Method, computer program product and ejection device for ejecting individual medications - Patents.com

Abstract

A method, computer program product, and dispensing device for dispensing individual medicaments, the dispensing device including a dispensing section, a collection section, and a packaging section, the dispensing section defining an array of feeder positions for holding a plurality of feeder units, the collection section including a first collection unit movable in a collection direction, the method including the steps of: - positioning the first feeder unit at a first feeder position; and - before removing the first feeder unit from the first feeder position, positioning a second feeder unit at a second feeder position downstream of the first feeder position in the collection direction, the first feeder unit and the second feeder unit holding medicaments of the same first composition.

Description

[Technical Field]

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

[0002] U.S. Patent Application Publication No. 2014 / 0366489 discloses an apparatus for dispensing solid medical substances. The apparatus is provided with a number of feeder units, also known as "canisters," distributed in a radial grid around an axis of rotation. Each feeder unit holds a quantity of solid substance specific to that particular feeder unit. Thus, the feeder units can collectively dispense various types of solid substances.

[0003] The apparatus is further provided with a collection frame rotatable about an axis of rotation below the row of feeder locations, the collection frame being provided with a series of collection trays for collecting solid material discharged from any of the feeder units in the row of feeder locations.

[0004] The apparatus further includes a packaging unit disposed in a stationary position below the collection frame for packaging solid material received from the collection trays, the collection frame being rotated about an axis of rotation such that each collection tray passes along each of the feeder units in the row of feeder positions before reaching the packaging unit.

[0005] U.S. Patent No. 5,709,063 discloses an apparatus and method for continuously packaging tablets that allows tablet reloading without shutting down the machine. The tablet packing machine has a case that houses multiple tablet feeders. The case also has a backup tablet feeder and a backup discharge channel through which tablets discharged from the backup tablet feeder fall into a hopper in the tablet packing machine. The backup tablet feeder is pre-filled with tablets.

[0006] US Patent Application Publication No. 2019127091 discloses an apparatus and method for discharging solid materials, the apparatus including a feeder section with a plurality of feeder units, a collection section with a plurality of hoppers, and a discharging section, the apparatus including a cleaning device for removing dirt from the hoppers.

[0007] The device known from US Patent Application Publication No. 2014 / 0366489 is very good at continuously dispensing, collecting, and packaging solid material as long as the feeder units are reliably dispensing the solid material, but if one of the feeder units unexpectedly fails to dispense solid material, for example because the remaining solid material held within the respective feeder unit is depleted, or if the remaining solid material is simply no longer dispensed for some reason, or if the remaining solid material has expired, dispensing will be interrupted.

[0008] To ensure that each feeder unit is actually empty, an automatic check or action, such as repeated dispense attempts and / or shaking, may be performed. Depending on the results of this check, a human operator is notified to take appropriate action, such as providing a full feeder unit to replace the empty one. The checks and human intervention waste valuable time and interrupt the dispense operation of the machine. Furthermore, several feeder units must be replaced simultaneously, thereby causing even more downtime. Summary of the Invention [Problem to be solved by the invention]

[0009] It is an object of the present invention to provide a method, a computer program product and an ejection device for ejecting individual medicaments, which may improve the continuity of the ejection action. [Means for solving the problem]

[0010] A first aspect provides a method for ejecting individual medicaments using an ejection device, comprising: the dispensing device includes a dispensing section, a return section, and a packaging section, the dispensing section defining an array of feeder positions for holding a plurality of feeder units distributed circumferentially along an infinite return path, the return section including a first return unit movable in a return direction along the infinite return path relative to the array of feeder positions from a start position downstream in the return direction of the first packaging position to an end position at or near the first packaging position; The method is: - positioning a first feeder unit of a plurality of feeder units at a first feeder position in a row of feeder positions; - positioning a second feeder unit of the plurality of feeder units at a second feeder position in the row of feeder positions that is downstream of the first feeder position in the collection direction before removing the first feeder unit from the first feeder position; Including, The first feeder unit and the second feeder unit hold the same first composition of drug.

[0011] The first feeder unit may become empty earlier than expected, for example, due to inaccurate filling, or may be unable to dispense any remaining medications. To prevent interruptions in dispensing operations when such situations occur, a second feeder unit can be a "hot standby" that takes over for the first feeder unit, dispensing medications of the first composition that were originally intended to be dispensed by the first feeder unit. In other words, the second feeder unit is ready to take over dispensing operations from the first feeder unit when the first feeder unit no longer dispenses the necessary medications of the first composition. By positioning the second feeder unit downstream of the first feeder unit, the first collection unit does not need to wait or be moved backward. Instead, the first collection unit can continue moving in the collection direction while still receiving the missing medications of the first composition from the second feeder. More importantly, the first collection unit can do so before reaching the first packaging position. Therefore, dispensing operations and subsequent packaging operations are substantially uninterrupted and / or delayed.

[0012] In particular, the method described above may include, when the first feeder unit is empty or unable to dispense medication to the first collection unit at the first feeder location: - moving the first collection unit in a collection direction to eject the drug from the second feeder unit into the first collection unit at a second feeder position. Further includes:

[0013] In another embodiment, prior to 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 line of feeder positions, and the method includes: - removing a first feeder unit from said previous feeder location; - moving the first feeder unit from a previous feeder position toward a first feeder position. Further includes:

[0014] A "hot standby" feeder unit is placed in a downstream feeder position to take over the aforementioned dispensing operation of an empty feeder unit in a more upstream feeder position. After a period of time, the "hot standby" feeder unit becomes empty. This nearly empty feeder unit occupies the downstream feeder position that would have been occupied by the full feeder unit. To free up space, the nearly empty feeder unit can be repositioned toward a more upstream feeder position, thereby identifying early on that it was unable to dispense and beginning a new cycle of the method. This embodiment describes such a repositioning process for a first feeder unit, for example, when the amount of drug remaining in the first feeder unit falls below a predetermined threshold.

[0015] In one embodiment thereof, the method comprises: - dispensing medication from the second feeder unit into the first collection unit at the second feeder position while moving the first feeder unit from the previous feeder position to the first feeder position. Further includes:

[0016] Thus, the second feeder unit can temporarily take over delivery from the first feeder unit while the first feeder unit is being repositioned. Once repositioned, the first feeder unit can resume delivery, and the second feeder unit remains a "hot standby" for the first feeder unit when it eventually runs out of medication or is unable to deliver.

[0017] In other embodiments, the first retrieval unit is movable along an infinite retrieval path over a retrieval range beginning at a start location and ending at an end location.

[0018] The first feeder position is located within the first half of the first collection range, considering the starting position. When the first feeder position is within the first half of the first collection range, there are still many downstream positions to choose from when selecting the second feeder position.

[0019] The second feeder position may be within the second half of the collection range, considering the starting position, and if the first feeder unit fails to eject medication within said first half of the collection range, the ejection device has sufficient time to adjust its ejection strategy based on the second feeder unit before reaching the second half of the collection range.

[0020] In another embodiment, the first and second feeder positions are spaced apart in the collection direction by a separation angle of at least 5 degrees, preferably at least 10 degrees, and if the first feeder unit is unable to eject medicament in said first half of the collection range, the ejection device can adjust its ejection strategy during movement of the first collection unit along the separation angle.

[0021] In other embodiments, the dispensing device includes a robotic manipulator, and the positioning and / or removal of the first and second feeder units is performed using the robotic manipulator. The positioning, removal, and / or repositioning of the feeder units can therefore be automated to quickly and / or efficiently obtain the best distribution of feeder units across the feeder locations, taking into account the respective amounts of medication in said feeder units.

[0022] A second aspect provides a computer program product including a non-transitory computer readable medium bearing instructions which, when executed by a processor, cause a dispensing device to perform the steps of a method according to the first aspect.

[0023] A computer program product may be provided separately from a dispensing device to configure, update and / or install the above-mentioned functionality of said dispensing device, thereby achieving the above-mentioned technical advantages.

[0024] A third aspect provides a delivery device for delivering individual medicaments, comprising: The discharge device is a discharge section defining an array of feeder positions for holding a plurality of feeder units distributed along an infinite return path, the array of feeder positions including at least a first feeder position and a second feeder position; a retrieval section including a first retrieval unit movable in a retrieval direction along an infinite retrieval path relative to the row of feeder locations; a packaging section for packaging the medications received from the collection section; A robot manipulator and a robot manipulator positioning a first feeder unit at a first feeder position; Before removing the first feeder unit from the first feeder location, a second feeder unit is positioned at a second feeder location, the second feeder location being downstream of the first feeder location in the recovery direction. a control unit for controlling the Including, The first feeder unit and the second feeder unit hold the same first composition of drug.

[0025] In one embodiment, the packaging section includes a first packaging unit at or connected to a first packaging location.

[0026] In one embodiment, the first collection unit is movable between a starting position downstream in the collection direction from the first packaging location and an ending position at or near the first packaging location.

[0027] In one embodiment, the first collection unit includes a hopper.

[0028] In one embodiment, the infinite retrieval path is circular.

[0029] In one embodiment, the row of feeder locations is distributed circumferentially around an axis of rotation, and the first collection unit is rotatable along an infinite collection path around said axis of rotation.

[0030] Alternatively, the infinite return path is non-circular.The above-mentioned dispensing device is adapted, configured and / or programmed to perform the steps of the associated method and therefore has the same technical advantages as the method and its respective embodiments.

[0031] A fourth aspect provides a method of sequentially dispensing, retrieving and packaging individual medicaments by a dispensing device comprising a dispensing section, a retrieval section and a packaging section, the dispensing section comprising an array of feeder positions for holding a plurality of feeder units distributed along an infinite retrieval path, the retrieval section comprising a first retrieval unit movable along the infinite retrieval path in a retrieval direction relative to the array of holding positions and aligned with the plurality of arrays of feeder positions, the method comprising: placing a first feeder unit at a first feeder position in a row of feeder positions; installing a second feeder unit at a second feeder position in the row of feeder positions, the second holding position being downstream from the first holding position; Discharging the drug from the first feeder unit to the first collection unit; When the first feeder unit is empty or no longer ejecting medication, moving the first recovery unit in a recovery direction to align with the second feeder unit; discharging the drug from the second feeder unit into the first collection unit; Including, The first feeder unit and the second feeder unit contain the same first composition of drug.

[0032] In one embodiment, the step of placing the first and second feeder units is performed using a robot.

[0033] One embodiment further includes transferring the medication from the first collection unit to a first packaging unit for packaging.

[0034] In one embodiment, the method comprises: Removing and / or replacing the first feeder unit. Further includes:

[0035] A fifth aspect provides a method of ejecting individual medicaments from an ejection device, comprising: The dispensing device includes a dispensing section for dispensing the drug, the dispensing section defining an array of feeder positions for holding a plurality of feeder units, each feeder unit including a container for holding a drug of a specific composition for said respective feeder unit, an outlet for dispensing the drug, and a dispensing mechanism between the container and the outlet for controlled delivery of the drug from the container to the outlet; The method is: - predicting a future drug expiration time when the remaining drug in the container of a first feeder unit of the plurality of feeder units will be depleted or expire; - providing a notification to the dispensing device that a second feeder unit holding a drug of the same composition as the first feeder unit needs to be provided to the dispensing device before the drug expiration time, along with a deadline by which the second feeder unit should be provided to the dispensing device; - continuing delivery of medication from the first feeder unit until at least the delivery deadline; Includes.

[0036] By providing a notification, a human operator can be alerted that a second feeder unit of the same medication is needed before the delivery deadline. By providing a delivery deadline or time window, a human operator can prioritize and / or plan ahead to prepare one or more feeder units before their respective delivery deadlines, while the dispensing device can continue to dispense the remaining medication without interruption. When the remainder is depleted or the expiration date has passed, the affected feeder unit can be efficiently replenished or replaced before, at, or shortly after the delivery deadline.

[0037] Preferably, the drug run-out time is predicted based on recording the amount of drug in the container of the first feeder unit at the start time and counting the amount of drug dispensed from the outlet of the first feeder unit since the start time. The drug run-out time is thus theoretically calculated, and its accuracy depends on the accuracy of the recording and counting of the amount at the start time and the accuracy of the calculated average dispense rate.

[0038] Alternatively, the medication run-out time is predicted based on the actual amount of medication remaining in the container of the first feeder unit. For example, weight may be used as an indicator of the actual amount of medication. Alternatively, the actual amount may be determined visually based on the top surface position of the medication within the container, for example, using image recognition or one or more sensors.

[0039] In other embodiments, the delivery time is equal to the medication expiration time. Thus, the second feeder unit can be delivered "just in time" to supplement or replace the first feeder unit.

[0040] Alternatively, the delivery deadline is before the drug expiration time. The delivery deadline and the time remaining until the drug expiration time can be used as a buffer, for example, if a first feeder unit empties sooner than expected or if the dispensing device still needs time to process a second feeder unit before placing it in the queue of feeder positions.

[0041] In another embodiment, the method comprises: - receiving the second feeder unit in a discharge device; - placing a second feeder unit at one of the feeder positions in the row of feeder positions before the medication run-out time; Further includes:

[0042] Thus, there is still time for the dispensing device to receive, check, and / or position the second feeder unit before the delivery deadline. The second feeder unit can be positioned, for example, to be in a "hot standby" state as described in the first embodiment.

[0043] Preferably, the second feeder unit is interchangeable with the first feeder unit. Unlike the first embodiment, the first feeder unit and the second feeder unit may be interchangeable in one feeder position.

[0044] A sixth aspect provides a computer program product including a non-transitory computer readable medium bearing instructions which, when executed by a processor, cause a dispensing device to perform the steps of a method according to the fifth aspect.

[0045] A computer program product may be provided separately from a dispensing device to configure, upgrade and / or install the above-mentioned functionality of said dispensing device, thereby achieving the above-mentioned technical advantages.

[0046] A seventh aspect provides a discharge device for discharging individual medicaments, comprising: the dispensing device includes a dispensing section for dispensing the medication, the dispensing section defining an array of feeder positions for holding a plurality of feeder units, each feeder unit of the plurality of feeder units including a container for holding a medication of a specific composition for said respective feeder unit, an outlet for dispensing the medication, and a dispensing mechanism between the container and the outlet and for controlled supply of the medication from the container to the outlet; The ejection 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 including a processor and a non-transitory computer-readable medium that, when executed by the processor, causes the control unit to predict a drug runout time, provide notification of the drug runout time on the graphical user interface, and control the plurality of feeder units to continue ejection in accordance with the steps of the method according to the fifth aspect.

[0047] The above-described dispensing devices are adapted, configured and / or programmed to carry out the steps of the associated method and therefore have the same technical advantages as the method and its respective embodiments.

[0048] An eighth aspect provides a method of ejecting individual medicaments from an ejection device, comprising: the dispensing device includes a dispensing section for dispensing the medication, the dispensing section defining an array of feeder positions for holding a plurality of feeder units, each feeder unit of the plurality of feeder units including a container for holding a medication of a specific composition for said respective feeder unit, an outlet for dispensing the medication, and a dispensing mechanism between the container and the outlet and for controlled supply of the medication from the container to the outlet; The method is: - receiving a first set of dispensing instructions from a plurality of feeder units, the first set of instructions requesting that a first selection and a first amount of medication be dispensed; - receiving one or more other sets of dispensing instructions to be executed after the first set of dispensing instructions, at least one of the one or more other sets of dispensing instructions requesting a selection different from the first selection or a quantity different from the first quantity; - before executing the first set of dispensing instructions, determining whether the plurality of feeder units contain sufficient readily available medication to complete dispensing of the first selection and first quantity of medication according to the first set of dispensing instructions; Including, If the plurality of feeder units does not contain sufficient readily available medication to complete the dispensing of the first selection and first quantity of medication according to the first set of dispensing instructions, the method includes: - executing one or more of one or more further sets of dispensing instructions before executing the first set of dispensing instructions. Further includes:

[0049] One or more sets of delivery instructions can be prioritized over the first set of delivery instructions to replenish any missing medication. Delivery of the first selection and first amount of medication can begin as soon as possible after the prioritized set of delivery instructions is completed. By reordering the instruction sets, at least some of the downtime that would otherwise occur if the delivery device had processed the instruction sets in the original order can be prevented.

[0050] Preferably, during execution of one or more of the other dispensing instruction sets, action is taken to ensure that the plurality of feeder units contain sufficient readily available medication to complete dispensing of the first selection and first quantity of medication according to the first dispensing instruction set. By taking appropriate action during execution of the one or more other dispensing instruction sets, at least a portion of the time required to take the appropriate action can be used to continue dispensing operations. More preferably, this action is to provide one or more feeder units to the dispensing apparatus to replenish or replace one or more of the plurality of feeder units that do not contain sufficient readily available medication to complete dispensing of the first selection and first quantity of medication according to the first dispensing instruction set. One or more units may be provided as a "hot standby" for a nearly empty feeder unit, e.g., according to the first aspect, so that dispensing can resume uninterrupted.

[0051] In another embodiment, the first set of dispensing instructions and one or more other sets of dispensing instructions share a logistical parameter that links the first set of dispensing instructions and the one or more other sets of dispensing instructions to a common batch. Preferably, the logistical parameter is a delivery address. By keeping the sets of dispensing instructions for a common batch together, changing the order in which the sets of dispensing instructions are processed has less impact on the logistics of the common batch. For example, if all medications dispensed as a result of the dispensing instructions must be delivered to the same delivery address, it does not matter whether the order of the sets of dispensing instructions is changed.

[0052] A ninth aspect provides a computer program product including a non-transitory computer readable medium bearing instructions which, when executed by a processor, cause a dispensing device to perform the steps of a method according to the eighth aspect.

[0053] A computer program product may be provided separately from a dispensing device to configure, upgrade and / or install the above-mentioned functionality of said dispensing device, thereby achieving the aforementioned technical advantages.

[0054] A tenth aspect provides an ejection device for ejecting individual medicaments, comprising: the dispensing device includes a dispensing section for dispensing the medication, the dispensing section defining an array of feeder positions for holding a plurality of feeder units, each feeder unit of the plurality of feeder units including a container for holding a medication of a specific composition for said respective feeder unit, an outlet for dispensing the medication, and a dispensing mechanism between the container and the outlet and for controlled supply of the medication from the container to the outlet; The dispensing device further includes a control unit, the control unit including a processor and a non-transitory computer readable medium bearing instructions that, when executed by the processor, cause the control unit to perform the steps of the method according to the eighth aspect.

[0055] The above-described dispensing devices are adapted, configured and / or programmed to carry out the steps of the associated method and therefore have the same technical advantages as the method and its respective embodiments.

[0056] An eleventh aspect provides a method for dispensing individual medications with a first feeder unit, comprising: the first feeder unit including a container for holding a drug of a first composition, an outlet for dispensing the drug, and a dispensing mechanism between the container and the outlet for controlled delivery of the drug from the container to the outlet; The method is: - determining a remaining value indicative of the amount of drug remaining in the container; - comparing said remaining capacity value with a threshold value; - selecting between a full empty detection mode when the remaining capacity value is higher than a threshold value and a reduced empty detection mode when the remaining capacity value is lower than a threshold value; - if no medication is dispensed from the container to the outlet after controlling the dispensing mechanism, performing a selected one of a full empty detection mode and a truncated empty detection mode; Includes.

[0057] The above method is based on the premise that if the first feeder unit is expected to be nearly empty, there is no need to bother checking the empty state of the first feeder unit. If there is no medication remaining, there is little remaining, and the risk of unnecessarily removing the first feeder unit is relatively small. Therefore, only a limited number of attempts or actions are required to check whether the first feeder unit is empty. In contrast, if the remaining amount is still higher than the threshold, it is assumed that there is enough readily available medication remaining to allow safe dispensing. In other words, by selecting one of the two modes, reliable empty detection is possible for both a nearly empty first feeder unit and a relatively full first feeder unit. The shortened empty detection mode can save a significant amount of time, e.g., in the range of 10 to 20 seconds, compared to the fully empty detection mode. Therefore, dispensing device downtime can be significantly reduced as a result of the empty detection check.

[0058] Preferably, the full empty detection mode includes executing a first number of instances of the first action, and the shortened empty detection mode includes executing a second number of instances of the first action that is less than the first number of instances. By reducing the number of instances of the first action, the time required for empty detection checks between modes can be significantly reduced.

[0059] More preferably, the first action is to control the discharge mechanism. Controlling the discharge mechanism should result in the discharge of a solid substance. Repeated attempts to control the discharge mechanism, for example by moving it multiple steps, will allow the drug to settle and advance into the discharge mechanism.

[0060] Alternatively, the full empty detection mode includes performing a first action and a second action different from the first action, and the reduced empty detection mode includes only one of the first action and the second action. The second action may trigger a different dispensing result than the first action. The second action may, for example, be shaking the second feeder unit, for example, with a robotic manipulator. The first or second action may be excluded from the reduced empty detection mode to save time between modes.

[0061] In another embodiment, the full empty detection mode has a first duration and the reduced empty detection mode has a second duration that is shorter than the first duration. As previously mentioned, the reduced empty detection mode may include fewer actions or fewer types of actions, resulting in less time to complete empty detection in that mode. Alternatively, the reduced empty detection mode may be limited in time, or actions may be performed more quickly to save time.

[0062] In another embodiment, the remaining quantity value is predicted based on recording the amount of medication in the first feeder unit's container at the start and counting the medication dispensed from the first feeder unit's outlet since the start. The medication run-out time is therefore calculated theoretically, the accuracy of which depends on the accuracy of the recording of the amount at the start and the correct count.

[0063] Alternatively, the remaining quantity value may be determined based on the actual amount of medication remaining in the container of the first feeder unit. For example, weight may be used as an indicator of the actual amount of medication. Alternatively, the actual amount may be determined visually, for example, by image recognition or one or more sensors, based on the top surface position of the medication in the container.

[0064] A twelfth aspect provides a computer program product including a non-transitory computer-readable medium bearing instructions which, when executed by a processor, cause a dispensing device comprising a first feeder unit to perform the steps of the method according to the eleventh aspect.

[0065] A computer program product may be provided separately from a dispensing device to configure, upgrade and / or install the above-mentioned functionality of said dispensing device, thereby achieving the above-mentioned technical advantages.

[0066] A thirteenth aspect provides an ejection device for ejecting individual medicaments, comprising: The discharge device is provided with a first feeder unit including a container for holding a drug of a first composition, an outlet for dispensing the drug, and a discharge mechanism between the container and the outlet for controlled feeding of the drug from the container to the outlet; The dispensing device further includes a control unit, the control unit including a processor and a non-transitory computer readable medium bearing instructions that, when executed by the processor, cause the control unit to perform the steps of the method according to the eleventh aspect.

[0067] The above-described dispensing devices are adapted, configured and / or programmed to carry out the steps of the associated method and therefore have the same technical advantages as the method and its respective embodiments.

[0068] The various aspects and features described and illustrated in this specification may be applied individually to the extent possible, and these individual aspects, particularly those aspects and features described in the accompanying claims, may be the subject of divisional patent applications.

[0069] The invention will now be explained on the basis of embodiments shown in the accompanying schematic drawings, as follows: [Brief explanation of the drawings]

[0070] [Figure 1] FIG. 1 shows an isometric view of a dispensing device according to a first embodiment, comprising a dispensing section, a collecting section and a packaging section. [Figure 2]2A shows a top view of the discharge device according to FIG. 1, FIG. 2B shows a front view of a first feeder unit in the discharge section in the previous feeder position indicated by the arrow connecting FIG. 2B to FIG. 2A, and FIG. 2C shows a front view of a second feeder unit in the discharge section in the loading drawer position indicated by the arrow connecting FIG. 2C to FIG. 2A. [Figure 3] 3A, 3B and 3C show views corresponding to FIGS. 2A, 2B and 2C, respectively, in which the second feeder unit has been moved from the load drawer position in the discharge section to the second feeder position. [Figure 4] Figures 4A, 4B and 4C show views corresponding to Figures 3A, 3B and 3C, respectively, in which the first feeder unit has been moved from the previous feeder position in the discharge section to the first feeder position. [Figure 5] Figures 5A, 5B and 5C show views corresponding to Figures 4A, 4B and 4C respectively, with the first feeder unit removed from the dispensing apparatus. [Figure 6] FIG. 6 shows a screen of a graphical user interface that provides a timeline for replacing or refilling a feeder unit in a dispensing section of a dispensing apparatus according to FIG. [Figure 7A] FIG. 7A shows a schematic diagram of a common batch containing three sets of ejection instructions for ejecting different selections and amounts of medicament in an ejection device according to FIG. [Figure 7B] FIG. 7B shows a schematic diagram of the steps of a method for prioritizing one or more of the dispensing instruction sets according to FIG. 7A, performed by a dispensing device. [Figure 7C] FIG. 7C shows schematically the common batch of FIG. 7A after the reordering of the three sets of dispensing instructions as a result of the prioritization method according to FIG. 7B. [Figure 8A] 8A and 8B show two parts of a schematic diagram of the steps of a method for selecting between a full empty detection mode and a shortened empty detection mode for detecting whether a feeder unit in a dispensing device according to FIG. 1 is empty. [Figure 8B]8A and 8B show two parts of a schematic diagram of the steps of a method for selecting between a full empty detection mode and a shortened empty detection mode for detecting whether a feeder unit in a dispensing device according to FIG. 1 is empty. [Figure 9] Figure 9A shows a top view of an alternative discharge device according to a second embodiment, comprising a discharge section, a collection section, and a packaging section; Figure 9B shows a front view of a first feeder unit of the discharge section in the previous feeder position indicated by the arrow connecting Figure 9B to Figure 9A; and Figure 9C shows a front view of a second feeder unit of the discharge section in the loading drawer position indicated by the arrow connecting Figure 9C to Figure 9A. DETAILED DESCRIPTION OF THE INVENTION

[0071] Figure 1 shows a dispensing device 1 according to a first embodiment for dispensing individual medicaments, individual solid medicaments, medicines or medical solid items, articles or substances 90, such as pills, tablets, capsules etc. The medicines are "individual" in the sense that they can be dispensed one by one, individually, separately or in a packet.

[0072] The ejection device 1 includes an ejection section 2 for ejecting a drug 90, a collection section 3 for collecting the drug 90 from the ejection section 2, and a packaging section 6 for packaging the drug 90. The collection section 3 is disposed below or vertically below the ejection section 2. The packaging section 6 is disposed below or vertically below the collection section 3. The ejection device 1 further includes a housing 10 for shielding the above-mentioned sections 2, 3, and 6 from unauthorized access.

[0073] The discharge section 2 defines an array of feeder positions 20 for receiving or holding a plurality of canisters, tablet cases, or feeder units 40. Each feeder position includes a docking member that mates with or receives a respective one of the feeder units 40, with a suitable opening or channel that allows ejected medicament 90 to pass through the feeder position 20 and into the recovery section 3 below. The array of feeder positions 20 is distributed along an infinite recovery path Z1. In this example, the infinite recovery path Z1 is circular or substantially circular, and the array of feeder positions 20 is distributed circumferentially around the axis of rotation X. More specifically, the array of feeder positions 20 is distributed circumferentially or according to a radial grid, e.g., into a plurality of radially extending rows that are arranged side-by-side or adjacent circumferentially around the axis of rotation X. Preferably, the housing 10 extends cylindrically around the array of feeder positions 20. In this example, the circumferential wall of the housing 10 is provided with a plurality of storage locations 12 for holding temporarily unused or auxiliary feeder units 40 .

[0074] The dispensing device 1 is further provided with a robotic manipulator 11, which may include, for example, a robotic arm, for automatically, automated, or autonomously handling, positioning, removing, and / or repositioning the feeder units 40 with respect to the row of feeder locations 20. The robotic manipulator 11 is provided with a gripper head for picking and placing the feeder units 40. In this embodiment, the robotic manipulator 11 is positioned at or near the center of the row of feeder locations 20, for example, close to, at, or near the axis of rotation X. In said position, the feeder locations 20 and the storage locations 10 are all conveniently within reach of the robotic manipulator 11.

[0075] 2B shows in more detail one feeder unit 40 of the plurality of feeder units 40. The following description of a feeder unit 40 is representative of all feeder units 40 of the plurality of feeder units 40.

[0076] As shown in FIG. 2B, each feeder unit 40 includes a container 50 for holding a quantity of a drug 90 of a composition 91 specific to the respective feeder unit 40. The term "composition" is to be interpreted as the chemical or pharmaceutical composition of the drug 90, e.g., a combination of active ingredients, which may include slight variations. Each feeder unit 40 typically holds only one composition of drug 90. The container 50 has a volume that can hold hundreds or more (or fewer) of drugs 90, depending on their size and shape.

[0077] Each feeder unit 40 further includes an outlet 51, e.g., a downspout, for discharging the medication 90 towards the collection section 3, and a dispensing mechanism 52 between the container 50 and the outlet 51 for controlled feeding of the medication 90 from the container 50 to the outlet 51. In this embodiment, the dispensing mechanism 52 includes a wheel that acts as a turnstile for singulating the medications 90 and feeding them one by one towards the outlet 51. It will be apparent to those skilled in the art that alternative dispensing mechanisms may be provided that are capable of singulating the medications 90.

[0078] Each feeder unit 40 may further be provided with one or more sensors 53, 54, such as a vision camera, optical sensor, laser sensor, level sensor, weight sensor or the like, for verifying the type, composition, and / or integrity of the medication 90 and for counting the amount of medication 90 dispensed.

[0079] As best seen in FIG. 1 , the dispensing section 2 further includes a feeder loading member 24 having a plurality of feeder loading positions 25 for receiving new feeder units 40 into the dispensing apparatus 1 and for removing feeder units 40 from the dispensing apparatus 1. In this example, the feeder loading member 24 is formed as a drawer. Alternatively, a door or the like may be used. The dispensing section 2 may optionally include a manual loading position 26 for receiving a manual loading member (not shown), e.g., a drug transport plate, into which medications 90 not suitable for automatic dispensing by the aforementioned feeder units 40 are manually loaded.

[0080] 1, the collection section 3 includes a plurality of collection units, in particular collection hoppers 30, which are open on a face facing the discharge section 2 and selectively receive the medications 90 discharged from one or more of the feeder units 40. In this example, each collection hopper 30 extends below the plurality of feeder units 40 and simultaneously receives the medications 90 from any of these feeder units 40. Each collection hopper 30 is tapered to a bottom at which a valve (not shown) is provided that is operable to allow the collected medications 90 to fall into the packaging section 6.

[0081] In this embodiment, the plurality of collection hoppers 30 are distributed circumferentially around a rotation axis X. More specifically, the plurality of collection hoppers 30 are held in a collection frame 32, which is movable along an infinite collection path Z1, for example by rotating about said rotation axis X, to move the 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 aligning the plurality of collection hoppers 30 with the next group of feeder units 40 in the row of feeder positions 20. Each collection hopper 30 extends radially along the row of radially arranged feeder positions 20.

[0082] In normal operation, the collection frame 32 rotates unidirectionally in a collection direction C along an infinite collection path Z1, thereby enabling each collection hopper 30 to rotate one full 360 degrees about the axis of rotation X to visit all feeder positions 20 in the row of feeder positions 20, although in some embodiments the rotational movement may be more limited.

[0083] The packaging section 6 includes a first packaging unit 61 at a first packaging position or a first angular packaging position P1 around the rotation axis X. Optionally, the packaging section 6 may include a second packaging unit 62 at a second packaging position or a second angular packaging position P2, thereby increasing the packaging efficiency of the discharge device 1. The valves of the collection hoppers 30 are activated when each one of the collection hoppers 30 is positioned above or directly above a selected one of the packaging units 61, 62, causing collected medications 90 to drop into the respective packaging unit 61, 62. Each packaging unit 61, 62 includes a storage member for holding packaging material, in this case, foil, a printer for printing information about the medications 90 on the foil, a filling member for positioning the foil to receive the medications 90, a sealing member for forming pouches surrounding the received medications 90, a piercing member for providing perforations between successively formed pouches in the foil, and a discharge member for discharging the packaged medications F from the discharge device 1.

[0084] Alternatively, one or both of the packaging units 61, 62 may be arranged to package the medicament 90 in a storage material other than foil, for example in a vial, bottle, or card.

[0085] The first packaging position P1 and / or the second packaging position P2 can be fixed with respect to the axis of rotation X at least during the dispensing operation.

[0086] 1, the dispensing device 1 is further provided with a control unit 7 operatively and / or electrically connected to the robotic manipulator 11, the feeder unit 40, the packaging units 61, 62, and other electronic devices, such as drives, sensors, and the like, to control the operation of the dispensing device 1. The control unit 7 includes a special-purpose processor 71 and a computer-readable medium 72 carrying computer-readable code or instructions that, when executed by the processor 71, cause the dispensing device 1 to operate in accordance with the methods described in more detail below. The computer-readable medium 72 may be non-transitory or tangible, for example a physical data carrier such as a hard drive, USB-drive, RAM memory, or the like.

[0087] The dispensing device 1 may further be provided with a graphical user interface 8, eg a screen, for providing a human operator with useful information regarding the dispensing, collection and packaging operations.

[0088] The method of operation of the dispensing device 1 will be described below with respect to only the first and second feeder units 41, 42 of the plurality of feeder units 40, the first collection hopper 31 of the plurality of collection hoppers 30, and the first packaging unit 61 of the two packaging units 61, 62. However, it will be apparent to those skilled in the art that the dispensing device 1 can be operated in a substantially similar manner with any other selection of feeder units 40, collection hoppers 30, and / or packaging units 61, 62, ensuring a flexible and substantially uninterrupted, i.e., continuous, dispensing, collection, and packaging process.

[0089] 2A , the first recovery hopper 31 is rotatable about an axis of rotation X in a recovery direction C relative to the row of feeder locations 20 between a start position or angular start position A downstream of the first packaging location P1 in the recovery direction C and an end position or angular end position B at or near, in this case above, the first packaging location P1. In other words, the first recovery hopper 31 is rotatable about the axis of rotation X through a recovery range R that begins at the angular start position A and ends at the angular end position B. In this example, the recovery range R is 5 degrees less than 360 degrees, which is almost one full rotation.

[0090] When the control unit 7 receives a set of instructions to dispense a certain selection and amount of medication 90 from a feeder unit 40, the control unit 7 identifies which feeder unit 40 to use based on the current or remaining amount of medication 90 in that feeder unit 40. The control unit 7 may be configured to store on the computer-readable medium 72 the amount of medication 90 in the feeder unit at the start, monitor the dispense of the medication 90 using, for example, a counting sensor, and calculate or predict the remaining amount of medication 90 in each feeder unit 40. When one of the feeder units 40 is nearly empty, the control unit 7 may be configured to control the robotic manipulator 11 to position another feeder unit 40 containing the same medication 90, i.e., medication 90 of the same type, brand, manufacturer, and / or composition 91 as the nearly empty feeder unit 40, as a "hot standby" to take over the dispense of the emptying feeder unit 40 when it is actually empty. In other words, the medicaments 90 in the pair of feeder units 40 described above have the same active ingredient and / or are pharmaceutically similar or identical. The other feeder unit 40 may be removed from one of the storage locations 12 in the dispensing section 2. Alternatively, the control unit 7 may notify a human operator to provide a new feeder unit 40 to the dispensing device 1 in the feeder loading member 24.

[0091] The first and second feeder units 41, 42 typically have the same type of medication 90, although in some embodiments the medications 90 may be substitutes for each other, although not entirely identical, for example, when the same medication 90 is not available, typically only with approval by a human operator.

[0092] 2A-2C, 3A-3C, 4A-4C, and 5A-5C illustrate a process in which first feeder unit 41 is emptying and second feeder unit 42 is positioned as a "hot standby" according to an embodiment of the present invention.

[0093] Specifically, FIG. 2A illustrates a situation in which a first feeder unit 41 is at a previous feeder position 23 of a row of feeder positions 20, as shown in FIG. 2B. As shown in FIG. 2B, the first feeder unit 41 is actively dispensing. The previous feeder position 23 is "previous" in the sense that the first feeder unit 41 was there during a previous cycle of the method when it was full or relatively full of drug 90 of the first composition 91. Now, the first feeder unit 41 is emptying, e.g., less than 50 percent of its original volume, and in some embodiments, less than 30 percent of its original volume, remains. In this case, the previous feeder position 23 is in the latter half of the collection range R, as measured in the collection direction C from the starting position A. The method according to the present invention aims to position the emptying feeder unit 40 upstream of the collection range R with respect to the collection direction C, e.g., in the first half of the collection range R, as measured in the collection direction C from the starting position A. As shown in FIG. 4A, the first feeder unit 41 is moved toward the first feeder position 21 in the row of feeder positions 20 in the first half of the collection range R upstream of the previous feeder position 23 in FIG. 2A.

[0094] Prior to moving first feeder unit 41 from previous feeder position 23 to first feeder position 21, second feeder unit 42 can already be present in discharge apparatus 1 at one of feeder loading positions 25 of feeder loading member 24, as shown in FIG. 2A, ready to be inserted into discharge apparatus 1 and picked up by robotic manipulator 11. Alternatively, second feeder unit 42 can be one of feeder units 40 already in collection section 2, for example, in one of storage positions 12, as shown in FIG. 1. Second feeder unit 42 is typically filled with medicament 90 of the same first composition 91 as first feeder unit 41.

[0095] 3A shows second feeder unit 42 after it has been picked up by robotic manipulator 11 from feeder loading position 25 and positioned at feeder position 22 in the row of feeder positions 20. In this example, second feeder position 22 is downstream in recovery direction C from previous feeder position 23, although this is not strictly necessary at this stage. Alternatively, previous feeder position 23 could be downstream of second feeder position 22 in recovery direction C. As shown in FIG. 3C, during movement of said first feeder unit 41 between FIGS. 2A and 4A, second feeder unit 42 can temporarily take over delivery from first feeder unit 41 if necessary to ensure continuity of delivery of medicament 90 of first composition 91.

[0096] Figure 4A shows a situation in which first feeder unit 41 has been removed by robotic manipulator 11 from previous feeder position 23 and positioned at first feeder position 21. First feeder unit 41 can now resume delivery until the drugs 90 in first composition 91 are exhausted or first feeder unit 41 is unable to deliver the remaining drugs 90, as shown in Figure 4B. Second feeder unit 42, as shown in Figure 4C, is in a "hot standby" state and takes over delivery from first feeder unit 41 if first feeder unit 41 is unable to deliver drugs 90.

[0097] FIG. 5A illustrates a situation in which the first feeder unit 41 is empty or unable to dispense medication 90, as shown in FIG. 5B. As a result, the first collection hopper 31 is unable to dispense the necessary medication 90 of the first composition 91 from the first feeder unit 41. The first collection hopper 31 does not need to wait for the first feeder unit 41 to be replaced. Instead, the first collection hopper 31 can be further moved or rotated in the collection direction C along the infinite collection path Z1 until it is below or directly below the second feeder unit 42 in the second feeder position 22. Meanwhile, the controller 7 adapts its dispensing strategy to account for the absence of medication 90 of the first composition 91 from the first feeder unit 41 and assigns the second feeder unit 42 to take over the dispensing from the first feeder unit 41, as shown in FIG. 5C. In other words, the second feeder unit 42 can dispense the missing medication 90 of the first composition 91.

[0098] The first feeder position 21 and the second feeder position 22 are typically spaced apart in the collection direction by a separation angle H of at least 5 degrees, preferably at least 10 degrees, or at least one radial row of rows of feeder positions 20, to allow the control unit 7 and / or a human operator sufficient time to adjust the discharge strategy, for example, within the normal time it takes for the first collection hopper 31 to move uninterrupted from the first feeder position 21 to the second feeder position 22.

[0099] The empty first feeder unit 41 can be picked up by the robot manipulator 11 and moved to one of the feeder loading positions 25 in the feeder loading member 24, and the empty first feeder unit 41 can be removed or taken out of the discharge device 1.

[0100] FIG. 6 illustrates the graphical user interface 8 of the dispensing device 1 described above in more detail. The graphical user interface 8 is generated by the control unit 7, as shown in FIG. 1. As shown in FIG. 6, the graphical user interface 8 presents to a human operator an optional timeline 80 and one or more notifications 81 regarding a drug-out time 82 for one or more feeder units 40. The notifications 81 may be provided on the timeline 80 and / or separately from the timeline 80. The timeline 80 has a time axis t from left (present) to right (future). The drug-out time 82 is predicted or calculated by the control unit 7. The drug-out time 82 may be predicted or calculated based on a record of the amount of drug 90 in the receptacle 50 of each feeder unit 40 at a start time and a count of the drug 90 dispensed from the outlet 51 of each feeder unit 40 since the start time, for example, based on the counting sensor 54 shown in FIG. 2B. Alternatively, the medication run-out time 82 can be predicted based on sensor data from sensors 53, 54 indicating the actual amount of medication 90 remaining in the container 50 of each feeder unit 40, as shown in FIG. 2B, e.g., based on data from a vision camera, a level sensor, and / or a weight sensor.

[0101] Each notification 81 is presented prior to the expected drug expiration time 82 with a delivery deadline 83 for replenishing the drug 90 that will run out at the respective drug expiration time 82. The notification 81 may simply indicate how much drug 90 of a particular composition 91 is needed, or may indicate or request a particular feeder unit 40 holding drug 90 of the same composition 91 to replace or replenish the nearly empty feeder unit 40. A human operator can call the required feeder unit 40 and provide it to the discharge device 1 as described above.

[0102] Meanwhile, delivery of medication 90 from one or more associated feeder units 40 continues at least until delivery time 83. Thus, delivery operations remain uninterrupted.

[0103] The delivery deadline 83 is preferably selected to provide some safety margin, e.g., at least 1 minute, at least 3 minutes, or at least 5 minutes, to allow a human operator to call and / or prepare the needed feeder units 40 prior to the medication expiration time 82. The human operator may also batch call one or more needed feeder units 40 at the same time. Alternatively, the delivery deadline 83 may be set the same as the medication expiration time 82, thus requiring a more timely or rigorous approach by the human operator.

[0104] One or more required feeder units 40 can be picked up by the robotic manipulator 11 and placed at the respective feeder locations 20 prior to their respective drug run-out times 82, thus avoiding downtime for the discharge device 1. This process can be similar to that described above for the first and second feeder units 41, 42, for example. Alternatively, the second feeder unit 42 can be replaced with the first feeder unit 41 at one feeder location 20 as soon as the first feeder unit 41 runs out of drug or the drug 90 contained therein has expired.

[0105] 7A, 7B and 7C relate to a method of ejecting a drug 90 using the ejection device 1 described above, which includes changing the order in which the ejection instruction sets G1, G2, G3 are executed by the processor 71 of the control unit 7 as shown in FIG.

[0106] 7A shows a first dispensing instruction set G1 requesting 45 doses of drug 90 of composition A, 50 doses of drug 90 of composition B, 10 doses of drug 90 of composition C, and 15 doses of drug 90 of composition D. Similarly, a second dispensing instruction set G2 and a third dispensing instruction set G3 are provided requesting different amounts of drug 90 of similar compositions C and D, or different compositions E and F. It is intended that the processor 71 executes the dispensing instruction sets G1, G2, and G3 in the order shown in the figure from left (present) to right (future) along the time axis t.

[0107] FIG. 7B shows a schematic diagram of the method steps that the processor 71 should perform to identify an alternative order for executing the ejection instruction sets G1, G2, and G3 if the first ejection instruction set G1 cannot be completed with the medication 90 remaining in the multiple feeder units 40.

[0108] Specifically, the method includes receiving ejection instruction sets G1, G2, and G3 (step S1); and, before executing the first ejection instruction set G1, having the control unit 7 determine whether the plurality of feeder units 40 contain sufficient readily available medication 90 to complete the ejection of a first selection and a first quantity of medication 90 according to the first ejection instruction set G1 (step S2). Medication 90 is "readily available" if sufficient medication 90 authorized for ejection remains in the plurality of feeder units 40. The authorization may be revoked if the medication 90 would exceed its expiration date stored in the system at the time of ejection. If so, the control unit 7 proceeds with execution of the first ejection instruction set (step S3) and repeats the determination for each subsequent ejection instruction set (step S4).

[0109] However, if the plurality of feeder units 40 does not contain enough readily available medication 90 to complete the dispensing of the first selection and first quantity of medication 90 according to the first dispensing instruction set G1, the control unit 7 switches to execute one or more of one or more other dispensing instruction sets G2, G3 (step S6), optionally before determining whether the feeder units 40 contain enough readily available medication 90 to complete the dispensing of the selection and quantity of medication 90 associated with each of the subsequent other dispensing instruction sets G2, G3 (step S5). Thus, the order in which the dispensing instruction sets G1, G2, G3 are executed can be changed as shown in FIG. 7C.

[0110] During execution of one or more other dispensing instruction sets G2, G3, action may be taken to ensure that multiple feeder units 40 contain sufficient readily available medication 90 to complete the dispensing of the first selection and first quantity of medication 90 according to the first dispensing instruction set G1. Specifically, a human operator may be notified to replace or replenish the associated feeder unit 40, for example, according to the methods shown in Figures 2A-2C, 3A-3C, 4A-4C, and 5A-5C.

[0111] If there is not enough readily available medication 90 to complete delivery by any one of delivery instruction sets G1, G2, G3, the control unit 7 returns to identifying step S2 and waits for medication 90 to be replenished.

[0112] 7A and 7C, a first dispensing instruction set G1 and one or more other dispensing instruction sets G2, G3 preferably share a logistic parameter L that links the first dispensing instruction set G1 and one or more other dispensing instruction sets G2, G3 into a common batch. The control unit 7 is limited to only changing the order of the dispensing instruction sets G1-G3 within the common batch. The logistic parameter L can be a delivery address, a patient order, a client name, or other.

[0113] 8A and 8B show diagrams of a method for dispensing medication 90 from one of the feeder units 40, including steps for detecting an empty state of said feeder unit 40. FIG.

[0114] 8A, the method may be initiated when no dispensing is detected in one of the feeder units 40, e.g., when medication 90 is not being dispensed from a container 50 toward an outlet 51 and / or is not detected at said outlet 51 when the dispensing mechanism 52 is operating (step S101). The processor 71 of the control unit 7 as shown in FIG. 1 initiates a mode selection program (S102). The program includes determining a remaining amount value indicating the amount of medication 90 remaining in the container 50 of the feeder unit 40 for which no dispensing has occurred (step S103).

[0115] The remaining quantity value can be determined in a manner similar to determining the drug run-out time 82 in FIG. 6, for example, by prediction and / or calculation based on counts since start, or by detecting the actual quantity with one or more sensors 53, 54 in the feeder unit 40 as shown in FIG. 2A.

[0116] 8A, processor 71 compares the remaining amount value with a threshold value (step S104). The threshold value can be predetermined. The threshold value can be the same for each feeder unit 40 or can be different for each feeder unit 40. The threshold value can be expressed as a percentage of the volume of container 50, the top surface position of the contents within said container 50, or as the amount of medication 90. For example, the threshold value can be 50% of the original amount of medication 90.

[0117] If the remaining amount value is greater than or exceeds the threshold, the processor 71 selects and / or initiates a full empty detection mode M1 (step S105). The full empty detection mode M1 includes performing a first action a first number of times or instances (step S106). The first action may, for example, be repeatedly controlling the dispensing mechanism 52. The first action may, for example, be performed 10 times.

[0118] After each instance of the first action, or at the end of a certain number of executions or instances of the first action, a check is made to see if dispensing is detected (step S107). If detected, normal dispensing may continue or resume (step S108). If dispensing is still not detected, the full empty detection mode M1 may further include executing a second action multiple times or instances (S109). The second action may be, for example, dispensing in a different way, reversing the dispensing mechanism 52, or rocking the feeder unit 40 using the robotic manipulator 11.

[0119] Again, after each instance of the second behavior, or at the end of a certain number of executions or instances of the second behavior, a check is made to see if ejection is or has been detected (step S110). Alternatively, depending on the type of second behavior, full detection mode M1 may first include repeating steps S106 and S107, for example, if the second behavior is not itself an ejection behavior (e.g., rocking by a robotic manipulator).

[0120] If ejection is detected after performing the second action, and optionally after repeating the first action, ejection may continue or resume (steps S111 or S108). If ejection is still not detected, feeder unit 40 is assumed to be empty (step S112), and appropriate action may be taken to refill or replace feeder unit 40, for example, using any of the methods described above.

[0121] From initiation (step S105) to identifying a feeder unit 40 as empty (step S112), the full empty detection mode M1 can take a relatively long time, represented by a first duration D1 in FIG. 8A. The first duration D1 can be greater than 15 seconds, greater than 20 seconds, or even greater than 30 seconds. During this time, the first collection hopper 31 must remain stationary below the feeder unit 40 under test to capture any medication 90 that is successfully dispensed during the full empty detection mode M1. Thus, the full empty detection mode M1 of one feeder unit 40 causes downtime in the dispensing operation of the entire dispensing apparatus 1.

[0122] Thus, the processor 71 is configured or programmed to switch to or select the reduced empty detection mode M2 ​​if the remaining capacity value determined in step S103 is lower than the threshold (step S201).

[0123] The shortened empty detection mode M2 ​​is shown in more detail in Figure 8B. After the shortened empty detection mode M2 ​​is selected (step S201), the processor 71 starts the shortened empty detection mode M2 ​​(step S202).

[0124] The shortened empty detection mode M2 ​​includes either performing the first and second actions of the full empty detection mode M1 a second number of times or instances that are less than the number of times or instances of these actions in the full empty detection mode M1, or performing only one of the first or second actions a second number of times or instances or a fewer number of times or instances (step S203). Step S203 may, for example, include only operating the discharge mechanism 52 of the associated feeder unit 40 half as many times or instances as compared to step S106 of the full empty detection mode M1. Also, the second action may be omitted entirely from the shortened empty detection mode M2 ​​to save valuable time.

[0125] After each action of step S203, or after a certain number of times or instances of the action of step S203, a check is made to see if medication 90 will or has been dispensed (step S204). If dispensed, normal dispense can resume or continue (step S205). If dispense is still not detected, it is assumed that the feeder unit 40 is empty (step S206), and appropriate action can be taken, similar to exiting the full empty detection mode.

[0126] From initiation (step S202) to identifying the feeder unit 40 as empty (step S206), the reduced empty detection mode M2 ​​requires a relatively short time, which is represented by the second duration D2 in Figure 8B. The second duration D2 may be, for example, less than half the first duration D1, and preferably less than one-quarter of the first duration D1.

[0127] 9A-9C show an alternative discharge device 101 according to a second embodiment of the present invention, which differs from the previously described discharge device 1 in that the collection section 102 includes a row of feeder positions 120 distributed along an alternative non-circular collection path Z2. The collection path Z2 is infinite, similar to the circular collection path Z1 of the first embodiment of the present invention. The alternative collection path Z2 may include one or more circular and non-circular segments. In this example, the alternative collection path Z2 includes two straight or linear segments and two semicircular segments connecting the two straight or linear segments, connecting the segments infinitely.

[0128] Similarly, the collection section 103 includes a plurality of collection hoppers 31 configured to move between a start position S and an end position B in a collection direction C along an alternative collection path Z2, thereby passing through each of the plurality of feeder positions 120 to collect the required medication 90 from the feeder units 40 held at said feeder positions 120. The plurality of collection hoppers 31 may be arranged, for example, on an endless drive belt, chain 132, or the like, which drives the plurality of hoppers 31 in the collection direction C along the alternative collection path X2.

[0129] The alternative dispensing device 101 further includes a packaging section 106 having a first packaging unit 61 positioned at a first packaging position P1 along the alternative collection path Z2.

[0130] Figure 9A shows a first feeder unit 41 (see Figure 9B) at a first feeder position 121 and a second feeder unit 42 (see Figure 9C) at a second feeder position 122 downstream of the first feeder position 121 in the recovery direction C in a manner similar to the relative positioning of the feeder units 41, 42 in the previous embodiment.

[0131] A robotic manipulator 11 similar to that shown in the previous embodiment may be positioned at a central location within the alternative retrieval path Z2.

[0132] It will be apparent that the dispensing operation and method described with respect to the dispensing device 1 according to the first embodiment of the present invention can also be applied, mutatis mutandis, to the alternative dispensing device 101 according to the second embodiment of the present invention.

[0133] Although the description is in terms of medicines, tablets, etc., the device and method can also be used to dispense other types of solid, discrete items for separation and packaging.

[0134] It should be understood that the above description is included to illustrate the operation of the embodiments and is not intended to limit the scope of the invention. From the above description, various modifications will be apparent to those skilled in the art and are encompassed by the spirit and scope of the invention. [Note] [Item 1] A method for dispensing individual medicaments (90) by a dispensing device (1, 101) comprising a dispensing section (2, 102), a collection section (3, 103), and a packaging section (6, 106), wherein the dispensing section (2, 102) defines an array of feeder positions (20, 120) for holding a plurality of feeder units (40) distributed along an infinite collection path (Z1, Z2), and the collection section (3, 103) comprises a first collection unit (31) movable in a collection direction (C) along the infinite collection path (Z1, Z2) relative to the array of feeder positions (20, 120) from a start position (A) downstream in the collection direction (C) of a first packaging position (P1) to an end position (B) at or near the first packaging position (P1), - positioning a first feeder unit (41) of said plurality of feeder units (40) at a first feeder position (21, 121) of said row of feeder positions (20, 120); - before removing the first feeder unit (41) from the first feeder position (21, 121), positioning a second feeder unit (42) of the plurality of feeder units (40) at a second feeder position (22, 122) in the row of feeder positions (20, 120) that is downstream of the first feeder position (21, 121) in the collection direction (C); Including, The first feeder unit (41) and the second feeder unit (42) hold a drug (90) of the same first composition (91); method. [Item 2] If the first feeder unit (41) is empty or is unable to dispense the drug (90) into the first collection unit (31) at the first feeder position (21, 121), - moving the first collection unit (31) in the collection direction (C) to dispense the drug (90) from the second feeder unit (42) at the second feeder position (22, 122) into the first collection unit (31); further comprising the steps of: The method according to item 1. [Item 3] prior to positioning the first feeder unit (41) at the first feeder position (21, 121), the first feeder unit (41) is positioned at a previous feeder position (23) downstream of the first feeder position (21, 121) in the row of feeder positions (20, 120); - removing said first feeder unit (41) from said previous feeder position (23); - moving said first feeder unit (41) from said previous feeder position (23) to said first feeder position (21, 121); further comprising: The method according to item 1. [Item 4] - dispensing the drug (90) from the second feeder unit (42) at the second feeder position (22) to the first collection unit (31) while moving the first feeder unit (41) from the previous feeder position (23) to the first feeder position (22, 122); further comprising the steps of: The method according to item 3. [Item 5] the first recovery unit (31) is movable along the infinite recovery path (Z1, Z2) over a recovery range (R) starting from the start position (A) and ending at the end position (B); The method according to item 1. [Item 6] The first feeder position (21, 121) is located in the first half of the first collection range (R) in consideration of the start position (A). The method according to item 5. [Item 7] the second feeder position (22, 122) is located in the latter half of the recovery range (R) in relation to the start position (A); The method according to item 5. [Item 8] 2. The method according to item 1, wherein the first feeder position (21, 121) and the second feeder position (22, 122) are spaced apart in the collection direction by a separation angle (H) of at least 5 degrees. [Item 9] the discharging device (1, 101) includes a robot manipulator (11), and the positioning and / or removal of the first feeder unit (41) and the second feeder unit (42) is performed using the robot manipulator (11); The method according to item 1. [Item 10] The infinite return path (Z1) is circular. The method according to item 1. [Item 11] the row of feeder positions (20) is distributed circumferentially around a rotation axis (X), and the first recovery unit (31) is rotatable around the rotation axis (X) along the infinite recovery path (Z1); Item 11. The method according to item 10. [Item 12] The infinite return path (Z2) is non-circular; The method according to item 1. [Item 13] a non-transitory computer-readable medium (72) carrying instructions that, when executed by a processor (71), cause a dispensing device (1, 101) having a robotic manipulator (11) to perform the steps of the method according to item 1; Computer program products. [Item 14] In a discharge device (1, 101) for discharging individual medicines (90), a discharge section (2, 102) defining an array of feeder positions (20, 120) for holding a plurality of feeder units (40) distributed along an infinite return path (Z1, Z2), said array of feeder positions (20, 120) including at least a first feeder position (21, 121) and a second feeder position (22, 122); a collection section (3, 103) including a first collection unit (31) movable in a collection direction (C) along the infinite collection path (Z1, Z2) with respect to the row of feeder positions (20, 120); a packaging section (6, 106) for packaging the medicine (90) received from the collection section (3, 103); A robot manipulator (11) and the robot manipulator (11), positioning a first feeder unit (41) at said first feeder position (21, 121); Before removing the first feeder unit (41) from the first feeder position (21, 121), a second feeder unit (42) is positioned at the second feeder position (22, 122), the second feeder position (22, 122) being downstream of the first feeder position (21, 121) in the collection direction (C). a control unit (7) for controlling the Including, The first feeder unit (41) and the second feeder unit (42) hold a drug (90) of the same first composition (91); Discharge device (1, 101). [Item 15] The packaging section (6) comprises a first packaging unit (61) at or connected to a first packaging position (P1), Item 15. The discharge device according to item 14. [Item 16] the first collecting unit (31) is movable between a start position (A) downstream of the first packaging position (P1) in the collecting direction (C) and an end position (B) at or near the first packaging position (P1); Item 15. The discharge device according to item 14. [Item 17] The first recovery unit (31) includes a hopper; Item 15. The discharge device according to item 14. [Item 18] The infinite return path (Z1) is circular. Item 15. The discharge device according to item 14. [Item 19] the row of feeder positions (20) is distributed circumferentially around a rotation axis (X), and the first recovery unit (31) is rotatable around the rotation axis (X) along the infinite recovery path (Z1); Item 19. The discharge device according to item 18. [Item 20] The infinite return path (Z2) is non-circular; Item 15. The discharge device according to item 14. [Item 21] A method for continuously dispensing, collecting, and packaging individual medications (90) by a dispensing device comprising a dispensing section (2, 102), a collecting section (3, 103), and a packaging section (6, 106), wherein the dispensing section (2, 102) comprises an array of feeder positions (20, 120) for holding a plurality of feeder units (40) distributed along an infinite collection path (Z1, Z2), and the collection section (3, 103) comprises a first collection unit (31) movable along the infinite collection path (Z1, Z2) in a collection direction (C) relative to the array of holding positions (20, 120), and aligned with the array of a plurality of feeder positions (120), placing a first feeder unit (41) at a first feeder position (21, 121) in the row of feeder positions (20, 120); installing a second feeder unit (42) at a second feeder position (22, 122) in the row of feeder positions (20, 120), the second holding position (22, 122) being downstream of the first holding position (21, 121); discharging the drug (90) from the first feeder unit (41) to the first collection unit (31); when the first feeder unit (31) is empty or no longer dispensing the medication (90), moving the first collection unit (31) in the collection direction (C) to align with the second feeder unit (42); discharging the drug (90) from the second feeder unit (42) into the first collection unit (31); Including, The first feeder unit (41) and the second feeder unit (42) contain a drug (90) of the same first composition (91). method. [Item 22] said step of placing the first and second feeders (41, 42) is performed using a robot (11); Item 21. The method according to item 21. [Item 23] further comprising the step of transferring the drug (90) from the first collection unit (31) to a first packaging unit (61) for packaging. Item 21. The method according to item 21. [Item 24] further comprising the step of removing and / or replacing the first feeder unit (41); Item 21. The method according to item 21. [Item 25] A method for dispensing individual medicaments (90) by a dispensing device (1, 101), comprising the steps of: the dispensing device (1, 101) includes a dispensing section (2, 102) for dispensing the drug (90), the dispensing section (2) defining an array of feeder positions (20, 120) for holding the plurality of feeder units (40), each of the plurality of feeder units (40) including a container (50) for holding a drug (90) of a specific composition (91) for the respective feeder unit (40), an outlet (51) for dispensing the drug (90), and a dispensing mechanism (52) between the container (50) and the outlet (51) for controlled delivery of the drug (90) from the container (50) to the outlet (51), - receiving a set of dispense instructions requesting that a selection and quantity of medication be dispensed from said plurality of feeder units; - predicting a future time in hours when the medication (90) in the container (50) of a first feeder unit (41) of the plurality of feeder units (40) will run out or its expiration date; - providing a notification (81) to the dispensing device (1, 101) indicating that a second feeder unit (42) holding a drug (90) of the same composition (91) as the first feeder unit (41) needs to be provided to the dispensing device (1, 101) before the drug expiration time, together with a provision deadline (83) from the second feeder unit (42); - continuing delivery of the medication (90) from the first feeder unit (41) until at least the delivery deadline (83), the delivery deadline (83) being equal to or before the medication expiration time; A method comprising: [Item 26] The medicine-out time is predicted based on a record of the amount of the medicine (90) in the container (50) of the first feeder unit (41) at the start time and a count of the medicine (90) dispensed from the outlet (51) of the first feeder unit (41) since the start time. Item 26. The method according to item 25. [Item 27] the drug run-out time is predicted based on the actual amount of drug (90) remaining in the container (50) of the first feeder unit (41); Item 26. The method according to item 25. [Item 28] The provision deadline (83) is equal to the drug expiration time, Item 26. The method according to item 25. [Item 29] The provision deadline (83) is before the drug expiration time. Item 26. The method according to item 25. [Item 30] - receiving said second feeder unit (42) in said discharge device (1, 101); - placing the second feeder unit (42) at one of the feeder positions (22, 122) in the row of feeder positions (20, 120) before the medication run-out time; further comprising: Item 26. The method according to item 25. [Item 31] The second feeder unit (42) replaces the first feeder unit (41); Item 31. The method according to item 30. [Item 32] a non-transitory computer-readable medium (72) carrying instructions that, when executed by a processor (71), cause a discharge device (1, 101) comprising a first feeder unit to perform the steps of the method described in item 25; Computer program products. [Item 33] A dispensing device (1, 101) for dispensing individual medicaments (90), comprising: a discharge section (2, 102) for discharging the drug (90), the discharge section (2, 102) defining an array of feeder positions (20, 120) for holding a plurality of feeder units (40), each of the plurality of feeder units (40) including a container (50) for holding a drug (90) of a specific composition (91) for the respective feeder unit (40), an outlet (51) for discharging the drug (90), and a discharge mechanism (52) for controlled supply of the drug (90) from the container (50) to the outlet (51) between the container (50) and the outlet (51); 26. The method of claim 25, further comprising: a graphical user interface (8); and a control unit (7) for controlling the graphical user interface (8) and the plurality of feeder units (40), the control unit (7) further comprising: a processor (71); and a non-transitory computer-readable medium (72) carrying instructions, when executed by the processor (71), that cause the control unit (7) to predict a drug expiration time, provide a notification (81) of the drug expiration time along with a delivery deadline (83) on the graphical user interface (8), and control the plurality of feeder units (40) to continue delivery according to the steps of the method of claim 25. Discharge device (1, 101). [Item 34] A method for dispensing individual medications (90) by a dispensing device (1, 101), the dispensing device (1, 101) comprising a dispensing section (2, 102) for dispensing the medications (90), the dispensing device (1, 101) defining an array of feeder positions (20, 120) for holding a plurality of feeder units (40), each of the plurality of feeder units (40) including a container (50) for holding a medication (90) of a particular composition (91) for the respective feeder unit (40), an outlet (51) for dispensing the medication (90), and a dispensing mechanism (52) between the container (50) and the outlet (51) for controlled delivery of the medication (90) from the container (50) to the outlet (51); The method, wherein the discharge device (1, 101) further comprises a control unit (7), receiving, by said control unit (7), a first set of dispensing instructions (G1) requesting a first selection and a first quantity of medication (90) to be dispensed from said plurality of feeder units (40); - receiving, by said control unit (7), one or more further sets of dispensing instructions (G2, G3) to be executed after said first set of dispensing instructions (G1), wherein at least one of said one or more further sets of dispensing instructions (G2, G3) requests a selection different from said first selection or a quantity different from said first quantity; - before executing the first set of dispensing instructions (G1), determining, using the control unit (7), whether the plurality of feeder units (40) contain sufficient readily available medication (90) to complete the dispensing of the first selected and first quantity of medication (90) according to the first set of dispensing instructions (G1); Including, if the plurality of feeder units (40) does not contain sufficient readily available medication (90) to complete the dispensing of the first selected and first quantity of medication (90) according to the first dispensing instruction set (G1); - executing one or more of said one or more further dispensing instruction sets (G2, G3) before executing said first dispensing instruction set (G1), method. [Item 35] During execution of the one or more of the one or more other sets of dispensing instructions (G2, G3), action is taken to ensure that the plurality of feeder units (40) contain sufficient readily available medication (90) to complete the first selection and dispensing of the first quantity of medication (90) according to the first set of dispensing instructions (G1). Item 35. The method according to item 34. [Item 36] the action being to provide one or more feeder units (40) to the dispensing device (1, 101) to replenish or replace one or more feeder units (40) among the plurality of feeder units (40) that do not contain sufficient readily available medication (90) to complete the dispensing of the first selected and first quantity of medication according to the first dispensing instruction set (G1); Item 36. The method according to item 35. [Item 37] the first dispensing instruction set (G1) and the one or more other dispensing instruction sets (G2, G3) share a logistic parameter (L) that links the first dispensing instruction set (G1) and the one or more other dispensing instruction sets (G2, G3) to a common batch; Item 35. The method according to item 34. [Item 38] The logistic parameter (L) is a delivery address; Item 37. The method according to item 37. [Item 39] a non-transitory computer-readable medium (72) carrying instructions that, when executed by a processor (71), cause a dispensing device (1, 101) comprising a plurality of feeder units (40) to perform the steps of the method described in item 34; Computer program products. [Item 40] A dispensing device (1, 101) for dispensing individual medicaments (90), comprising: a discharge section (2) for discharging the drug (90), the discharge section (2, 102) defining an array of feeder positions (20, 120) for holding a plurality of feeder units (40), each of the plurality of feeder units (40) including a container (50) for holding a drug (90) of a specific composition (91) for the respective feeder unit (40), an outlet (51) for discharging the drug (90), and a discharge mechanism (52) between the container (50) and the outlet (51) for controlled delivery of the drug (90) from the container (50) to the outlet (51); 35. A dispensing device (1, 101) further comprising a control unit (7), the control unit (7) comprising a processor (71) and a non-transitory computer-readable medium (72) carrying instructions that, when executed by the processor (71), cause the control unit (7) to perform the steps of the method described in item 34. [Item 41] A method for dispensing individual medications (90) with a first feeder unit (41), comprising: The method, wherein the first feeder unit (41) comprises a container (50) for holding a drug (90) of a first composition (91), an outlet (51) for dispensing the drug (90), and a dispensing mechanism (52) between the container (50) and the outlet (51) for controlled delivery of the drug (90) from the container (50) to the outlet (51), - determining a remaining value indicating the amount of the drug (90) remaining in the container (50); - comparing said remaining capacity value with a threshold value; - selecting between a full empty detection mode (M1) when said remaining capacity value is higher than said threshold and a reduced empty detection mode (M2) when said remaining capacity value is lower than said threshold; - executing a selected one of the full empty detection mode (M1) and the shortened empty detection mode (M2) if no medicament (90) is delivered from the container (50) to the outlet (51) after controlling the dispensing mechanism (52); Including, the full empty detection mode (M1) has a first duration (D1), and the reduced empty detection mode (M2) has a second duration (D2) that is shorter than the first duration (D1); method. [Item 42] the full empty state detection mode (M1) includes a step of executing a first action a first number of instances, and the shortened empty state detection mode (M2) includes a step of executing the first action a second number of instances that is less than the first number of instances; Item 41. The method according to item 41. [Item 43] the first action is to control the discharge mechanism (52); Item 43. The method according to item 42. [Item 44] the complete empty state detection mode (M1) includes a step of performing a first action and a second action different from the first action, and the shortened empty state detection mode (M2) includes only one of the first action and the second action; Item 41. The method according to item 41. [Item 45] the remaining quantity value is predicted based on a record of the amount of the medication (90) in the container (50) of the first feeder unit (41) at the time of start-up and a count of the medications dispensed from the outlet (52) of the first feeder unit (41) since the time of start-up; Item 41. The method according to item 41. [Item 46] the remaining quantity value is determined based on an actual amount of medication (90) remaining in the container (50) of the first feeder unit (41); Item 41. The method according to item 41. [Item 47] a non-transitory computer-readable medium (72) carrying instructions that, when executed by a processor (71), cause a discharge device (1, 101) comprising a first feeder unit (41) to perform the steps of the method described in item 41; Computer program products. [Item 48] A dispensing device (1, 101) for dispensing individual medicaments (90), comprising: a first feeder unit (41) is provided, the first feeder unit (41) including a container (50) for holding a drug (90) of a first composition (91), an outlet (51) for dispensing said drug (90), and a dispensing mechanism (52) between said container (50) and said outlet (51) for controlled delivery of said drug (90) from said container (50) to said outlet (51); a control unit (7) including a processor (71) and a non-transitory computer-readable medium (72) carrying instructions that, when executed by the processor (71), cause the control unit (7) to perform the steps of the method described in item 41; Discharge device (1, 101). [Explanation of symbols]

[0135] 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 processors 72 Computer-readable medium 8 Graphical User Interface 80 Timeline 81 Notification 82 Drug expiration time 83 Offer deadline 90 Drugs 91 Drug of first composition 101 Alternative Dispensing Devices 102 Discharge Section 120 Feeder Position Rows 121 First feeder position 122 Second feeder position 103 Collection Section 132 Drive chain 106 Packaging Section A starting position B End position C. Recovery direction D1 First Duration D2 Second Duration F. Packaged medications G1 First Dispensing Instruction Set G2 Second Dispensing Instruction Set G3 Third Dispensing Instruction Set H Separation angle L logistic parameter 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 path

Claims

1. A method for dispensing individual solid medicaments (90) by a dispensing device (1, 101) comprising a dispensing section (2, 102), a collection section (3, 103), and a packaging section (6, 106), wherein the dispensing section (2, 102) defines an array of feeder positions (20, 120) for holding a plurality of feeder units (40) distributed along an infinite collection path (Z1, Z2), and the collection section (3, 103) comprises a first collection unit (31) movable in a collection direction (C) along the infinite collection path (Z1, Z2) relative to the array of feeder positions (20, 120) from a start position (A) downstream in the collection direction (C) of a first packaging position (P1) to an end position (B) at or near the first packaging position (P1), - positioning a first feeder unit (41) of said plurality of feeder units (40) at a first feeder position (21, 121) of said row of feeder positions (20, 120); - before removing the first feeder unit (41) from the first feeder position (21, 121), positioning a second feeder unit (42) of the plurality of feeder units (40) at a second feeder position (22, 122) in the row of feeder positions (20, 120) that is downstream of the first feeder position (21, 121) in the collection direction (C); Including, The first feeder unit (41) and the second feeder unit (42) hold a drug (90) of the same first composition (91); If the first feeder unit (41) is empty or is unable to dispense the drug (90) into the first collection unit (31) at the first feeder position (21, 121), - moving the first recovery unit (31) in the recovery direction (C) to dispense the drug (90) from the second feeder unit (42) at the second feeder position (22, 122) into the first recovery unit (31), method.

2. prior to positioning the first feeder unit (41) at the first feeder position (21, 121), the first feeder unit (41) is positioned at a previous feeder position (23) downstream of the first feeder position (21, 121) in the row of feeder positions (20, 120); - removing said first feeder unit (41) from said previous feeder position (23); - moving said first feeder unit (41) from said previous feeder position (23) to said first feeder position (21, 121); further comprising: The method of claim 1.

3. - dispensing the drug (90) from the second feeder unit (42) at the second feeder position (22) to the first collection unit (31) while moving the first feeder unit (41) from the previous feeder position (23) to the first feeder position (22, 122); further comprising the steps of: The method of claim 2.

4. the first recovery unit (31) is movable along the infinite recovery path (Z1, Z2) over a recovery range (R) starting from the start position (A) and ending at the end position (B); The method of claim 1.

5. The first feeder position (21, 121) is located in the first half of the first collection range (R) in consideration of the start position (A). The method of claim 4.

6. the second feeder position (22, 122) is located in the latter half of the recovery range (R) in relation to the start position (A); The method of claim 4.

7. 2. The method of claim 1, wherein the first feeder position (21, 121) and the second feeder position (22, 122) are spaced apart in the collection direction by a separation angle (H) of at least 5 degrees.

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

9. The infinite recovery path (Z1) is circular. The method of claim 1.

10. the row of feeder positions (20) is distributed circumferentially around an axis of rotation (X), and the first recovery unit (31) is rotatable around the axis of rotation (X) along the infinite recovery path (Z1); 10. The method of claim 9.

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

12. a non-transitory computer-readable medium (72) carrying instructions that, when executed by a processor (71), cause a dispensing device (1, 101) comprising a robotic manipulator (11) to perform the steps of the method of claim 1, Computer program products.

13. A dispensing device (1, 101) for dispensing individual solid medicaments (90), comprising: a discharge section (2, 102) defining an array of feeder positions (20, 120) for holding a plurality of feeder units (40) distributed along an infinite return path (Z1, Z2), said array of feeder positions (20, 120) including at least a first feeder position (21, 121) and a second feeder position (22, 122); a recovery section (3, 103) including a first recovery unit (31) movable in a recovery direction (C) along said infinite recovery path (Z1, Z2) with respect to said row of feeder positions (20, 120); a packaging section (6, 106) for packaging the drug (90) received from the collection section (3, 103); A robot manipulator (11); The robot manipulator (11), positioning a first feeder unit (41) at said first feeder position (21, 121); Before removing the first feeder unit (41) from the first feeder position (21, 121), a second feeder unit (42) is positioned at the second feeder position (22, 122), the second feeder position (22, 122) being downstream of the first feeder position (21, 121) in the collection direction (C). a control unit (7) for controlling the Including, The first feeder unit (41) and the second feeder unit (42) hold a drug (90) of the same first composition (91); The control unit (7) If the first feeder unit (41) is empty or is unable to dispense the drug (90) into the first collection unit (31) at the first feeder position (21, 121), - moving the first collection unit (31) in the collection direction (C) to control the drug (90) to be dispensed from the second feeder unit (42) at the second feeder position (22, 122) to the first collection unit (31); Discharge device (1, 101).

14. The packaging section (6) comprises a first packaging unit (61) at or connected to a first packaging position (P1), The discharge device of claim 13.

15. the first collecting unit (31) is movable between a start position (A) downstream of the first packaging position (P1) in the collecting direction (C) and an end position (B) at or near the first packaging position (P1); The discharge device of claim 13.

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

17. The infinite recovery path (Z1) is circular. The discharge device of claim 13.

18. the row of feeder positions (20) is distributed circumferentially around an axis of rotation (X), and the first recovery unit (31) is rotatable around the axis of rotation (X) along the infinite recovery path (Z1); 18. The discharge device of claim 17.

19. The infinite return path (Z2) is non-circular. The discharge device of claim 13.

20. A method for continuously dispensing, collecting and packaging individual solid medicaments (90) by a dispensing device comprising a dispensing section (2, 102), a collecting section (3, 103) and a packaging section (6, 106), wherein the dispensing section (2, 102) comprises an array of feeder positions (20, 120) for holding a plurality of feeder units (40) distributed along an infinite collection path (Z1, Z2), and the collection section (3, 103) comprises a first collection unit (31) movable along the infinite collection path (Z1, Z2) in a collection direction (C) relative to the array of holding positions (20, 120), and aligned with the array of a plurality of feeder positions (120), placing a first feeder unit (41) at a first feeder position (21, 121) in the row of feeder positions (20, 120); installing a second feeder unit (42) at a second feeder position (22, 122) in the row of feeder positions (20, 120), the second holding position (22, 122) being downstream of the first holding position (21, 121); Discharging the drug (90) from the first feeder unit (41) to the first recovery unit (31); When the first feeder unit (31) is empty or no longer dispenses the drug (90), moving the first recovery unit (31) in the recovery direction (C) to align it with the second feeder unit (42); Discharging the drug (90) from the second feeder unit (42) at the second feeder position into the first collection unit (31); Including, The first feeder unit (41) and the second feeder unit (42) contain a drug (90) of the same first composition (91); method.

21. said step of placing the first and second feeders (41, 42) is carried out using a robot (11); 21. The method of claim 20.

22. further comprising the step of transferring the drug (90) from the first collection unit (31) to a first packaging unit (61) for packaging.

21. The method of claim 20.

23. further comprising the step of removing and / or replacing the first feeder unit (41); 21. The method of claim 20.

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