emit visible light or infrared light to illuminate the platform 920.

[0102] Typically, a single LED device may be used beneath the platform 920 to illuminate the translucent platform 920. However, the single LED device may not provide uniform illumination across all surface areas of the platform 920. In particular, each LED device may include a light signature such that the center of the platform 920 is brighter than the edges of the platform. This irregularity in brightness may result in misidentification of the medication 180 during the image recognition process. In order to provide uniform brightness across the entire surface area of ​​the platform, several LED devices may be placed around the bottom surface of the platform. In some embodiments, the light signature of the LED devices is detected, and the backing 924 (see FIG. 10 ) may be positioned to illuminate the translucent platform 920. Figure 36 ) is applied to the platform to calibrate the light markings of the LED device. Figure 36 As shown in FIG, backing 924 includes dark spots that simulate the light signature of the LED devices to correct for brightness irregularities observed on platform 920. Because each LED device has a different light signature, a different backing 924 was developed, one backing 924 for each of the bin mechanisms 845. When backing 924 is applied to platform 920, it distributes light from the LED devices of LED lighting system 922 so that each portion of platform 920 is illuminated with similar brightness.

[0103] The shuttle 925 can move laterally between the platform 920, above the reservoir 850, and above the conduit 935. The shuttle 925 transfers the drug from the platform 920 to the reservoir 850 or the conduit 935. The shuttle 925 is driven by a shuttle driver 930. The shuttle driver 930 can be a motor assembly, an actuator, or the like, which moves the shuttle 925 between the platform 920, above the reservoir 850, and above the conduit 935. In the example shown, the shuttle driver 930 includes a rotating screw 932 that moves the shuttle 925 laterally between the platform 920, the reservoir 850, and the conduit 935.

[0104] Camera system 905 includes camera 940 and mirror 945. Camera 940 is positioned at the rear of bin mechanism 845. Camera 940 can be a still camera or a video camera that captures images of the contents of the platform. Mirror 945 is placed directly above platform 920 and tilted at a 45-degree angle so that camera 940, positioned at the rear of bin mechanism 845, can capture images of platform 920.

[0105] The motor assembly 910 includes a motor 950 that drives a shaft 955 positioned in the middle of the bin mechanism 845. The shaft 955 includes teeth 956 that interlock with the teeth 875 of the wheel 860 (see FIG. Figure 33 ). When the motor 950 is driven, the shaft 955 rotates the wheel 860 to dispense the medicines 180 individually.

[0106] PCB 915 includes the electrical components of the bin mechanism 845. PCB 915 is positioned on the side opposite the side of the wheel 860. In some embodiments, PCB 915 includes antenna 960 (see Figure 31 ), which detects the RFID tag 965 placed on the bin 840 (see Figures 28-29 RFID tag 965 may store information of bin 840. The information stored on RFID tag 965 may include, for example, identification information of bin 840, drug restrictions of bin 840 (e.g., dedicated to allergy drugs or non-allergy drugs), etc.

[0107] The locking mechanism 916 is, for example, a locking solenoid that, when activated, prevents the cartridge 840 from being loaded onto the cartridge mechanism 845. During the dispensing process, not all cartridge mechanisms 845 are used for dispensing. In these cases, the locking mechanism 916 is used to prevent the cartridge 840 from being placed onto an inactive cartridge mechanism 845. Additionally, the locking mechanism 916 can be used to prevent an incompatible or incorrect cartridge 840 from being loaded onto the cartridge mechanism. For example, the cartridge mechanism 845 can read an RFID tag 965 to determine whether the correct and compatible cartridge 840 has been loaded onto the cartridge mechanism. Only when the correct cartridge 840 has been loaded onto the cartridge mechanism 845 can the cartridge mechanism 845 deactivate the locking mechanism 916. The locking mechanism 916 can also be used to prevent the cartridge 840 from being removed from the cartridge mechanism 845. Specifically, when the cartridge 840 is loaded onto the cartridge mechanism 845, the locking mechanism 916 locks the cartridge 840 in place. During the dispensing process, the locking mechanism 916 is activated to prevent the cartridge 840 from being removed. When the dispensing process is complete and the cartridge 840 can be removed from the cartridge mechanism 845 , the locking mechanism 916 can be deactivated.

[0108] Figure 35is a block diagram of one embodiment of the cartridge mechanism 845. In the example shown, the cartridge mechanism 845 includes an electronic processor 970, a memory 975, a transceiver 980, a camera system 905, a motor assembly 910, a locking mechanism 916, a shuttle drive 930, an antenna 960, a pill sensor 240, and an indicator system 990. The electronic processor 970, the memory 975, the transceiver 980, the camera system 905, the motor assembly 910, the locking mechanism 916, the shuttle drive 930, and the pill sensor 240 communicate via one or more control and / or data buses (e.g., a communication bus 985). Figure 35 Only one example embodiment of the bin mechanism 845 is shown. The bin mechanism 845 may include more or fewer components and may perform functions in addition to those explicitly described herein.

[0109] In some embodiments, electronic processor 970, memory 975, and transceiver 980 are implemented similarly to electronic processor 305, memory 310, and transceiver 315. In some embodiments, universal supply box 805 or automated packaging machine 800 may include a single electronic processor 970, a single memory 975, and a single transceiver 980 that controls all bin mechanisms 845.

[0110] Camera system 905 receives control signals from electronic processor 970. Based on the control signals received from electronic processor 970, camera system 905 controls camera 940 and the lighting system that illuminates platform 920. Motor assembly 910 can transmit signals from position sensor 175 to electronic processor 970 and receive control signals to operate the motor of motor assembly 910 based on the signals from position sensor 175. As described above, shuttle driver 930 can be a motor assembly or an actuator. Shuttle driver 930 can also include a position sensor to determine the position of shuttle 925. Shuttle driver 930 can transmit the position sensor signals to electronic processor 970, which in turn transmits control signals to shuttle driver 930 to move shuttle 925 based on the position sensor signals. In some embodiments, shuttle system 900 can also include a shuttle home position sensor that indicates whether shuttle 925 is in a home position. Signals from the shuttle home position sensor are provided to electronic processor 970 to control the movement of shuttle 925.

[0111] The pill sensor 240 communicates with the electronic processor 970 to provide an indication of whether a pill has been dispensed through the conduit 935. The electronic processor 970 also controls the indicator system 250 to provide an indication of the status of each cartridge 840. The indicator system 990 may include one or more LEDs disposed behind a translucent plastic material. The electronic processor 970 may use the indicator system 990 to provide an indication, for example, of whether a cartridge 840 is correctly placed in a cartridge slot 820. The electronic processor 970 may activate, for example, a blue LED to indicate that the next cartridge 840 should be placed in the corresponding cartridge slot 820 (i.e., the cartridge slot 820 corresponding to the cartridge mechanism 845 having the activated blue LED). The electronic processor 970 may activate, for example, a green LED to indicate that a cartridge 840 is correctly placed in a cartridge slot 820. The electronic processor 970 may activate, for example, a red LED to indicate that a cartridge 840 is incorrectly placed in a cartridge slot 820. Additionally, the electronic processor 970 may use the indicator system 990 to provide indications regarding where to place a cartridge 840 and when to remove a cartridge 840. For example, the electronic processor 970 can activate the blue LED to indicate that the pharmacist can place the cartridge 840 in the cartridge slot 820 corresponding to the activated LED. The electronic processor 970 can again activate the blue LED to indicate that the dispensing process is complete and the cartridge 840 can be removed from the cartridge slot 820.

[0112] Figure 37 is a flow chart illustrating an example method 1060 for delivering a drug to a platform 920. Figure 37 As shown in FIG, method 1060 includes rotating the scooping member 865 across the bottom portion of the reservoir 850 using the motor assembly 910 (at block 1065). Figure 30 When the scooping member 865 is located at the bottom portion of the reservoir 850, the medication 180 moves into the inward protrusion 866 of the scooping member 865 due to the curved shape of the reservoir 850. As the medication 180 moves into the inward protrusion 866, as the scooping member 865 rotates past the bottom portion of the reservoir 850, the stopper 868 of the scooping member 865 carries at least one medication 180 past the bottom portion of the reservoir 850. The scooping member 865 is positioned within the wheel 860 along a circumferential end thereof. The wheel 860 is rotated to rotate the scooping member 865. As described above, the teeth 875 of the wheel 860 interlock with the teeth of the shaft 955 driven by the motor 950.

[0113] The method 1060 also includes advancing the retaining pin 880 into the scooping member 865 using the cam and follower mechanism 885 (at block 1070). Figure 28 and Figure 30As the scooping member 865 rotates past the bottom portion of the reservoir 850, the follower 895 corresponding to the scooping member 865 encounters the arcuate portion 892 of the cam 890. The follower 895 then advances, which causes the retaining pin 880 to advance toward the circumference of the inward protrusion 866 of the scooping member 865.

[0114] The method 1060 further includes retaining the medication 180 between the retaining pin 880 and the stop 868 (at block 1075). As the retaining pin 880 advances, the medication 180 is retained between the retaining pin 880, the circumferential end of the scooping member 865, and the stop 868. The medication 180 is retained in this manner until the scooping member 865 moves past the top portion of the wheel 860.

[0115] Method 1060 also includes rotating the scooping member 865 across the top portion of the wheel 860 using the motor assembly 910 (at block 1080). As discussed above, the motor assembly 910 rotates the wheel 860 to rotate the scooping member 865. The motor assembly 910 may also include a position sensor (not shown) to detect the position of the wheel 860. For example, the motor assembly 910 may include a Hall sensor to detect magnets placed at certain locations on the wheel 860 to determine the position of the wheel 860. In other embodiments, the position sensor may be an optical sensor, etc.

[0116] The method 1060 further includes retracting the retaining pin 880 using the cam and follower mechanism 885 to drop the medication 180 onto the platform 920 (or, for example, a verification system that verifies that the intended medication 180 (e.g., the correct, single, and undamaged medication 180) was delivered) (at block 1085). Figure 28 and Figure 30 As the scooping member 865 rotates past the top portion of the wheel 860, the follower 895 corresponding to the scooping member 865 encounters the cutout portion 894 of the cam 890. The follower 895 then retracts, causing the retaining pin 880 to retract away from the circumference of the inward protrusion 866 of the scooping member 865. As the retaining pin 880 retracts, the medication 180 falls from the scooping member 865 onto the platform 920. The scooping member 865 can be formed to include a curved portion at the radially inner portion of the scooping member 865. When the medication 180 is released by the retaining pin 880, the curved portion pushes the medication 180 away from the wheel 860 and onto the platform 920. Accordingly, the method 1060 delivers a single medication 180 to the platform 920.

[0117] The present invention therefore provides, inter alia, a universal feed mechanism for an automatic packaging machine.

Claims

1. A bin mechanism for an automatic packaging machine, comprising: a platform configured to receive the medication from the cartridge; Camera system; an electronic processor coupled to the camera system, the electronic processor being configured to controlling the camera system to capture an image of the platform; determining whether a drug is intended to be delivered to the platform based on the image; dispensing the drug from the reservoir in response to determining that the intended drug was delivered to the platform; as well as returning the drug to the reservoir in response to determining that the intended drug was not delivered to the platform; a shuttle disposed above the platform to move medication from the platform to a first position and a second position; as well as a shuttle driver coupled to the shuttle, the shuttle driver driving the shuttle between the platform, the first position, and the second position, wherein the electronic processor is further configured to: controlling the shuttle driver to drive the shuttle to the first position to dispense the drug from the cartridge; as well as The shuttle driver is controlled to drive the shuttle to the second position to return the drug to the cartridge.

2. The bin mechanism according to claim 1, wherein: When the shuttle is in the first position, the shuttle is located above a reservoir of the cartridge, and wherein when the shuttle is in the second position, the shuttle is located above a conduit of the cartridge.

3. The cartridge mechanism according to claim 2, further comprising a pill sensor disposed beside the conduit, the pill sensor detecting whether the drug is dispensed through the conduit.

4. The cartridge mechanism of claim 1, further comprising a motor assembly driving the cartridge singulation mechanism, wherein the electronic processor is further configured to control the motor assembly to deliver the drug to the platform.

5. The bin mechanism according to claim 4 further includes a position sensor, which detects the position of the singulation mechanism and provides a position signal indicating the position of the singulation mechanism to the electronic processor, wherein the electronic processor is further configured to determine that the drug is delivered to the platform based on the position signal received from the position sensor.

6. The bin mechanism according to claim 1, wherein: The camera system comprises: a mirror positioned above the platform at an angle; and A camera captures the image of the platform using the mirror.

7. The hopper mechanism of claim 1 , further comprising an antenna, wherein the electronic processor is coupled to the antenna and is further configured to: The antenna is used to read the RFID tag of the cartridge to determine the type of medication dispensed from the cartridge.

8. The bin mechanism of claim 1 , further comprising a lighting system controlled by the electronic processor, wherein the electronic processor is further configured to control the lighting system to illuminate contents of the platform while the camera system is capturing the image of the platform.

9. A method of dispensing a medication from a cartridge using a cartridge mechanism, the method comprising: delivering a drug to the platform of the cartridge mechanism; controlling a camera system using an electronic processor to capture images of the platform; using the electronic processor to determine, based on the image, whether a drug is intended to be delivered to the platform; dispensing the drug from the reservoir in response to determining that the intended drug was delivered to the platform; as well as returning the drug to the reservoir in response to determining that the intended drug was not delivered to the platform; controlling a shuttle drive using the electronic processor to drive a shuttle of the cartridge mechanism to a first position to dispense the medication from the cartridge; as well as controlling the shuttle drive using the electronic processor to drive the shuttle to a second position to return the medication to the cartridge, Wherein when the shuttle is in the first position, the shuttle is located above a reservoir of the cartridge, and wherein when the shuttle is in the second position, the shuttle is located above a conduit of the cartridge.

10. The method of claim 9, further comprising using a pill sensor adjacent to the catheter to detect whether the medication is dispensed through the catheter.

11. The method of claim 9, further comprising using the electronic processor to control a motor assembly to deliver a drug to the platform, wherein the motor assembly drives a singulation mechanism of the cartridge to deliver the drug.

12. The method according to claim 11, further comprising: detecting a position of the singulation mechanism using a position sensor; using the position sensor to provide a position signal indicative of the position of the singulation mechanism to the electronic processor; as well as The drug is determined to be delivered to the platform based on the position signal received from the position sensor.

13. The method of claim 9, further comprising controlling a lighting system using the electronic processor to illuminate contents of the platform while the camera system is capturing the image of the platform.

Images