Method for discharging individual medicament, computer program product and discharge device

Abstract

To provide a method for discharging an individual medicament, a computer program product, and a discharge device.SOLUTION: A discharge device 1 comprises: a discharge section 2; a collection section 3; and a packaging section 6. The discharge section defines a row 20 of feeder positions for holding multiple feeder units, the collection section includes a first collection unit which is movable in a collection direction. The method comprises: a step for positioning a first feeder unit on a first feeder position; a step for positioning a second feeder unit on a second feeder position on the downstream of the first feeder position in the collection direction, before detaching the first feeder unit from the first feeder position. The first feeder unit and the second feeder unit hold medicaments of the same first composition.SELECTED DRAWING: Figure 1

Description

Technical Field

[0001] The present invention relates to a method, a computer program product, and a dispensing device for dispensing individual medicaments such as pharmaceuticals, drugs, pills, tablets, or capsules for medical use.

Background Art

[0002] US Patent Application Publication No. 2014 / 0366489 discloses a device for dispensing solid substances for medical use. This device is provided with a number of feeder units, which are also known as "canisters" and are distributed as a radial grid around a rotation axis. Each feeder unit holds a specific amount of solid substance in its respective feeder unit. Therefore, the feeder units can collectively dispense various types of solid substances.

[0003] The device is further provided with a collection frame that is rotatable around the rotation axis below the row of feeder positions. The collection frame is provided with a series of collection trays for collecting the solid substances dispensed from any of the feeder units in the row of feeder positions.

[0004] The device further includes a packaging unit arranged at a stationary position below the collection frame for packaging the solid substances received from the collection trays. The collection frame is rotated around the rotation axis so that each collection tray passes along each of the feeder units in the row of feeder positions and then reaches the packaging unit.

[0005] The device known from US Patent Application Publication No. 2014 / 0366489 ensures that the feeder units accurately dispense, collect, and package the solid substances. in continuously dispensing, collecting, and packaging solid substances. ​​​​​As long as it is discharging, it is very good. However, among the feeder units, if one of them, for example, can no longer discharge solid substances unexpectedly because the remaining solid substances held in each of the feeder units have been exhausted, or if the remaining solid substances cannot be discharged easily for some reason, or if the expiration date of the remaining solid substances has expired, the discharge is interrupted.

[0006] In order to confirm that each feeder unit is actually empty, an automatic check or action, such as repeating the discharge trial and / or rocking, can be performed. Depending on the result of this check, the human operator is informed to take appropriate actions, such as providing a full feeder unit for replacement with an empty one. Valuable time is wasted due to the check and human intervention, during which the discharge operation of the device is interrupted. Furthermore, several feeder units have to be replaced simultaneously, resulting in an even longer downtime. SUMMARY OF THE INVENTION PROBLEMS TO BE SOLVED BY THE INVENTION

[0007] An object of the present invention is to provide a method, a computer program product, and a discharge device for discharging individual drugs, in which the continuity of the discharge operation can be improved. MEANS FOR SOLVING THE PROBLEMS

[0008] A first aspect provides a method for discharging individual drugs by a discharge device, wherein the discharge device includes a discharge section, a recovery section, and a packaging section, and the discharge section ​​​Yon defines a column of feeder positions for holding a plurality of feeder units that are circumferentially distributed along an infinite recovery path, and the recovery section is infinite with respect to the column of feeder positions. The recovery unit includes a first recovery unit that is movable along the recovery path in the recovery direction from a starting position downstream in the recovery direction of the first packaging position to an end position at or near the first packaging position. The method includes: - positioning a first feeder unit among the plurality of feeder units at a first feeder position in the column of feeder positions; and - before removing the first feeder unit from the first feeder position, positioning a second feeder unit among the plurality of feeder units at a second feeder position downstream in the recovery direction of the first feeder position in the column of feeder positions. The first feeder unit and the second feeder unit hold a drug of the same first composition. The method includes: - positioning a first feeder unit among the plurality of feeder units at a first feeder position in the column of feeder positions; and - before removing the first feeder unit from the first feeder position, positioning a second feeder unit among the plurality of feeder units at a second feeder position downstream in the recovery direction of the first feeder position in the column of feeder positions. The first feeder unit and the second feeder unit hold a drug of the same first composition. The first feeder unit may become empty earlier than expected, for example, due to inaccurate filling, or may not be able to discharge the remaining drug even if there is any. In order to prevent interruption of the discharge operation when such a situation occurs, the second feeder unit can be made a "hot standby" to replace the first feeder unit and discharge the drug of the first composition that should have been discharged by the first feeder unit originally. In other words, the second feeder unit is in a state where it can take over the discharge operation from the first feeder unit when the first feeder unit fails to discharge the required drug of the first composition. Positioning the second feeder unit relatively downstream of the first feeder unit in this way. The first feeder unit and the second feeder unit hold a drug of the same first composition. Including, The first feeder unit and the second feeder unit hold a drug of the same first composition. .

[0009] The first feeder unit may become empty earlier than expected, for example, due to inaccurate filling, or may not be able to discharge the remaining drug even if there is any. When such a situation occurs, in order to prevent interruption of the discharge operation, the second feeder unit can be made a "hot standby" to replace the first feeder unit and discharge the drug of the first composition that should have been discharged by the first feeder unit originally. That is, the second feeder unit can take over the discharge operation from the first feeder unit when the first feeder unit fails to discharge the required drug of the first composition. The second feeder unit can be made a "hot standby" to replace the first feeder unit and discharge the drug of the first composition that should have been discharged by the first feeder unit originally. In other words, when the first feeder unit fails to discharge the required drug of the first composition, the second feeder unit is in a state where it can take over the discharge operation from the first feeder unit. Positioning the second feeder unit relatively downstream of the first feeder unit in this way. The first feeder unit and the second feeder unit hold a drug of the same first composition. . As a result, the first recovery unit does not need to wait or move backward. Instead, the first recovery unit can still receive the insufficient agent of the first composition from the second feeder while continuing to move in the recovery direction. More importantly, the first recovery unit can do so before reaching the first packaging position. Therefore, the discharging operation and the subsequent packaging operation are not substantially interrupted and / or no delay occurs.

[0010] In particular, the above method, when the first feeder unit becomes empty or the agent cannot be discharged from the first feeder position to the first recovery unit, - moving the first recovery unit in the recovery direction and discharging the agent from the second feeder unit to the first recovery unit at the second feeder position is further included.

[0011] In other embodiments, before positioning the first feeder unit at the first feeder position, the first feeder unit is positioned at a previous feeder position downstream of the first feeder position in the column of feeder positions, and the method includes - removing the first feeder unit from the previous feeder position, and - moving the first feeder unit from the previous feeder position towards the first feeder position. is further included.

[0012] The "hot standby" feeder unit is installed at a downstream feeder position so that the above-mentioned handover of the discharging operation of the empty feeder unit at the upstream feeder position can be carried out. ​​​​​​​It will be. After a while, the feeder unit that was "hot standby" will become empty. Such almost empty feeder units are occupied by full feeder units should occupy the downstream feeder position. To create space, the almost empty feeder unit can be repositioned towards the more upstream feeder position, thereby enabling it to be quickly identified that no discharge has occurred and a new cycle of the method can be started. This embodiment explains such a repositioning process for the first feeder unit, for example, when the amount of the drug remaining in the first feeder unit becomes less than a predetermined threshold.

[0013] In one embodiment, the method - While moving the first feeder unit from the previous feeder position to the first feeder position, discharging the drug from the second feeder unit to the first recovery unit at the second feeder position step further includes.

[0014] Therefore, the second feeder unit can temporarily take over the discharge from the first feeder unit while the first feeder unit is being repositioned. After repositioning, the first feeder unit can resume discharging, and the second feeder unit remains in "hot standby" until the drug in the first feeder unit is finally exhausted or the discharge stops.

[0015] In other embodiments, the first recovery unit is movable along an infinite recovery path over a recovery range starting from the starting position and ending at the ending position.

[0016] ​​​​​The first feeder position is arranged within the first half of the recovery range when considered from the starting position. When the first feeder position is within the first half of the recovery range, there are still many downstream positions to be selected when choosing the second feeder position.

[0017] The second feeder position can be within the second half of the recovery range when considered from the starting position. If the first feeder unit fails to discharge the drug within the first half of the recovery range, the discharge device has sufficient time to adjust its discharge strategy based on the second feeder unit before reaching the second half of the recovery range.

[0018] In other embodiments, the first feeder position and the second feeder position are separated in the recovery direction by a separation angle of at least 5 degrees, preferably at least 10 degrees. If the first feeder unit fails to discharge the drug in the first half of the recovery range, the discharge device can adjust its discharge strategy during the movement of the first recovery unit along the separation angle.

[0019] In other embodiments, the discharge device includes a robotic manipulator, and the positioning and / or removal of the first feeder unit and the second feeder unit are performed using the robotic manipulator. Therefore, the positioning, removal, and / or repositioning of the feeder units can be automated to quickly and / or efficiently obtain the optimal distribution of the feeder units across the feeder positions, taking into account the respective amounts of the drug in the feeder units.

[0020] A second aspect, when executed by a processor, causes the discharge device to perform the method according to the first aspect. A computer comprising a non-transitory computer-readable medium storing instructions for causing steps to be performed provides a program product.

[0021] The computer program product is provided separately from the ejection device and can set, update, and / or install the aforementioned functions of the ejection device, and as a result, technical advantages such as the aforementioned are obtained.

[0022] A third aspect provides an ejection device for ejecting individual drugs, the ejection device comprising a feeder for holding a plurality of feeder units distributed along an infinite recovery path, defining a row of feeder positions, the row of feeder positions including at least a first feeder position and a second feeder position, an ejection section; a recovery section including a first recovery unit movable in a recovery direction along the infinite recovery path with respect to the row of feeder positions; a packaging section for packaging the drug received from the recovery section; a robot manipulator and a control unit for controlling the robot manipulator to position a first feeder unit at the first feeder position and to position a second feeder unit at the second feeder position before removing the first feeder unit from the first feeder position, the second feeder position being downstream of the first feeder position in the recovery direction; including wherein the first feeder unit and the second feeder unit hold drugs of the same first composition.

[0023] In one embodiment, the packaging section is at or connected to a first packaging position. ​​​​​​​​​including a first packaging unit that can be obtained.

[0024] In one embodiment, the first recovery unit is downstream in the recovery direction from the start position of the first packaging position and is movable between the start position and the end position at or near the first packaging position.

[0025] In one embodiment, the first recovery unit includes a hopper.

[0026] In one embodiment, the infinite recovery path is circular.

[0027] In one embodiment, the columns of feeder positions are circumferentially dispersed around the axis of rotation, and the first recovery unit is rotatable along an infinite recovery path around the axis of rotation.

[0028] Alternatively, the infinite recovery path is non-circular. The aforementioned ejection device is adapted, configured, and / or programmed to perform the steps of the relevant method, and thus has the same technical advantages as the method and its respective embodiments.

[0029] A fourth aspect provides a method for continuously ejecting, recovering, and packaging individual drugs by an ejection device including an ejection section, a recovery section, and a packaging section, the ejection section including a row of feeder positions for holding a plurality of feeder units dispersed along an infinite recovery path, the recovery section being movable along an infinite recovery path in the recovery direction with respect to the row of holding positions and including a first recovery unit that aligns with the plurality of rows of feeder positions, and the method includes placing a first feeder unit at a first feeder position among the rows of feeder positions; placing a second feeder unit at a second feeder position among the rows of feeder positions; a step in which a second holding position is downstream of the first holding position, and a step of discharging the drug from the first feeder unit to the first recovery unit; when the first feeder unit becomes empty or the drug discharge stops, moving the first recovery unit in the recovery direction to align it with the second feeder unit; a step of discharging the drug from the second feeder unit to the first recovery unit; including the first feeder unit and the second feeder unit are filled with drugs of the same first composition therein.

[0030] In one embodiment, the step of installing the first and second feeder units is performed using a robot.

[0031] One embodiment further includes transferring the drug from the first recovery unit to the first packaging unit for packaging.

[0032] In one embodiment, the method further includes removing and / or replacing the first feeder unit.

[0033] A fifth aspect provides a method of discharging individual drugs by a discharge device, the discharge device includes a discharge section for discharging the drug, the discharge section defines a row of feeder positions for holding a plurality of feeder units, and each feeder unit of the plurality of feeder units includes a container for holding a drug of a specific composition in the respective feeder unit, an outlet for discharging the drug, and a discharge mechanism for controlling and supplying the drug from the container to the outlet between the container and the outlet, the method​​​​​​ - predicting a future drug depletion time when the remaining drug in the container of the first feeder unit among the plurality of feeder units runs out or its expiration date expires; - providing a notification that a second feeder unit holding a drug of the same composition as the first feeder unit needs to be provided to the ejection device before the drug depletion time, along with the deadline by which the second feeder unit should be provided to the ejection device; - continuing to eject the drug from the first feeder unit at least until the provided deadline; and including. By providing the notification, a human operator can be warned that a second feeder unit of the same drug is needed before the provided deadline. By providing the deadline or time window, the human operator can prioritize and / or plan in advance to prepare one or more feeder units before their respective provided deadlines. Meanwhile, the ejection device can continue to eject the remaining drug without interruption. When the remaining amount runs out or the expiration date has passed, the relevant feeder unit can be efficiently refilled or replaced before, at, or shortly after the provided deadline. Preferably, the drug depletion time is predicted based on a record of the amount of drug in the container of the first feeder unit at the start and a count of the drug ejected from the outlet of the first feeder unit after the start. The drug depletion time is thus calculated theoretically. Its accuracy depends on the correctness of the amount record at the start, the correct count, and the accuracy of the calculated average ejection rate.

[0034]

[0035]

[0036] ​​​​​​​​​​​​​​ Alternatively, the drug depletion time is predicted based on the actual amount of drug remaining in the container of the first feeder unit. For example, weight may be used as an indicator of the actual amount of drug. Alternatively, the actual amount can be visually identified based on, for example, image recognition or one or more sensors, based on the upper surface position of the drug in the container.

[0037] In other embodiments, the expiration date is equal to the drug depletion time. Thus, the second feeder unit can be provided "just in time" to replenish or replace the first feeder unit.

[0038] Alternatively, the expiration date is before the drug depletion time. The remaining time until the expiration date and the drug depletion time can be used as a buffer, for example, if the first feeder unit empties earlier than expected, or if there is still a need for time to process the second feeder unit before installing it in the row of feeder positions.

[0039] In other embodiments, the method further includes: - receiving the second feeder unit with the ejection device; and - installing the second feeder unit in one of the feeder positions in the row of feeder positions before the drug depletion time.

[0040] Thus, there is still time for the ejection device to receive, check, and / or position the second feeder before the expiration date. The second feeder unit can be positioned to be in a "hot standby" state as described, for example, in the first aspect.

[0041] ​​​​​​​​​​​​ Preferably, the second feeder unit is exchanged with the first feeder unit. The first Unlike the first aspect, the first feeder unit and the second feeder unit can be exchanged at one feeder position.

[0042] A sixth aspect provides a computer program product including a non - transitory computer - readable medium that holds instructions which, when executed by a processor, cause a dispensing device to execute the steps of the method according to the fifth aspect. The computer program product is provided separately from the dispensing device and can set, upgrade, and / or install the aforementioned functions of the dispensing device, and as a result, the aforementioned technical advantages can be obtained.

[0043]

[0044] A seventh aspect provides a dispensing device for dispensing individual drugs, The dispensing device includes a dispensing section for dispensing drugs, the dispensing section defining a row of feeder positions for holding a plurality of feeder units, each of the plurality of feeder units including a container for holding a drug of a specific composition for the respective feeder unit, an outlet for dispensing the drug, and a dispensing mechanism for a controlled supply of the drug from the container to the outlet between the container and the outlet. The dispensing device further includes a graphical user interface and a control unit for controlling the graphical user interface and the plurality of feeder units. The control unit includes a processor and, when executed by the processor, causes the control unit to predict the time of drug depletion and provide a notification of the drug depletion time on the graphical user interface. ​​​​​​​​​​​​, controlling a plurality of feeder units to eject in accordance with the steps of the method according to the fifth aspect including a non-transitory computer-readable medium that causes the ejection to continue.

[0045] The ejection device described above is adapted, configured, and / or programmed to have the same technical advantages as the method and its respective embodiments. Thereby having.

[0046] The eighth aspect provides a method for ejecting individual drugs by an ejection device, The ejection device includes an ejection section for ejecting a drug, the ejection section defining a row of feeder positions for holding a plurality of feeder units, and each of the plurality of feeder units holds a container for holding a drug of a specific composition, an outlet for ejecting the drug, and an ejection mechanism for a controlled supply of the drug from the container to the outlet between the container and the outlet. including, The method includes: - receiving a first set of ejection commands that requires a first selection and a first amount of drug to be ejected from a plurality of feeder units; - receiving one or more other sets of ejection commands to be executed after the first set of ejection commands, wherein at least one set of the one or more other sets of ejection commands requires a selection different from the first selection or an amount different from the first amount; - prior to executing the first set of ejection commands, determining whether the plurality of feeder units contain a sufficient amount of immediately available drug to complete the ejection of the first selection and the first amount of drug according to the first set of ejection commands; including, wherein at least one set of the one or more other sets of ejection commands requires a selection different from the first selection or an amount different from the first amount; - before executing the first set of ejection commands, determining whether the plurality of feeder units contain a sufficient amount of immediately available drug to complete the ejection of the first selection and the first amount of drug according to the first set of ejection commands; wherein at least one set of the one or more other sets of ejection commands requires a selection different from the first selection or an amount different from the first amount; including, If there is not enough immediately available drug in the plurality of feeder units to complete the dispensing of the first selection and the first amount of drug according to the first dispensing instruction set, the method further includes: - Before executing the first dispensing instruction set, executing one or more of the other dispensing instruction sets among the one or more other dispensing instruction sets. The method further includes the step of.

[0047] One or more dispensing instruction sets can be made to have priority over the first dispensing instruction set to replenish the shortage of drugs. The first selection and the first amount of drug dispensing can start as soon as possible after the prioritized dispensing instruction set is completed. By changing the order of the instruction sets, at least a part of the downtime that would occur if the dispensing device processed the instruction sets in the original order can be prevented.

[0048] Preferably, during the execution of one or more of the other dispensing instruction sets, actions are taken to ensure that there is definitely enough immediately available drug in the plurality of feeder units to complete the dispensing of the first selection and the first amount of drug according to the first dispensing instruction set. By taking appropriate actions during the execution of one or more other dispensing instruction sets, at least a part of the time required for taking appropriate actions can be used to continue the dispensing operation. More preferably, this operation is to provide the dispensing device to replenish or replace one or more of the plurality of feeder units that do not have enough immediately available drug to complete the dispensing of the first selection and the first amount of drug according to the first dispensing instruction set. One or more of the plurality of feeder units. ​​​​​​​​​​​​One or more units may be installed as "hot standby", for example according to the first aspect, for the purpose of an almost empty feeder unit, so that restart can be achieved without interrupting the ejection.

[0049] In other embodiments, the first ejection instruction set and one or more other ejection instruction sets share logistic parameters that link the first ejection instruction set and one or more other ejection instruction sets into a common batch. Preferably, the logistic parameter is the delivery address. By holding the ejection instruction sets of the common batch together, changing the order in which the ejection instruction sets are processed has little impact on the other logistics of the common batch. For example, if all the drugs ejected as a result of the ejection instructions must be delivered to the same delivery address, it does not matter whether the order of the ejection instruction sets has changed.

[0050] The ninth aspect provides a computer program product including a non-transitory computer-readable medium that holds instructions which, when executed by a processor, cause an ejection device to execute the method steps according to the eighth aspect.

[0051] The computer program product is provided separately from the ejection device and can set, upgrade, and / or install the aforementioned functions of the ejection device, and as a result, the aforementioned technical advantages can be obtained.

[0052] The tenth aspect provides an ejection device for ejecting individual drugs, the ejection device includes an ejection section for ejecting drugs, and the ejection section includes a plurality of f ​​​​​​​​​Define a row of feeder positions for holding the feeder unit, and for a plurality of feeder units Each feeder unit holds a drug of a specific composition in each of the respective feeder units For a container, an outlet for discharging the drug, and a discharge mechanism for a controlled supply of the drug from the container to the outlet between the container and the outlet, and Including, The ejection device further includes a control unit, and the control unit, when executed by the processor, Instructions for causing the control unit to execute the steps of the method according to the eighth aspect Including a non-transitory computer-readable medium that holds.

[0053] The above-described ejection device is made, configured, and / Or programmed, and therefore has the same technical advantages as the method and its respective embodiments. Have.

[0054] The eleventh aspect provides a method for discharging an individual drug in a first feeder unit , The first feeder unit includes a container for holding a drug of a first composition, an outlet for discharging the drug, and a controlled supply of the drug from the container to the outlet between the container and the outlet. For a discharge mechanism, and Including, The method is -Identifying a remaining amount value indicating the amount of drug remaining in the container; -Comparing the remaining amount value with a threshold value; -Selecting between a full-empty state detection mode when the remaining amount value is higher than the threshold value and a shortened-empty state detection mode when the remaining amount value is lower than the threshold value; And -If the drug is not supplied from the container to the outlet after controlling the discharge mechanism, executing one of the selected full-empty state detection mode and shortened-empty state detection mode; And Including.

[0055] The above method is based on the premise that when the first feeder unit is expected to be almost empty, it is not necessary to deliberately check the empty state of the said first feeder unit. If there is no remaining drug, the remaining amount is almost none, and the risk of unnecessarily removing the first feeder unit is relatively small. Therefore, to check whether the first feeder unit is empty, only a limited number of trials or a limited number of actions need to be performed. In contrast, when the remaining amount is still higher than the threshold, it is assumed that there is still sufficient and immediately available drug remaining to be discharged without problems. In other words, by selecting either of the two modes, reliable empty state detection can be achieved for both the first feeder unit that is almost empty and the first feeder unit that is relatively close to being full. The shortened empty state detection mode can save a significant amount of time, for example, in the range of 10 to 20 seconds, compared to the full empty state detection mode. Thus, the downtime of the dispensing device can be significantly reduced as a result of the empty state detection check. Preferably, the full empty state detection mode includes the step of performing the first action for the first number of instances, and the shortened empty state detection mode includes the step of performing the first action for a second number of instances that is less than the first number of instances. By reducing the number of instances of the first action, the time for the empty state detection check between the modes can be greatly reduced. More preferably, the first action is to control the dispensing mechanism. By controlling the dispensing mechanism, solid substances should be discharged. For example, the control of the dispensing mechanism can ensure reliable empty state detection for both the first feeder unit that is almost empty and the first feeder unit that is relatively close to being full. The shortened empty state detection mode can save a significant amount of time, such as in the range of 10 to 20 seconds, compared to the full empty state detection mode. Therefore, the downtime of the dispensing device can be significantly reduced as a result of the empty state detection check.

[0056] Preferably, the full empty state detection mode includes the step of performing the first action for the first number of instances, and the shortened empty state detection mode includes the step of performing the first action for a second number of instances that is less than the first number of instances. By reducing the number of instances of the first action, the time for the empty state detection check between the modes can be greatly reduced. Preferably, the full empty state detection mode includes the step of performing the first action for the first number of instances, and the shortened empty state detection mode includes the step of performing the first action for a second number of instances that is less than the first number of instances. By reducing the number of instances of the first action, the time for the empty state detection check between the modes can be greatly reduced. By reducing the number of instances of the first action, the time for the empty state detection check between the modes can be greatly reduced.

[0057] More preferably, the first action is to control the dispensing mechanism. By controlling the dispensing mechanism, solid substances should be discharged. For example, the control of the dispensing mechanism can ensure reliable empty state detection for both the first feeder unit that is almost empty and the first feeder unit that is relatively close to being full. The shortened empty state detection mode can save a significant amount of time, such as in the range of 10 to 20 seconds, compared to the full empty state detection mode. The drug is stabilized and emesis is prevented by repeated trials of moving the drug by multiple steps. The ejection mechanism can then proceed.

[0058] Alternatively, the full empty detection mode may include a first action and a second action different from the first action. the shortened idle detection mode includes a step of performing only one of the first action and the second action. The second action may trigger a different ejection result than the first action. For example, the second feeder unit may be swung by, for example, a robotic manipulator. The first or second action may be an abbreviated empty detection mode to save time between modes. may be excluded from the

[0059] In another embodiment, the full empty detection mode has a first duration and the shortened empty detection mode has a second duration. The exit mode has a second duration that is shorter than the first duration. A state detection mode may include fewer actions or fewer types of actions, so that the mode Alternatively, the time to complete empty detection in the reduced empty detection mode is reduced. The code may be time-limited or the action may be performed faster to save time. .

[0060] In another embodiment, the remaining value is the amount of drug in the container of the first feeder unit at the start. and counting the number of drugs discharged from the outlet of the first feeder unit since the start time. The drug expiration time is therefore calculated theoretically; its accuracy is unknown. Depends on accurate recording of starting quantities and correct counting.

[0061] Alternatively, the remaining value is based on the actual amount of medication remaining in the container of the first feeder unit. For example, weight may be used as an indication of the actual amount of drug. The amount of drug in the container can be determined, for example, by image recognition or by one or more sensors. The objects can be visually identified based on their location.

[0062] A twelfth aspect, when executed by a processor, comprises a feeder unit for feeding a first feeder unit to a second feeder unit. A non-transitory computer-readable storage medium having instructions for causing an output device to perform the steps of the method according to the eleventh aspect. The present invention provides a computer program product including a computer-readable medium.

[0063] A computer program product may be provided separately from the dispensing device to implement the aforementioned functions of the dispensing device. You may configure, upgrade, and / or install the features described above. Technical advantages are obtained.

[0064] A thirteenth aspect provides an ejection device for ejecting individual medicaments, comprising: The delivery device includes a container for holding a medicament of the first composition, an outlet for delivering the medicament, and a delivery mechanism between the container and the outlet for controlled delivery of the drug from the container to the outlet. a first feeder unit including: The dispensing device further includes a control unit, the control unit being configured to: instructions which, when executed by the control unit, cause the control unit to perform the steps of the method according to the eleventh aspect. The present invention includes a non-transitory computer readable medium having

[0065] The above-mentioned discharge device is adapted and configured to carry out the steps of the associated method, and and / or a program, and therefore has the same technical advantages as the method and its respective embodiments. Yes.

[0066] The various aspects and features described and illustrated herein may be applied individually wherever possible. These individual aspects, particularly the aspects and features recited in the accompanying claims, are incorporated herein by reference in their entirety. It may be the subject of a patent application.

[0067] The invention will now be explained on the basis of embodiments shown in the accompanying schematic drawings, in which: [Brief description of the drawings]

[0068]

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[0069] Figure 1 shows an individual drug, individual solid drug, medicine, or medical solid item, article, or or a substance 90, such as a pill, tablet, capsule, etc. The device shows a dispenser 1. The medicines can be dispensed one by one, individually, separately, or in a single package. It is "discrete" in the sense that it can be dispensed.

[0070] The discharge device 1 includes a discharge section 2 for discharging a medicine 90, and a discharge port 3 for discharging the medicine 90 from the discharge section 2. a collection section 3 for collecting the drug 90; a packaging section for packaging the drug 90; 6. The collection section 3 is disposed below or vertically below the discharge section 2. The packaging section 6 is disposed below or vertically below the collection section 3. Station 1 is a housing that is used to shield sections 2, 3 and 6 mentioned above from unauthorized access. The present invention further includes group 10.

[0071] The discharge section 2 is connected to a plurality of canisters, tablet cases, or feeder units 4. The feeder defines a row of feeder positions 20 for receiving or holding a feed The docking member includes a docking member that mates with or receives a respective one of the feeder units 40. This is because the discharged drug 90 passes through the feeder position 20 and is then fed to the collection section 3 below. The row of feeder positions 20 may be arranged in an infinite number of positions, each having a suitable opening or channel through which the feeder can pass. The collection paths Z1 are distributed along the collection path Z1. In this example, the collection paths Z1 are circular or substantially circular. and the row of feeder positions 20 is distributed circumferentially around the axis of rotation X. More specifically, In the embodiment, the rows of feeder positions 20 may be arranged in a circumferential direction or according to a radial grid, e.g. A plurality of radially extending members arranged side by side or adjacent to each other in the circumferential direction around the rotation axis X. Preferably, the housing 10 is cylindrically arranged around the row of feeder locations 20. In this example, the wall of the housing 10 along its circumference is provided with a temporarily unused Alternatively, a plurality of storage locations 12 may be provided for holding auxiliary feeder units 40. There are.

[0072] The discharge device 1 further includes a feeder unit 40 for automatically positioning the feeder unit 40 relative to the row of feeder positions 20. automatically or autonomously handle, position, remove, and / or reposition a robot manipulator 11, which may include, for example, a robot arm, for The robot manipulator 11 is provided with a pick-and-place mechanism for picking up and placing the feeder unit 40. In this embodiment, a gripper head that races is provided. 1 is located at or near the center of the row of feeder positions 20, e.g., close to the axis of rotation X. In said location, all of the feeder locations 20 and storage locations 10 are advantageously located in the robot. The robot manipulator 11 is within reach.

[0073] FIG. 2B illustrates one of the feeder units 40 in more detail. The following description of feeder unit 40 illustrates the configuration of multiple feeder units 40. Represents all feeder units 40.

[0074] As shown in FIG. 2B, each feeder unit 40 includes a 40 includes a container 50 for holding a quantity of a drug 90 of a particular composition 91. The term "medicinal agent" is to be understood as a chemical or pharmaceutical composition of a drug 90, e.g., a combination of active ingredients. Each feeder unit 40 typically includes one The container 50 holds only one composition of drug 90. The container 50 holds the drug 90 in a number of different configurations depending on its size and shape. It has a volume that can hold hundreds or more (or less).

[0075] Each feeder unit 40 has an outlet for discharging the drug 90 toward the collection section 3. A port 51, for example a downspout, between the container 50 and the outlet 51, for feeding the drug 9 from the container 50 to the outlet 51 In this embodiment, the discharge mechanism 52 provides a controlled supply of oxygen. 2 acts as a revolving door for individualizing the medicines 90 and supplying them one by one to the exit 51. Those skilled in the art will recognize alternative dispensers that can individualize medication 90. It will be apparent that a structure can be provided.

[0076] Each feeder unit 40 may further include a storage device that is operable to verify the type, composition, and / or integrity of the drug 90. and one or more sensors 53 for measuring the amount of drug 90 expelled. , 54, for example, a vision camera, an optical sensor, a laser sensor, a level sensor, a weight sensor or Others may be provided.

[0077] As best seen in FIG. 1, the discharge section 2 includes a new feeder unit 4 0 to the discharge device 1 and to remove the feeder unit 40 from the discharge device 1. The feeder loading member 24 further includes a plurality of feeder loading positions 25 for loading the feeders. In the present embodiment, the feeder loading member 24 is formed as a drawer. Alternatively, a door or other means may be used. The discharge section 2 can be optionally automatically fed by the feeder unit 40 described above. A manual loading member (not shown) into which medication 90 not suitable for delivery to the , may include a manual loading position 26 for receiving, for example, a drug transport plate.

[0078] As further shown in FIG. 1, the recovery section 3 includes a plurality of recovery units, in particular recovery hops. The feeder unit 30 includes a discharge section 2 and a discharge section 31. The discharge section 2 and the discharge section 31 are open on the surface facing the discharge section 2. 40. In this example, Each collection hopper 30 extends beneath a number of feeder units 40 and simultaneously Each collection hopper 30 receives the drug 90 from any of the units 40. At the bottom, the collected medicine 90 is dropped into the packaging section 6. A valve (not shown) is provided which is operable to allow the flow of

[0079] In this embodiment, a number of collection hoppers 30 are distributed circumferentially around the axis of rotation X. More specifically, a plurality of collection hoppers 30 are supported within a collection frame 32, which may be any suitable size. It is movable along a recovery path Z1, for example by rotating about said rotation axis X. , moving a plurality of collection hoppers 30 relative to the row of feeder positions 20 in the discharge section 2 The rotation may be a stepped rotation, with each step moving a plurality of collection hoppers 30 to the feeder position. Each collection hopper 30 is aligned with the next group of feeder units 40 in the row of stations 20. It extends radially along a row of radially arranged feeder locations 20 .

[0080] In normal operation, the collection frame 32 moves unidirectionally in a collection direction C along an infinite collection path Z1. 3, so that each collection hopper 30 rotates 360 degrees around the axis of rotation X to Although it is possible to go through all of the feeder positions 20 in a row of feeder positions 20, in some implementations In this embodiment, the rotational movement may be more limited.

[0081] The wrapping section 6 is arranged in a first wrapping position or a first angular wrapping position P1 around the rotation axis X. Optionally, the packaging section 6 includes a first packaging unit 61 in The dispensing device may include a second packaging unit 62 at a second packaging position P2 or a second angular packaging position P3. The valves of the collection hoppers 30 are arranged so that each of the collection hoppers 30 is Operates when the device is located above or directly above a selected one of the mounting units 61, 62. Then, the collected medicines 90 are dropped into the respective packaging units 61 and 62. The packaging units 61, 62 are storage members for holding packaging material, in this case foil, on which the foil is A printer for printing information about the medication 90, and positioning the foil to receive the medication 90. a filling member for filling the received medicament 90 into the pouch; a perforating member for providing perforations between successively formed pouches in the foil; It includes an ejection member for ejecting the drug F from the ejection device 1.

[0082] Alternatively, one or both of the packaging units 61, 62 may store the medication 90 in a storage container other than a foil. The material may be arranged to be packaged, for example, in a vial, bottle, or card.

[0083] The first packaging position P1 and / or the second packaging position P2 are arranged around a rotation axis at least during the dispensing operation. It can be fixed with respect to X.

[0084] As shown in FIG. 1, the discharge device 1 further includes a robot manipulator 11, a feeder The drive unit 40, the packaging units 61 and 62, and other electronic devices such as drives, sensors, etc. and other components to control the operation of the dispensing device 1. A control unit 7 is provided. The control unit 7 comprises a special purpose processor 71 and a processor When executed by the controller 71, it causes the dispensing device 1 to operate in a manner described in more detail below. The computer-readable medium 72 includes computer-readable code or instructions for carrying computer-readable code or instructions for causing the computer-readable medium 72 to operate. The computer readable medium 72 may be non-transitory or tangible, such as a hard drive, a USB- It may be a physical data carrier such as a drive, a RAM memory or the like.

[0085] The dispensing device 1 further includes a means for providing a human operator with useful information regarding the dispensing, collection, and packaging operations. A graphical user interface 8, e.g. a screen, for providing information is provided. It is possible.

[0086] The operation method of the discharge device 1 will be described below with reference to the first feeder of the plurality of feeder units 40. unit 41 and second feeder unit 42, a first one of a plurality of collection hoppers 30 The collection hopper 31 and only the first packaging unit 61 of the two packaging units 61 and 62 However, for those skilled in the art, the discharge device 1 will be described with reference to the feeder unit 4. 0, the collection hopper 30, and / or any other option for the packaging units 61, 62. can be operated in a substantially similar manner, flexible and substantially uninterrupted, i.e. It will be apparent that a continuous dispensing, collection and packaging process is ensured.

[0087] As shown in FIG. 2A, the first collection hopper 31 is fed in a collection direction C around a rotation axis X. For the row of wrapper positions 20, the starting position or angle in the collection direction C downstream of the first wrapping position P1 The start position A and the end position at or near the first packaging position P1, in this case above it, can rotate between the angle end position B. In other words, the first recovery hopper 31 has a rotation axis Rotate around X over a recovery range R starting at angle start position A and ending at angle end position B In this example, the recovery range R is 5 degrees less than 360 degrees, which is almost a full rotation. do.

[0088] The control unit 7 controls the feeder unit 40 to dispense a certain selection and amount of drug 90. Upon receiving this command set, the control unit 7 determines which feeder unit 40 to use. based on the current or remaining amount of medication 90 in the feeder unit 40. The control unit 7 stores on the computer readable medium 72 the start time of the feeder unit and a sensor for storing the amount of drug 90 in the dispenser and, for example, counting the dispensing of the drug 90. and to calculate or predict the remaining amount of drug 90 in each feeder unit 40. If one of the feeder units 40 is close to empty, the control unit 7 may The robot manipulator 11 is controlled to feed the same drug 90, i.e., the near empty feeder unit. Drugs 90 of the same type, brand, manufacturer, and / or composition 91 as those in the 2. Discharge from the feeder unit 40 that is emptying Position it as a "hot standby" to take over when it actually becomes empty In other words, the drug 9 in the pair of feeder units 40 described above can be configured to 0 contains the same active ingredient and / or is pharma- ceutical similar or identical to other feeder units. 40 may be moved from one of the storage locations 12 in the discharge section 2. Alternatively, The control unit 7 then prompts the human operator to select a new feed in the feeder loading member 24. The ejection device 1 may be notified to provide the ejection unit 40 .

[0089] The first and second feeder units 41, 42 typically have the same type of drug 90. In some embodiments, the drug 90 may be, for example, purchased when the same drug 90 is not available, but Although not identical, they are interchangeable, typically only when approved by a human operator. can play a substitute role.

[0090] 2A-2C, 3A-3C, 4A-4C, and 5A-5C are diagrams illustrating an embodiment of the present invention. , the first feeder unit 41 is emptying and the second feeder unit 42 is This shows the process of positioning the device as "hot standby."

[0091] Specifically, FIG. 2A shows a first feeder unit 41 in the row, as shown in FIG. 2B. The situation is shown in FIG. 2B, where the feeder position 20 is at the previous feeder position 23. The first feeder unit 41 is actively discharging. The previous feeder position 23 is A feeder unit 41 is filled or relatively filled with drug 90 of a first composition 91. "Previous" in the sense that it was there at some time, during a previous cycle of the method. Now the first feeder unit 41 is emptying and is, say, 50 percent of its original capacity. less than one percent, and in some embodiments less than 30 percent of the original amount remains. In this case, the previous feeder position 23 is after the recovery range R in the recovery direction C from the start position A. The method according to the present invention moves the emptying feeder unit 40 in the collection direction C. Regarding the upstream of the recovery range R, for example, in the recovery direction C from the start position A, As shown in FIG. 4A, the first feeder unit 41 is In the first half of the collection range R of the row of feeder positions 20, upstream of the previous feeder position 23 in FIG. 2A The feeder is moved towards a certain first feeder position 21.

[0092] First feeder unit 41 from previous feeder position 23 to first feeder position 21 2A, the second feeder unit 42 is placed in the feeder already present in the discharge device 1 at one of the feeder loading positions 25 of the loading member 24 , inserted into the discharge device 1 and picked up by the robot manipulator 11. Alternatively, the second feeder unit 42 may be configured as shown in FIG. One of the feeder units 40 in the collection section 2, for example one of the storage locations 12 The second feeder unit 42 typically includes a first feeder unit 44. The cartridge is filled with a drug 90 having the same first composition 91 as the cartridge unit 41 .

[0093] FIG. 3A shows a pickup from a feeder loading position 25 by a robot manipulator 11. The second feeder after being fed and positioned at feeder position 22 in the row of feeder positions 20. In this example, the second feeder position 22 is the same as the previous feeder position 2 3 in the recovery direction C, but at this stage this is not strictly necessary. Alternatively, the previous feeder position 23 may be downstream of the second feeder position 22 in the collection direction C. As shown in FIG. 3C, the first feeder unit between FIGS. 2A and 4A During the movement of 41, any necessary steps may be taken to ensure continuity of delivery of the drug 90 of the first composition 91. For example, the second feeder unit 42 temporarily stops the discharge from the first feeder unit 41. It can be passed on.

[0094] FIG. 4A shows how the first feeder unit 41 is moved by the robot manipulator 11 to the previous position. 1 shows the state where the feeder is removed from the feeder position 23 and positioned at the first feeder position 21. The first feeder unit 41 in turn feeds the first composition 91 as shown in FIG. 4B. If the medicine 90 runs out or the first feeder unit 41 is unable to dispense the remaining medicine 90, The second feeder unit 42 can resume dispensing until the second feeder unit 42 is fully discharged, as shown in FIG. In this state, the first feeder unit 41 is in a "hot standby" state and is not able to dispense medication 90. If not, it takes over the delivery from the first feeder unit 41.

[0095] FIG. 5A shows a state in which the first feeder unit 41 is empty, as shown in FIG. 5B, or As a result, the first recovery hopper 31 is unable to discharge the first fluid 90. The necessary drug 90 of the first composition 91 from the feeder unit 41 cannot be recovered. The collection hopper 31 does not need to have the first feeder unit 41 replaced. Instead, the first collection hopper 31 is connected to the second feeder in the second feeder position 22. 4. Continue along the infinite retrieval path Z1 in the retrieval direction C until it is below or directly below unit 42. During this time, the controller 7 controls the first feeder unit The ejection strategy is adapted taking into consideration that the drug 90 of the first composition 91 is not ejected from the injection device 41. The second feeder unit 42 is connected to the first feeder unit 42 as shown in FIG. 5C. In other words, the second feeder unit is assigned to take over the discharge from the feeder unit 41. Unit 42 can dispense missing drug 90 from first composition 91 .

[0096] The first feeder position 21 and the second feeder position 22 typically have at least A separation angle H of at least 5 degrees, preferably at least 10 degrees, or at least The control unit 7 and / or a human operator may control the position of the laser beam by one radial row at a time. For example, the first collection hopper 31 may be moved from the first feeder position 21 to the second feeder position 22. The normal time it takes to move without interruption allows ample time to adjust the dispense strategy. do.

[0097] The empty first feeder unit 41 is picked up by the robot manipulator 11. 2 and move it to one of the feeder loading positions 25 in the feeder loading member 24. The empty first feeder unit 41 can be removed or taken out from the discharge device 1. can.

[0098] FIG. 6 shows in more detail the graphical user interface 8 of the dispensing device 1 described above. The graphical user interface 8 is operated by the control unit 7 as shown in FIG. As shown in FIG. 6, the graphical user interface 8 is generated by The operator is provided with an optional timeline 80 and one or more feeder units. The notification 81 may include one or more notifications 81 regarding the medication expiration time 82 of the drug. The timeline 80 may be provided on the timeline 80 and / or separately from the timeline 80. The image 80 has a time axis t from left (present) to right (future). The drug expiration time 82 is calculated or predicted by the control unit 7. Recording the amount of medication 90 in the container 50 of the feeder unit 40 and, for example, Based on the counting sensor 54, the number of feeds at the outlet 5 of each feeder unit 40 since the start time is 1 to 90 dispensed. Alternatively, Time 82 is the time when the feeder unit 40 is in the container 50 of the feeder unit 40 as shown in FIG. Based on sensor data from sensors 53, 54 indicating the actual amount of medication 90 remaining, For example, based on data from a vision camera, a level sensor, and / or a weight sensor I can imagine.

[0099] Each notification 81 is sent prior to the expected drug expiration time 82 at the respective drug expiration time 82. The notice 81 simply provides a specific It can show how much of the drug 90 in the composition 91 is needed, or it can show how much of the feeder is almost empty. A specific drug 90 of the same composition 91 that is to be replaced or supplemented with the unit 40 A human operator may indicate or request the required feeder unit 40. The unit 40 can be invoked and provided to the dispensing device 1 as described above.

[0100] During that time, the delivery of medication 90 from one or more associated feeder units 40 may be at least The dispensing operation continues at least until the provision deadline 83. Thus, the dispensing operation remains uninterrupted.

[0101] The delivery deadline 83 is preferably set so that a human operator can notify the delivery of the required drug before the drug expiration time 82. some safety margin so that the reader unit 40 can be called and / or prepared; For example, a time period of at least 1 minute, at least 3 minutes, or at least 5 minutes may be selected. The operator may also call one or more required feeder units 40 at the same time. Alternatively, the delivery time limit 83 can be set to be the same as the drug expiration time 82, and Therefore, a more timely or rigorous approach by a human operator is required.

[0102] One or more required feeder units 40 may be started prior to their respective drug expiration times 82. The feeders are picked up by the robot manipulator 11 and placed at their respective feeder positions 20. This process can be easily performed without downtime of the discharge device 1. For example, the process may be performed in the previous step with respect to the first feeder unit 41 and the second feeder unit 42. Alternatively, the second feeder unit 42 may be the same as the first feeder unit 42. The drug unit 41 has run out of medicine or the expiration date of the drug 90 contained therein has expired. As soon as the limit expires, the first feeder unit 41 is replaced at one feeder position 20. can be exchanged.

[0103] 7A, 7B and 7C show a method of expelling a drug 90 using the expelling device 1 described above. , in which the ejection instruction sets G1, G2, G3 are stored in the control unit 7 as shown in FIG. This includes changing the order in which the steps are performed by the processor 71.

[0104] Specifically, FIG. 7A shows a comparison of 45 doses of the drug A, 50 doses of the drug B, and 100 doses of the drug C. A first discharge command set G1 that requests 90 units of the drug C 10 times and 90 units of the drug D 15 times. Similarly, different amounts of drug 90 of similar compositions C and D, or different compositions E and F, may be required. A second dispensing instruction set G2 and a third dispensing instruction set G3 are provided. The processor 71 executes the discharge command sets G1, G2, and G3 in the order shown in the figure from left (present) to right (future). and is intended to be executed along a time axis t.

[0105] FIG. 7B illustrates a first set of ejection instructions G1 being executed to eject the remaining feeders 40. If the drug 90 cannot be completed, execute the ejection command set G1, G2, and G3. 7 is a schematic diagram of the method steps to be performed by processor 71 to identify an alternative order for show.

[0106] Specifically, the method includes the steps of receiving a set of dispensing instructions G1, G2, and G3 (step S1), and before executing the first discharge command set G1, the control unit 7 is The first selection and the first amount of the drug 90 according to the first dispensing instruction set G1 are delivered to the dispensing unit 40. It is determined whether the dispenser contains enough immediately available medication 90 to complete the dispense of the dispensed medication. The drug 90 is placed in the feeder units 40 (step S2). "Ready to use" when sufficient medication 90 remains that is authorized to be dispensed The authorization is provided so that the medication 90 will not exceed the expiration date stored in the system at the time of delivery. If so, the control unit 7 cancels the first set of dispense commands. The execution of the discharge command set is continued (step S3), and the determination of each discharge command set is repeated (step S4). Step S4).

[0107] However, the first ejection instruction set G1 is sent to the plurality of feeder units 40. 2. Selecting and dispensing a first amount of medication 90 from the immediately available medication 90 If 0 is not included, the control unit 7 selects one or more other discharge instruction sets G2, G3 (step S6) to execute one or more sets of Prior to this, the feeder unit 40 is then instructed to execute each of the subsequent separate ejection instruction sets G2 and G3. 4. A drug having sufficient ready availability to complete the delivery of the selected and quantity of drug 90 associated with It is determined whether or not 90 is included (step S5). The order in which 1, G2, and G3 are executed can be changed as shown in FIG. 7C.

[0108] During execution of one or more separate ejection instruction sets G2, G3, multiple feeder units 40 Then, the first selection and the ejection of the first amount of the drug 90 according to the first ejection instruction set G1 are completed. Take action to ensure that there are enough readily available drugs to Specifically, a human operator can be given a , 4A-4C, and 5A-5C, the relevant feeder units 40 may be notified to be replaced or replenished.

[0109] Sufficient volume to complete one of the dispense command sets G1, G2, or G3. If the drug 90 is not readily available, the control unit 7 returns to step S2. and wait for the 90 medicines to be refilled.

[0110] As shown in FIGS. 7A and 7C, a first set of dispensing instructions G1 and one or more other The ejection instruction sets G2 and G3 are preferably one or more different ejection instruction sets from the first ejection instruction set G1. Logistic parameter L that links the discharge instruction sets G2 and G3 to a common batch The control unit 7 changes the order of the discharge command sets G1 to G3 in the common batch. The logistic parameter L is limited to the delivery address, the patient's order, It could be the client's name, or something else.

[0111] 8A and 8B show a method of dispensing medication 90 from one of the feeder units 40. FIG. 1 shows the steps for detecting an empty state of the feeder unit 40. .

[0112] As shown in FIG. 8A, the method begins when one of the feeder units 40 is in a discharge state. When not detected, for example, the drug 90 is not fed from the container 50 toward the outlet 51. and / or when no pressure is detected at the outlet 51 when the discharge mechanism 52 is operating. The processor of the control unit 7 as shown in FIG. The nozzle 71 starts a mode selection program (S102). Identifying a remaining quantity value indicating the amount of drug 90 remaining in the container 50 of the feeder unit 40 that was not Step S103).

[0113] The remaining amount value is determined in the same manner as the determination of the medicine expiration time 82 in FIG. 6, for example, by calculating the total amount of the medicine remaining after the start of the By predicting and / or calculating based on numbers, or by using the field as shown in FIG. 2A. By detecting the actual amount by one or more sensors 53, 54 in the unit 40, It can be identified.

[0114] As further shown in FIG. 8A, processor 71 compares the remaining amount value with a threshold value (step S104). The threshold value may be determined in advance. The threshold value may be determined simultaneously for each individual feeder unit 40. The threshold may be the same for each feeder unit 40 or may be different for each feeder unit 40. 0 volume percentage, as the top surface position of the contents in the container 50, or The threshold value may be, for example, 50% of the initial amount of drug 90.

[0115] If the remaining capacity value is greater than or equal to the threshold, the processor 71 operates in a full empty detection mode. The complete empty detection mode M1 is selected and / or started (step S105). Performing an action a first number of times or a first number of instances (step S106). The first action may be, for example, repeatedly controlling the discharge mechanism 52. For example, it may be executed 10 times.

[0116] After each instance of the first behavior, or for a certain number of times or instances of the first behavior At the end of the execution, a check is made to see if ejection has been detected (step S107). If so, normal dispensing may continue or resume (step S108). If no discharge is detected after the empty state detection mode M1 performs the second action multiple times. Or, the second action may include a step of executing the second action by the number of instances (S109). For example, a different method of dispensing, reversing the dispensing mechanism 52, or dispensing the robot manipulator 11 may be used. 10. The feeder unit 40 may be rocked using the cam.

[0117] Again, after each instance of the second behavior, or after a certain number of times or instances of the second behavior. At the end of the execution of the above, a check is made to see if ejection is detected or not. (Step S110). Alternatively, depending on the type of the second behavior, the complete detection mode M1 may be For example, the second action itself is a discharge action (e.g., shaking by a robot manipulator). If not, steps S106 and S107 may be repeated.

[0118] A discharge is detected after performing the second action and, optionally, after repeating the first action. If so, the discharge may continue or resume (step S111 or S108). If no discharge is detected, the feeder unit 40 is assumed to be empty (step S11 2) to replenish or replace feeder units 40, for example using any of the methods described above; Appropriate action may be taken.

[0119] From the start (step S105) to the identification that the feeder unit 40 is empty (step S 112), the full empty detection mode M1 may take a relatively long time, which is shown in FIG. In A, the first duration D1 is represented by: It may even be more than 30 seconds. During this time, the first collection hopper 31 is in full empty detection mode. Feeder unit 4 under test was used to capture drug 90 successfully dispensed during mode M1. 0. Therefore, one feeder unit The completely empty state detection mode M1 of the discharge device 40 is a downtime detection mode for detecting the downtime of the discharge operation of the entire discharge device 1. This results in:

[0120] Therefore, the processor 71 determines whether the remaining amount value determined in step S103 is lower than the threshold value. If so (step S201), the short-circuit idle detection mode M2 ​​is switched to or selected. The device is configured or programmed to:

[0121] The abbreviated empty detection mode M2 ​​is shown in more detail in FIG. After mode M2 ​​is selected (step S201), processor 71 Mode M2 ​​is started (step S202).

[0122] The shortened empty state detection mode M2 ​​has the first and second actions of the full empty state detection mode M1. The number of operations is less than the number of instances or instances of these operations in the full empty detection mode M1. performing a second number of times or instances or performing the first action or the second action Only one of the two may be used the same number of times or instances, or a smaller number of times or instances. Step S203 includes performing one of the following steps for the number of stages. For example, the discharge mechanism 52 of the associated feeder unit 40 may be switched to the full empty detection mode M1. Compared to step S106, this only involves running the program half the number of times or instances. The second action can also be shortened to save valuable time by using the short-circuited empty detection mode M2. may be completely removed from

[0123] After each action of step S203, or after the action of step S203 is repeated a certain number of times or instances After the number of tests, a check is performed to confirm whether the medicine 90 has been dispensed or not. After the ink is discharged, normal discharge can be resumed or continued (step S204). Step S205). If no discharge is still detected, the feeder unit 40 is empty. (step S206), and appropriate action is taken similar to terminating the full empty detection mode. can be taken.

[0124] From the start (step S202), the feeder unit 40 is identified as being empty (step The shortened empty detection mode M2 ​​requires a relatively short time until S206), which is the same as the first step in FIG. The second duration D2 is represented by, for example, the first duration D1. It may be less than half, preferably less than a quarter of the first duration D1.

[0125] 9A-9C show an alternative dispensing device 101 according to a second embodiment of the present invention. , which is different from the above-mentioned discharge device 1 in that the recovery section 102 has an alternative non-circular recovery path Z2 The feeder path Z1 differs from the feeder path Z2 in that it includes a row of feeder positions 120 distributed along a line. This is similar to the circular collection path Z1 in the first embodiment of the present invention. The recovery path Z2 may include one or more circular and non-circular segments. The alternative recovery path Z2 is two straight or linear segments and two straight or linear segments. It contains two semicircular segments connecting the segments to infinity.

[0126] Similarly, the collection section 103 is aligned along the alternative collection path Z2 in the collection direction C from a starting position. 1 and an end position B, thereby feeding each of the plurality of feeder positions 120. via position 120 from a feeder unit 40 held at said feeder position 120 The system includes a plurality of collection hoppers 31 configured to collect the required drug 90. For example, the hoppers 31 are driven in a collection direction C along an alternative collection path X2. The drive shaft 132 may be disposed on an endless drive belt, chain 132, or the like.

[0127] The alternative discharge device 101 is located at a first packaging position P1 along the alternative collection path Z2. It further includes a packaging section 106 having a first packaging unit 61 attached thereto.

[0128] FIG. 9A shows a first feeder unit 41 at a first feeder position 121 (see FIG. 9B). ) at a second feeder position 122 downstream of the first feeder position 121 in the collection direction C. A second feeder unit 42 (see FIG. 9C) is similar to the feeder unit 41 of the previous embodiment. , 42 are shown in a similar manner to their relative positions.

[0129] A robotic manipulator 11 similar to that shown in the previous embodiment may be used in an alternative retrieval procedure. It may be positioned at a central position within path Z2.

[0130] The dispensing operation and method described with respect to the dispensing device 1 according to the first embodiment of the present invention The present invention can also be applied, mutatis mutandis, to the alternative dispensing device 101 according to the second embodiment. It will be clear that...

[0131] Although the description refers to pills, tablets, and the like, the apparatus and method may be used to treat other types of solid, discrete items. It can also be used to dispense the eye for separation and packaging.

[0132] The above description is included to illustrate the operation of the embodiments and is not intended to limit the scope of the invention. It should be understood that the present invention is not intended to be limited to the above embodiments. variants are obvious and are encompassed by the spirit and scope of the present invention. [Explanation of symbols]

[0133] 1 Discharge device 10. Housing 11 Robot Manipulator 12 Storage Location 2 Discharge Section 20 Feeder Position Rows 21 First Feeder Position 22 Second feeder position 23 Previous feeder position 24 Feeder loading member 25 Feeder loading position 26 Manual Loading Position 3. Collection Section 30 Multiple collection hoppers 31 First collection hopper 32 Recovery Frame 40 Multiple Feeder Units 41 First Feeder Unit 42 Second Feeder Unit 50 containers 51 Exit 52 Discharge mechanism 53 Confirmation Sensor 54 Counting Sensor 6 Packaging Section 61 First Packaging Unit 62 Second Packaging Unit 7. Control Unit 71 Processor 72 Computer-readable medium 8 Graphical User Interfaces 80 Timeline 81 Notification 82 Drug expiration time 83 Offer deadline 90 Drugs 91 Drug of the first composition 101 Alternative Dispensing Devices 102 Discharge Section 120 Feeder Position Row 121 First Feeder Position 122 Second feeder position 103 Collection Section 132 Drive Chain 106 Packaging Section A starting position B End position C Collection direction D1 First Duration D2 Second Duration F. Packaged medicines G1 First Dispensing Instruction Set G2 Second Dispensing Instruction Set G3 Third Dispensing Instruction Set H Separation angle L logistic parameters M1 Fully empty detection mode M2 Short empty detection mode P1 First packaging position P2 First packaging position R Recovery range S1-S6 Steps of the Prioritization Method S101~S112 Steps of empty state detection method S201-S206 Other steps of empty state detection method t time X Rotation Axis Z1 Infinite Recovery Path Z2 Alternative infinite recovery paths

Claims

1. A discharge section (2, 102), a collection section (3, 103), and a packaging section Method for expelling individual drugs (90) by means of an expelling device (1, 101) including (6, 106) The discharge section (2, 102) is arranged along an infinite return path (Z1, Z2) A feeder location (20, 1) for holding a plurality of distributed feeder units (40). 20), said collection section (3, 103) defining a row of said feeder locations (20, 1 20), in the withdrawal direction (C) along the infinite withdrawal path (Z1, Z2), The first packaging position (P1) is located downstream of the starting position (A) in the recovery direction (C) of the first packaging position (P2). A first recovery unit ( 31), wherein - a first feeder unit (41) of said plurality of feeder units (40) The feeder is located at a first feeder position (21, 121) of the row of feeder positions (20, 120). and - moving said first feeder unit (41) from said first feeder position (21, 121) a second feeder unit of said plurality of feeder units (40) before being removed from said feeder unit (40). (42) in the row of said feeder positions (20, 120) in the collection direction (C). A second feeder position (22, 122) downstream of the first feeder position (21, 121) ) positioning the Including, The first feeder unit (41) and the second feeder unit (42) are the same Holding a drug (90) of a composition (91); method.

2. The first feeder unit (41) is empty or the first feeder position (21, 121) when the drug (90) cannot be discharged to the first recovery unit (31) If, - moving the first recovery unit (31) in the recovery direction (C) to collect the drug (9 0) to the second feeder unit ( 42) into the first recovery unit (31). The further step includes: The method of claim 1.

3. The first feeder unit (41) is positioned at the first feeder position (21, 121). Prior to placement, the first feeder unit (41) is The previous feeder position (21, 121) downstream of the first feeder position (21, 121) in the row of It is positioned as 3) - removing said first feeder unit (41) from said previous feeder position (23); Step 1: - moving said first feeder unit (41) from said previous feeder position (23) to said moving to one feeder position (21, 121); Further comprising: The method of claim 1.

4. - moving said first feeder unit (41) from said previous feeder position (23) to said While moving the drug (90) to the first feeder position (22, 122), The first feeder unit (42) at the feeder position (22) Discharge into the collection unit (31) The further step includes: The method according to claim 3.

5. The first recovery unit (31) is arranged along the infinite recovery path (Z1, Z2) Movement over a recovery range (R) beginning at a start position (A) and ending at said end position (B). It is possible, The method of claim 1.

6. The first feeder position (21, 121) is the first feeder position (21, 121) from the starting position (A). Placed in the first half of the recovery range (R), The method according to claim 5.

7. The second feeder position (22, 122) is the rotational position of the feeder 100 considered from the starting position (A). Placed in the latter half of the convergence range (R), The method according to claim 5.

8. said first feeder position (21, 121) and said second feeder position (22, 122); are spaced apart in the withdrawal direction over a separation angle (H) of at least 5 degrees; The method of claim 1.

9. The discharge device (1, 101) includes a robot manipulator (11) and positioning the feeder unit (41) and the second feeder unit (42) and / or The removal is performed using the robot manipulator (11). The method of claim 1.

10. The method of claim 1 , wherein the infinite return path (Z1) is circular.

11. The row of feeder positions (20) is distributed circumferentially around the axis of rotation (X), and the first The recovery unit (31) rotates around the rotation axis (X) along the infinite recovery path (Z1). and can be rotated by The method of claim 10.

12. The infinite return path (Z2) is non-circular. The method of claim 1.

13. When executed by the processor (71), the dispensing device (1, 101) is caused to A non-transitory computer readable medium (72) carrying instructions for performing said steps of the method. Including, Computer program products.

14. In a discharge device (1, 101) for discharging individual drugs (90), A plurality of feeder units (40) distributed along an infinite return path (Z1, Z2) A discharge section (2, 10) defining a row of feeder positions (20, 120) for holding 2), wherein the row of feeder positions (20, 120) includes at least a first feeder position a discharge section including a feeder position (21, 121) and a second feeder position (22, 122); For said row of feeder positions (20, 120), A recovery section (31) including a first recovery unit (31) movable in a recovery direction (C) along 3, 103) and For packaging the medicine (90) received from the collection section (3, 103). A packaging section (6, 106); A robot manipulator (11) and the robot manipulator (11), Positioning a first feeder unit (41) at the first feeder position (21, 121). Meal, The first feeder unit (41) is moved from the first feeder position (21, 121) Prior to removal, the second feeder unit (42) is placed in the second feeder position (22, 12 2), and the second feeder position (22, 122) is positioned forward in the recovery direction (C). downstream of the first feeder position (21, 121) A control unit (7) for controlling the above. Including, The first feeder unit (41) and the second feeder unit (42) are the same holding a drug (90) in a first composition (91); Discharge device (1, 101).

15. The packaging section (6) is in a first packaging position (P1) or is connected to a second packaging position (P2). A packaging unit (61), 15. The discharge device of claim 14.

16. The first recovery unit (31) is arranged in the first packaging position (P1) in the recovery direction (C). a start position (A) downstream of the first wrapping position (P1) and an end position (B) at or near the first wrapping position (P2) ) and can be moved between 15. The discharge device of claim 14.

17. The first recovery unit (31) includes a hopper; 14. The discharge device of claim 13.

18. The infinite return path (Z1) is circular.

14. The discharge device of claim 13.

19. The row of feeder positions (20) is distributed circumferentially around the axis of rotation (X), and the first The recovery unit (31) is arranged around the rotation axis (X) along the infinite recovery path (Z1).

20. The dispensing device of claim 18, which is rotatable.

20. The method of claim 13, wherein the infinite return path (Z2) is non-circular.

21. A discharge section (2, 102), a collection section (3, 103), and a packaging section (6, 106) is used to sequentially dispense, collect, and package individual medications (90). The method of installing the discharge section (2, 102) includes an infinite return path (Z1, Z2 ) a feeder location for holding a plurality of feeder units (40) distributed along the (20, 120), said recovery section (3, 103) comprising a row of holding positions (20, 120) along said infinite return path (Z1, Z2) in the return direction (C) a first collection unit (3) aligned with a row of said feeder positions (120); In the method comprising: The first feeder unit (41) is located at the first of the rows of feeder positions (20, 120). placing the feeder at a feeder position (21, 121); A second feeder unit (42) is placed in the first of the rows of feeder positions (20, 120). A step of placing the second feeder position (22, 122) at a second holding position (22 , 122) is a step downstream of the first holding position (21, 121); The drug (90) is transferred from the first feeder unit (41) to the first recovery unit (42). (31) ejecting the ink; The first feeder unit (31) is empty or is not dispensing the drug (90). When the first recovery unit (31) is moved in the recovery direction (C), aligning said second feeder unit (42); The drug (90) is transferred from the second feeder unit (42) to the first recovery unit (44). (31) ejecting the ink; Including, The first feeder unit (41) and the second feeder unit (42) have the same A drug (90) of a first composition (91) is contained therein. method.

22. The step of placing the first and second feeders (41, 42) is performed by a robot (11) This is done using 22. The method of claim 21.

23. The drug (90) is transferred from the first collection unit (31) to a first packaging unit (61). and transferring the product to be packaged in a 22. The method of claim 21.

24. removing and / or replacing the first feeder unit (41). Included in 22. The method of claim 21.

25. A method for expelling individual drugs (90) by means of an expelling device (1, 101), comprising the steps of: The ejection device (1, 101) includes an ejection section (2, 101) for ejecting the drug (90). 02), the discharge section (2) holds the plurality of feeder units (40). a plurality of feeder units each defining a row of feeder positions (20, 120) for holding the feeder units; Each feeder unit (40) of the feeder units (40) is provided with a set of feeders specific to said feeder unit (40). A container (50) for holding a drug (90) of composition (91), and a device for dispensing said drug (90). and an outlet (51) for the drug (9) between the container (50) and the outlet (51). a discharge mechanism (50) for controlled delivery of the liquid from said container (50) to said outlet (51); 2), - before a first feeder unit (41) of said plurality of feeder units (40); The remaining drug (90) in the container (50) will be depleted or its expiration date will be reached in the future. predicting a drug expiration time; - Prior to the drug expiration time, the first feeder unit (41) is supplied with the same composition (91 A second feeder unit (42) holding a drug (90) of the discharge device (1, 10) is a notification (81) that the second feeder unit (42) needs to provide to the providing said dispensing device (1, 101) with a delivery time limit (83); - at least by the delivery deadline (83) from the first feeder unit (41); continuing to eject the drug (90); The method includes:

26. The drug expiration time is the time required for the first feeder unit (41) to run out of the drug. A record of the amount of said drug (90) in said first feeder (50) and the amount of said drug (90) in said first feeder (50) since said start time. A prediction is made based on the count of the drug (90) discharged from the outlet (51) of the unit (41). It is believed that 26. The method of claim 25.

27. The drug expiration time is determined by the drug expiration time in the container (50) of the first feeder unit (41). Expected based on the actual amount of drug (90) remaining 26. The method of claim 25.

28. 26. The method of claim 25, wherein the delivery deadline (83) is equal to the medication expiration time.

29. 26. The method of claim 25, wherein the delivery deadline (83) is before the medication expiration time.

30. receiving said second feeder unit (42) in said discharge device (1, 101); P and - moving the second feeder unit (42) to the feeder position ( placing the feeder in one of said feeder positions (22, 122) of the row of feeders (20, 120); P and Further comprising:

26. The method of claim 25.

31. The second feeder unit (42) replaces the first feeder unit (41).

31. The method of claim 30,

32. When executed by the processor (71), the dispensing device (1, 101) according to claim 25 A non-transitory computer readable medium bearing instructions for performing the steps of the method described herein. (72) Computer program products.

33. A discharge device (1, 101) for discharging individual drugs (90), comprising: a discharge section (2, 102) for discharging said drug (90); The section (2, 102) is a feeder for holding a plurality of feeder units (40). defining a row of positions (20, 120), each feeder of said plurality of feeder units (40) The unit (40) supplies each of the feeder units (40) with a composition (91) specific to the feeder unit (40). A container (50) for holding a drug (90), an outlet ( 51), and the outlet from the container (50) between the container (50) and the outlet (51). a delivery mechanism (52) for controlled delivery of said medication (90) to the mouth (51). A graphical user interface (8) and said graphical user interface (8) and a control unit (7) for controlling the plurality of feeder units (40). The control unit (7) further includes a processor (71); When the above is executed, the control unit (7) predicts the drug expiration time, and The time notification (81) together with the deadline for providing (83) is displayed on the graphical user interface ( 8) to control the plurality of feeder units (40) as described in claim 25. a non-transitory computer having instructions for continuing dispensing according to said steps of said method; The method further comprises the steps of: Discharge device (1, 101).

34. A method for expelling individual drugs (90) by means of an expelling device (1, 101), comprising the steps of: The device (1, 101) comprises a delivery section (2, 102) for delivering said drug (90). ) and a feeder position (20, 1) for holding a plurality of feeder units (40). 20), each feeder unit (40) of said plurality of feeder units (40) being ) holds a drug (90) of a specific composition (91) in each of said feeder units (40). a container (50) for discharging the drug (90), an outlet (51) for discharging the drug (90), and the container ( 50) and the outlet (51), from the container (50) to the outlet (51). A method comprising a delivery mechanism (52) for controlled delivery of an agent (90), - a first selection and a first amount of a drug (90) is delivered from said plurality of feeder units (40); receiving a first set of dispense instructions (G1) requesting that a dispense be performed; - one or more further sets of ejection instructions to be executed after said first set of ejection instructions (G1); receiving a set (G2, G3) of one or more further dispensing instructions; At least one set of groups (G2, G3) has a selection or selections different from the first selection. requires an amount different from the first amount; - prior to executing said first set of ejection instructions (G1), 40), the first selection and the first amount of the first ejection instruction set (G1) There is sufficient readily available medication (90) to complete said delivery of medication (90). determining whether the Including, The plurality of feeder units (40) are pre-fed according to the first ejection command set (G1). a first selection and a second selection sufficient to complete said delivery of said first quantity of medicament (90); If there are no drugs available (90) in - before executing said first set of dispense instructions (G1), said one or more further dispense instructions are executed; Executing one or more of the instruction sets (G2, G3). Further comprising: method.

35. The one or more of the one or more other ejection instruction sets (G2, G3) During execution of the set, the first set of ejection instructions ( G1) and sufficient to complete the first selection and delivery of the first amount of drug (90). Actions have been taken to ensure that adequate and readily available medications (90) are available. R, 35. The method of claim 34.

36. The action comprises: configuring one or more feeder units (40) to Among the first selection (40) by the first ejection command set (G1) and the and a ready-to-use drug (90) sufficient to complete said delivery of said dose of drug. To replenish or replace one or more feeder units (40) that are not providing the output device (1, 101), 36. The method of claim 35.

37. The first ejection instruction set (G1) and the one or more further ejection instruction sets (G2 , G3) is a combination of the first ejection instruction set (G1) and the one or more other ejection instruction sets. Share the logistic parameter (L) that links the two batches (G2, G3) to a common batch. do, 35. The method of claim 34.

38. The logistic parameter (L) is a delivery address; 38. The method of claim 37.

39. When executed by the processor (71), the dispensing device (1, 101) according to claim 34 A non-transitory computer readable medium bearing instructions for performing the steps of the method described herein. (72) Computer program products.

40. A discharge device (1, 101) for discharging individual drugs (90), comprising: a discharge section (2) for discharging said medicament (90), said discharge section (2, 102) is a feeder position (20) for holding a plurality of feeder units (40). , 120) and each feeder unit ( 40) delivers a drug (90) of a specific composition (91) to each of said feeder units (40). a container (50) for holding the drug (90), an outlet (51) for discharging the drug (90), and and between the container (50) and the outlet (51), from the container (50) to the outlet (51) a delivery mechanism (52) for controlled delivery of said medication (90) to said The control unit (7) further comprises a processor (71) and When executed by the processor (71), the control unit (7) receives the A non-transitory computer readable medium carrying instructions for performing the steps of the method described herein. A body (72), Discharge device (1, 101).

41. A method for dispensing individual medications (90) in a first feeder unit (41), comprising: 、 The first feeder unit (41) holds a drug (90) of a first composition (91). a container (50) for dispensing said drug (90), an outlet (51) for dispensing said drug (90), and (50) between the outlet (51) and the container (50) to the outlet (51). A method comprising a delivery mechanism (52) for controlled delivery of a medicament (90), - determining a remaining value indicating the amount of said drug (90) remaining in said container (50); Top and - comparing said remaining value with a threshold value; - a completely empty detection mode (M1) when the remaining amount is higher than the threshold value and a reduced idle detection mode (M2) when the threshold is lower; - after controlling the discharge mechanism (52), the drug (90) leaves the container (50) and enters the outlet (51) is not provided, the full empty detection mode (M1) and the short empty detection executing a selected one of the modes (M2); The method includes:

42. The full empty detection mode (M1) executes a first action a first number of instances. The shortened idle detection mode (M2) includes a step of: executing a second number of instances that is less than the first number of instances; 42. The method of claim 41.

43. the first action being to control the discharge mechanism (52); 43. The method of claim 42.

44. The full empty state detection mode (M1) includes a first action and a second action different from the first action. The short idle detection mode (M2) includes a step of performing an action, and the short idle detection mode (M2) includes the first action and the Includes only one of the secondary actions, 42. The method of claim 41.

45. The full empty detection mode (M1) has a first duration (D1), and the shortened empty detection mode (M2) has a second duration (D3). The detection mode (M2) is a second duration (D2) shorter than the first duration (D1). Have 42. The method of claim 41.

46. The remaining value is the amount of the previous amount in the container (50) of the first feeder unit (41) at the start. A record of the amount of said medication (90) and the amount of said medication (90) administered to said first feeder unit (41) since said start time.

42. The method of claim 41, wherein the dose is predicted based on a count of the drug expelled from the outlet (52). Method of posting.

47. The remaining value is the amount of drug remaining in the container (50) of the first feeder unit (41). (90) based on the actual amount of 42. The method of claim 41.

48. When executed by the processor (71), the method includes: Instructions for causing a dispensing device (1, 101) to carry out the steps of the method of claim 41. A non-transitory computer readable medium (72) carrying: Computer program products.

49. A discharge device (1, 101) for discharging individual drugs (90), comprising: A container (50) for holding a drug (90) of a first composition (91), said drug (90). and a front end between the container and the outlet. A discharge port for controlled delivery of the drug (90) from the container (50) to the outlet (51). A first feeder unit (41) is provided that includes a feed mechanism (52); The control unit (7) further comprises a processor (71) and When executed by the processor (71), the control unit (7) receives the A non-transitory computer readable medium carrying instructions for performing the steps of the method described herein. A body (72), Discharge device (1, 101).

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