Substance units distribution devices and methods

Abstract

A substance distributing device, including: a housing including a volume shaped and sized to hold at least one container having a plurality of addressable locations arranged in a storage region and at least one actuator; a control circuitry; at least one actuator interface functionally connected to the control circuitry, wherein the at least one actuator interface is configured to move at least one substance unit stored in the at least one container between a first addressable storage location and at least one second addressable storage location of the plurality of addressable locations, by activating the at least one actuator from outside the at least one storage region upon receiving a signal from the control circuitry.

Description

[0001] SUBSTANCE UNITS DISTRIBUTION DEVICES AND METHODS

[0002] RELATED APPLICATIONS

[0003] This application claims the benefit of priority of US Provisional Patent Application Nos. 63 / 703,979 and 63 / 703,980 filed on October 6, 2024, the contents of which are incorporated herein by reference in their entirety.

[0004] This application is also related to co-filed PCT Patent Application entitled “DISTRIBUTION METHOD, APPARATUS, AND SYSTEM FOR SUBSTANCE UNITS” (Attorney Docket No. 104566), the contents of which are incorporated herein by reference in their entirety.

[0005] The contents of the above applications are all incorporated by reference as if fully set forth herein in their entirety.

[0006] FIELD AND BACKGROUND OF THE INVENTION

[0007] The present invention, in some embodiments thereof, relates to controllable distribution of individual units and, more particularly, but not exclusively, to controllable distribution of substance units.

[0008] U.S. Patent No. 10892048 discloses “Disclosed are various embodiments for automated pill identification using lighting devices and machine learning routines. A computing device may selectively control illumination of a pill provided at an imaging position by a pill dispensing system. The computing device may direct an imaging device to capture image data of the pill during illumination of the pill. Also, the computing device may generate a digital fingerprint of the pill and determine an identity of the pill based at least in part on a comparison of the digital fingerprint to a digital fingerprint library. A machine learning routine may be applied to improve future detection of the identity of the pill” (abstract).

[0009] German Patent No. DE102014008692 discloses “Device for the automatic and timed dispensing of tablets (20) comprising a plurality of magazines (7.1, 7.2, 7.3, 7.4) for receiving a plurality of tablets (20), wherein the magazines (7.1, 7.2, 7.3, 7.4) are arranged on a holding part (2) each magazine (7.1, 7.2, 7.3, 7.4) is releasably connectable to the holding part (2), wherein one or more openings (12) in the holding part (2) are formed, wherein at the holding part (2) at least one Output mechanism for dispensing a tablet (20) from one or more magazines (7.1, 7.2, 7.3, 7.4) is arranged; characterized in that the holding part (2) is a flat plate for receiving a plurality of magazines (7.1, 7.2, 7.3, 7.4), wherein the magazines (7.1, 7.2, 7.3, 7.4) are designed as rotary magazines and each have a magazine rotor (30) have, wherein the flat plate recesses for receiving the plurality of magazines (7.1, 7.2, 7.3, 7.4), wherein the flat plate in the region of the recesses each having an opening (12), wherein the magazines (7.1, 7.2, 7.3, 7.4 ) are arranged horizontally in the operating state of the device, wherein on the device at least one inclined plane (11) for dispensing a tablet (20) from one or more magazines (7.1, 7.2, 7.3, 7.4) is provided, each magazine rotor (30) is driven by an electric stepper motor (8), wherein the output of a tablet by further rotation of the rotary magazine by the stepping motor (8) by a certain increment, and wherein the opening (12) ensures that the tablets only after a certain angle of rotation are ejected” (abstract).

[0010] U.S. Patent No. 4785969 discloses “An improved medication dispensing system is provided for controlled preprogrammed dispensing of medication to a patient and for creating a retrievable patient medication record. The system includes a dispensing unit located, for example, at patient bedside within a hospital room or the like and adapted to receive a pair of medication canisters having magazines with individual cassettes which have been preloaded in a preprogrammed manner in the hospital pharmacy or the like respectively to contain scheduled and unscheduled medications for administration to the patient. The dispensing unit is programmed according to individual patient needs to signal a nurse or other personnel at selected times when scheduled medication is prescribed, whereupon the scheduled medication can be accessed for dispensing only after entry of valid nurse or other personnel identification code into a dispensing unit memory. The unscheduled medications may be accessed by the nurse or other personnel in a similar manner but on an untimed basis as required by the patient. The dispensing unit further includes sensors for detecting removal of any medication cassette and for signalling the dispensing unit memory to create a corresponding patient medication record. A data transmission device is provided for selectively programming the dispensing unit memory and / or for reading the patient medication record from the memory.” (abstract).

[0011] China Patent Application No. 115771676 discloses “The invention discloses a use method of a multifunctional intelligent medicine box, which comprises a medicine box shell, and a control unit, a medicine storage tray, a medicine taking tray, a medicine distribution device, a humancomputer interaction device and the like which are arranged in the shell. The medicine taking tray can drive the medicine storage tray to rotate to the medicine sucking position of the medicine dispensing device, and medicines are placed into the medicine taking tray according to different prescriptions. The medicine storage rotary disc, the medicine taking rotary disc and the medicine distribution mechanism move simultaneously, so that medicines of multiple persons and multiple doses can be configured simultaneously, and the medicine dispensing time is shortened. Compared with the prior art, the invention can overcome the problems that the prior device can not simultaneously allocate multiple doses for multiple people and at one time, has single dispensing mode and low dispensing efficiency” (abstract).

[0012] US Patent No. 9475633 discloses “An apparatus for dispensing medications, including: a portable cassette including with a body portion including a plurality of cassette compartments and at least one lid displaceable with respect to the body portion to enable access to the cassette compartments in a predetermined sequence; and a pill-dispenser including at least one dispensing compartment arranged to store respective pills of at least one respective medication; a dispensing element configured to release the respective pills from the at least one dispensing compartment; and a cassette element arranged to receive the portable cassette and displace the portable cassette so that at least one of the in respective pills falls into each cassette compartment. After the at least one of the respective pills fall into said each cassette compartment: the portable cassette is removable from the pill-dispenser; and the lid is displaceable to control access to the cassette compartments” (abstract).

[0013] U.S. Patent Application No. 2016199260 discloses “This invention is an apparatus that, connected to a computer program, controls the process of filling of pills in trays for medicine dispensers or pillboxes with multiple chambers. The apparatus is characterized by applying a control scanner and a precision weight for precise dispensing of the pills and by gate templates to guide the pills to selected chambers in the target pillboxes. Target chambers are automatically selected according to the pre-determined ingestion time. The pills will remain in the gate-template until the operator has conducted a visual inspection and / or performed a semi-automatic camera control to verify that the pills are properly distributed in the openings of the gate template. After the verification process, the pills are released into medication tray, by means of a mechanical device with double barrier plates, which are activated by a specialized release mechanism” (abstract).

[0014] U.S. Patent No. 4953745 discloses “The present invention relates to an apparatus for dispensing a selected one of a plurality of drugs. The apparatus includes a plurality of individual dispensing mechanisms which are contained within a cabinet. Each of the dispensing mechanisms is adapted to store a plurality of a selected drug unit and is responsive to a selected one of a plurality of drug dispense signals for dispensing the selected drug unit. A control unit is responsive to an input authorization signal representing an operator, a patient identification signal representing a patient for which a drug is to be selected, and a drug select signal representing the drug and the amount to be dispensed. The control unit generates a drug dispense signal corresponding to the selected drug to cause the respective dispensing mechanism to dispense the selected drug. The control unit can be preprogrammed with a prescribed schedule for a particular patient such that a drug can be dispensed for that particular patient only during a certain time period. The control unit also includes a recording device for recording each dispensing transaction including the identity of the operator, the identity of the patient for which the drug is to be dispensed, and the dispensed drug. The control unit also maintains an inventory of the stored drugs” (abstract).

[0015] U.S. Patent No. 5152422 discloses “A dispenser for dispensing predetermined pills in sequential order has a base with a cylindrical housing removably mounted on the base and has a pill container dispenser opening in the cylindrical housing. A pill container magazine is rotatably mounted inside the cylindrical housing and has a plurality of magazine sections thereon for holding a plurality of vertically stacked pill containers in stacked arrays. The pill container magazine in a manual embodiment has a plurality of shift knobs thereon for rotatably shifting the pill container magazine within the cylindrical housing between dispensing positions. A visual and audible signal system is mounted in the dispenser base and is actuated by a timer or clock mechanism to signal the time for a patient to take the pills in one pill container in the pill container magazine. A motorized unit has a standard commercial timer mounted beneath the rotatable magazine and has a mechanism for shifting the magazine between positions as the timer mechanism rotates to thereby automatically rotate and align the magazine with the appropriate pill container and set off the visual and audio alarm reminder” (abstract).

[0016] U.S. Patent No. 6021918 discloses “A central motor-driven disk is formed with a row of open-bottomed pill-receiving virtually contiguous tubes about its border. The disk is surrounded by a first and second ring also having rows of pill-receiving open-bottomed tubes, the tubes come in to registry one-by-one with dispensing openings in a housing which supports these elements. Pills drop through a dispensing opening into a delivery drawer in the housing. Tab portions on the disk and the rings effect the driving by the disk of the first ring and then also the second ring as the pills in the previous ring or disk are dispensed” (abstract).

[0017] U.S. Patent Application No. 20180319570 discloses “A dispenser or dispensing system. The dispenser can be a screw conveyor pill dispenser, tumbler pill dispenser, push-to-operate pill cap dispenser, twist-to-operate pill cap dispenser, or push-to-operate pill cap dispenser. The pill dispenser may include a pill dispenser control system that can interact with a personal device, such as a smart phone. The pill dispenser control system can implement communication with a personal device, pill identification, user identification and security, scheduling functions, and notifications. The pill dispenser can dispense pills manually, semi-automatically, or automatically” (abstract).

[0018] U.S. Patent No. 11577905 discloses “A storage and dispensing station for drugs is provided. The storage and dispensing station includes a receiving space for drug portions, the receiving space having a feed section with a base section and a dispensing opening, an ejection device for moving a drug portion through the dispensing opening, the ejection device having a slide which can be moved in the feed section towards the dispensing opening and a slide drive coupled to the slide for moving the slide, as well as a lock which can be moved in the feed section and which can be moved in the feed section such that when a drug portion is moved towards the dispensing opening, movement of drug portions in the feed section is prevented” (abstract).

[0019] U.S. Patent No. 10292906 discloses “An apparatus for dispensing pills comprising a pill storage section, a dispensing section located at a lower end of the storage section, an optical sensor, a memory, controller and wireless communication module and a supporting tray for one ringshaped blister pack. A spring loaded lever is provided as push-out means in line with the respective pills of the blister pack and with the passage opening and can be operated for pushing out the pills to be dispensed through the passage opening. A motorized mechanism is provided as means for rotatable positioning of the blister pack stepwise relative to the part of the apparatus including the push-out means. Optical sensor detects presence of an object such as a person's hand at the passage opening and allows the pills to be dispensed automatically” (abstract).

[0020] U.S. Patent No. 10730687 discloses “An article dispensing apparatus includes a carousel and an upper casing with a dispensing face including a dispensing orifice through which the articles are dispensed. The carousel includes plural holding sections for holding the articles to be dispensed and is rotationally movable. A controller controls application of a force to cause the carousel to rotate relative to the dispensing face when an instruction to dispense an article is received. When the carousel is moved so that one of its holding sections having an article therein is aligned with the dispensing orifice, the article is allowed to be dispensed therethrough. A locking mechanism selectively engages the carousel to prevent any relative movement of the carousel when the article dispensing unit is not mounted on the main housing and disengages from the carousel to allow intended relative movement when the article dispensing unit is mounted on the main housing” (abstract).

[0021] U.S. Patent Application No. 2023120304 discloses “A multi-serving cartridge assembly is provided with a frame defining serving chambers to receive a supplement. A plurality of trap doors is connected to the frame with each trap door associated with a respective one of the plurality of serving chambers and moveable between a first closed position to enclose the associated serving chamber and a second open position to dispense the supplement therefrom. A dispensing system is provided with a housing including a cartridge bay shaped to receive a cartridge with a plurality of unique identifiers, and a computer control system to read the unique identifier, open the serving chamber, and send a signal to a remote system. A method of dispensing supplement from a cartridge is also provided” (abstract). ES Patent No. 1064932U discloses “Smart pill dispenser package comprising an internally hollow casing (1), a rotatable inner container (2) that houses a plurality of pads (3) including a ratchet and ratchet mechanism around an axis of the casing itself (1), means for driving the ratchet turn and means for indicating time, characterized by the fact that said casing (1) has an access for recharging the inner container, in which the outlet of the tablets (3) is carried out through the side wall of the housing (1) through an outlet port having a sliding cover (8) that is simultaneously synchronized with the actuation means and the time indicating means, and in which the inner container (2) has manual displacement means for recharging the tablets (3). ” (abstract).

[0022] GB Patent No. 2473433 discloses “A dispenser 10 comprises a clock 18 and a plurality of magazines 32, each magazine having a plurality of discrete compartments 40 for holding an item or items to be dispensed. The magazines dispense into respective dispensing chambers 66, from where the items are dispensed into a dispensing tray 26 at a particular time of day. Visual and audible alarms are activated on dispensing which turn off automatically on detection of removal of the items by a detector. The audible alarm may be a pre-recorded message, and an audio recording device may be provided for recording such a message. Each magazine 32 may have a fixed outer casing (35) an inner movable tray (33) which rotates about a central axis. Each dispensing chamber 66 may include a base member (68) movable by an actuator (72) between an open position in which an aperture is revealed for dispensing, and a closed position in which the aperture is covered and dispensing is prevented. The actuator (72) may be a solenoid. A detector may be provided for detecting when an item is removed from the dispensing tray 26. The items to be dispensed are preferably pills” (abstract).

[0023] China Patent No. 112849669 discloses “The invention discloses a magazine type one-key medicine dispensing and taking box, which comprises a lower box body, an upper box body and an upper box body ring, wherein the upper box body ring is fixedly connected with the upper box body; the first transmission device is used for pushing out the medicine in the medicine box device; a second transmission device for providing a driving force for the rotation of the medicine chest; the medicine chest is driven to rotate circumferentially through the second transmission device, one indexing area is enabled to accurately stay at the position of the push rod, and the push rod extends into the medicine chest to push the medicine; the medicine box device synchronously rotates along with the medicine box and is used for storing medicines and pushing the medicines in the medicine box out along the transverse direction by the pushing of the push rod; the center rotating shaft is sleeved in the medicine box, and the medicine box is driven by the second transmission device to rotate circumferentially around the center rotating shaft; the medicine taking box can be flexibly placed in or taken out relative to the lower box body and is used for collecting and temporarily storing the pushed medicines; the invention has the functions of dispensing medicines by one key and reminding medicine taking, and solves the problems that the old people take medicines on time, dispense medicines and the like” (abstract).

[0024] U.S. Patent No. 9251493 discloses “Medication errors happen frequently in hospital, home, and pharmacy environments. A medication verification and dispensing system provides protection against such errors. The apparatus includes a guide tube that receives a medication and imaging device(s) adjacent to the guide tube that take image(s) of the medication. The imaging devices(s) and light source(s) are oriented for capturing images that reveal markings, color, size, shape, etc., of the medication. A verification system uses a signature of the image to identify the medication or compares the image(s) to reference images to identify the medication and to a prescription record of the patient to ensure it is a correct medication, dose, amount, timing, etc., for administration. If the medication is correct, it is dispensed into a dispensing vessel that locks the medication inside, but unlocks when it recognizes a unique patient identifier worn by a patient that is a correct recipient for the medication” (abstract).

[0025] U.S. Patent Application No. 20140055267 discloses “Devices, systems and methods for monitoring medication are provided. A medication monitoring device according to one implementation includes a container configured to store a plurality of medication pills and a gating device connected at an opening of the container. The gating device is configured to electronically monitor the release of at least one of the medication pills. A system and method for monitoring the administration of medication to a patient are also provided. The system, according to one embodiment, comprises the medication monitoring device and a medication management server in communication with the medication monitoring device via a communication network” (abstract).

[0026] U.S. Patent No. 8727208 discloses “A pill identification device having a mechanical device that is adapted to roll a pill along various axes of the pill, an optical device to record or transmit images of the pill and an algorithm to compare an identifier of the pill to a database having known identifiers of known pills is disclosed. A method of identifying a pill using the pill identification device of the embodiment of this invention is disclosed herein. Also, a method of manufacturing the pill identification device of the embodiments of this invention is disclosed herein” (abstract).

[0027] Additional art includes, U.S. Patent No. 9327088, U.S. Patent Application No. 20140131378, U.S. Patent Application No. 20140305961, and Korean Patent No. 101407667. SUMMARY OF THE INVENTION

[0028] Some examples of some embodiments of the invention are listed below (it should be noted that one or more features of an example may be used in combination with one or more features of another example, also if not expressly listed below):

[0029] Example 1. A substance distributing device, comprising: a housing comprising a surface (and / or a volume to hold within, at least in part) shaped and sized to hold at least one container having a plurality of addressable locations arranged in a storage region and at least one actuator; a control circuitry; at least one actuator interface functionally connected to the control circuitry, wherein the at least one actuator interface is configured to move at least one substance unit stored in the at least one container between a first addressable storage location and at least one second addressable storage location of the plurality of addressable locations, by activating the at least one actuator from outside the at least one storage region upon receiving a signal from the control circuitry.

[0030] Example 2. The device according to example 1, wherein the surface is shaped and sized to hold the at least one container in a stationary position relative to the housing.

[0031] Example 3. The device according to any one of examples 1 or 2, wherein the at least one actuator interface is configured to move the at least one substance unit without physically penetrating into the at least one container and / or without physically connecting to the at least one actuator.

[0032] Example 4. The device according to any one of the previous examples, comprising at least one information detector functionally connected to the control circuitry and configured to detect information associated with at least one object, wherein the at least one object is selected from the group consisting of a container, a second device functionally coupled to the device and / or a container of the second device.

[0033] Example 5. The device according to example 4, wherein the at least one information detector comprises at least one information reader configured to read an information tag physically coupled to the object or associated with the object.

[0034] Example 6. The device according to any one of examples 4 or 5, wherein the control circuitry verifies an identity of the object based on signals received from the at least one information detector.

[0035] Example 7. The device according to any one of the previous examples, comprising at least one sensor functionally connected to the control circuitry, and configured to detect at least one of, content of at least one container, position of one or more substance units in at least one container and / or passage of at least one substance unit in and / or out from at least one container in the device, and wherein the control circuitry is configured to generate at least one indication based on signals received from the at least one sensor.

[0036] Example 8. The device according to example 7, wherein the control circuitry is functionally connected to a memory, wherein the control circuitry is configured to store information about a content of addressable storage locations of at least one container in the memory based on signals received from the at least one sensor, or to update existing information stored in the memory based on signals received from the at least one sensor.

[0037] Example 9. The device according to any one of the previous examples, comprising at least one scanner configured to scan at least one substance unit during a passage of the at least one substance unit in and / or out from the container, wherein the control circuitry is configured to identify the at least one substance unit based on information stored in a memory functionally connected to the control circuitry.

[0038] Example 10. The device according to any one of examples 8 or 9, wherein the memory is a memory positioned in the device, or is a memory of a remote device in communication with the device.

[0039] Example 11. The device according to any one of the previous examples, comprising a communication circuitry functionally connected to the control circuitry and configured to communicate with at least one remote device by delivering and / or receiving at least one signal with information about the operation of the device.

[0040] Example 12. The device according to example 11, wherein the communication circuitry transmits information about content of at least one container, position of one or more substance units in at least one container and / or passage of at least one substance unit into and / or out from at least one container.

[0041] Example 13. The device according to any one of examples 11 or 12, wherein the communication circuitry is configured to receive information about addressable storage locations of at least one container from the remote device, and wherein the control circuitry activates the actuator interface based on the received information.

[0042] Example 14. The device according to any one of the previous examples, wherein the at least one actuator interface is configured to generate one or more magnetic fields which are suitable to move at least one actuator of at least one container held in by the housing.

[0043] Example 15. The device according to example 14, wherein the at least one actuator interface comprises magnetic field-generating coils. Example 16. The device according to example 15, comprising at least one printed circuit board (PCB), and wherein the magnetic field-generating coils are patterned in the at least one PCB.

[0044] Example 17. The device according to example 16, wherein the at least one PCB comprises at least two PCBs, and wherein the housing comprises a volume for holding the at least one container and is positioned therebetween.

[0045] Example 18. The device according to example 14, wherein the at least one actuator interface comprises at least one permanent magnet configured to generate a permanent magnetic field.

[0046] Example 19. The device according to any one of the previous examples, comprising at least one container connector configured to mechanically couple the at least one container to the device, and at least one electric motor functionally coupled to the at least one container connector, wherein the electric motor rotates and / or axially moves the at least one container connector relative to the housing.

[0047] Example 20. The device according to any one of the previous examples, comprising at least one electric motor functionally coupled to the control circuitry and to the at least one actuator interface, wherein the electric motor rotates and / or axially moves the at least one actuator interface relative to the housing.

[0048] Example 21. The device according to example 20, comprising a sliding assembly including one or more sliding tracks; wherein the at least one actuator interface is coupled to the sliding assembly, and wherein the electric motor is configured to move the at least one actuator interface along the one or more sliding tracks.

[0049] Example 22. The device according to example 21, comprising a rotating mechanism configured to rotate the sliding assembly at least 360 degrees relative to the housing using the electric motor. Example 23. The device according to example 20, comprising a rotating mechanism configured to rotate the at least one actuator interface at least 350 degrees relative to the housing using the electric motor.

[0050] Example 24. The device according to any one of the previous examples, wherein the housing comprises at least one fastener configured to reversibly fasten the at least one container to the housing.

[0051] Example 25. The device according to example 24, wherein the at least one fastener comprises a magnetic fastener and / or a snap-fit fastener.

[0052] Example 26. The device according to any one of examples 1 to 25, wherein the housing comprises at least one fastener configured to irreversibly fasten the at least one container to the housing. Example 27. The device according to any one of the previous examples comprising at least one port in the housing, shaped and sized to allow passage to and from the at least one container.

[0053] Example 28. The device according to any one of the previous examples, comprising or in communication with a user interface functionally coupled to the control circuitry, wherein the user interface is configured to deliver at least one human detectable indication to a user of the device, and wherein the control circuitry is configured to use the user interface to deliver the at least one human detectable indication with information about at least one of, operation of the device, expected dispensing of at least one substance unit from at least one container held by the device, content of at least one container, and / or information about a dispensing plan of the device.

[0054] Example 29. The device according to any one of the previous examples, wherein the housing comprises at least one recess, aperture and / or movable cover, shaped and sized to allow passage of at least one container into and out from a housing volume containing said surface.

[0055] Example 30. The device according to any one of the previous examples, wherein a maximal size of the device is up to 50 cm X 50 cm X 50 cm.

[0056] Example 31. The device according to any one of the previous examples, comprising the at least one container held by the housing, wherein the at least one container comprises: a container body having an inner volume, wherein the inner volume comprises a storage region comprising a plurality of addressable storage locations, each suitable to hold at least one substance unit; at least one actuator positioned at least partly within the storage region, wherein the at least one actuator is shaped and sized to move at least one substance unit between at least one first addressable storage location and at least one second addressable storage location of the addressable storage locations.

[0057] Example 32. The device according to example 31, wherein the at least one actuator interface is configured to activate the actuator to push the at least one substance unit without physically penetrating into the inner volume.

[0058] Example 33. The device according to any one of examples 31 or 32, wherein the container comprises at least one printed circuit board (PCB) having one or more magnetic coils configured to generate a magnetic field suitable to move the actuator, and wherein the control circuitry controls the activation of the one or more magnetic coils by controlling electrical connectivity of the PCB to a power source of the device.

[0059] Example 34. The device according to any one of the previous examples, wherein the storage region comprises a plurality of storage compartments, each is shaped and sized to hold at least one substance unit and serves as a separate addressable location of the plurality of addressable locations.

[0060] Example 35. The device according to any one of the previous examples, wherein the at least one substance unit has a maximal size of 50 mm X 50 mm X 50 mm.

[0061] Example 36. The device according to any one of the previous examples, wherein the at least one substance unit comprises a bioactive agent.

[0062] Example 37. A substance unit container, comprising: a container body having an inner volume and at least one opening to the inner volume, wherein the inner volume comprises a storage region comprising a plurality of storage locations, each is suitable to hold at least one substance unit; and at least one actuator positioned at least partly within the storage region, wherein the at least one actuator is shaped and sized to move at least one substance unit between at least one a storage location and the at least one opening; wherein the at least one actuator comprises a magnetic responsive element, configured to move the at least one substance unit in response to a magnetic field generated from outside the container.

[0063] Example 38. The container according to example 37, wherein the at least one magnetic responsive element comprises a paramagnetic material, magnetic particles and / or magnetic coating.

[0064] Example 39. The container according to any one of examples 37 or 38, wherein the storage region comprises plurality of storage compartments, each is shaped and sized to hold the at least one substance unit and serves as a separate addressable accessible to the at least one actuator.

[0065] Example 40. The container according to example 39, wherein the plurality of storage compartments are connectable by at least one interconnecting track having a width suitable for passage of at least one actuator.

[0066] Example 41. The container according to any one of examples 37 to 40, wherein the storage region comprises at least one storage track, wherein the at least one storage track is shaped and sized to hold a plurality of substance units arranged along a length of the at least one storage track. Example 42. The container according to example 41, wherein the at least one storage track holds the plurality of substance units each in a separate addressable location.

[0067] Example 43. The container according to any one of examples 41 or 42, wherein the at least one storage track comprises a plurality of storage tracks, wherein at least some of the plurality of storage tracks are oriented in parallel relative to each other. Example 44. The container according to any one of examples 41 or 42, wherein the at least one storage track comprises a plurality of radially oriented storage tracks.

[0068] Example 45. The container according to any one of examples 37 to 44, wherein at least one portion of the storage region is rotatable relative to the at least one opening.

[0069] Example 46. The container according to example 45, wherein the at least one portion of storage region is rotatable in response to a magnetic field and / or a mechanical force applied on the storage region, generated from outside the container.

[0070] Example 47. The container according to any one of examples 37 to 46, wherein the at least one opening is sealable for preventing passage of fluids into the storage region.

[0071] Example 48. The container according to any one of examples 37 to 47, wherein at least a portion of the container body is transparent, wherein the portion is positioned to allow visualization of the storage region from outside the container.

[0072] Example 49. The container according to any one of examples 37 to 48, wherein at least a portion of the container body is formed from transparent glass, wherein the transparent glass is positioned to allow visualization of the storage region from outside the container.

[0073] Example 50. The container according to anyone of examples 37 to 49, wherein the container body is formed from at least two portions irreversibly coupled to each other.

[0074] Example 51. The container according to any one of examples 37 to 50, wherein a size of the container body is up to 30cm X 30cm X 30cm.

[0075] Example 52. The container according to any one of examples 37 to 51, wherein the storage region includes at least one substance unit.

[0076] Example 53. The container according to example 52, wherein the at least one substance unit comprises at least one of, a bioactive agent, a pharmaceutical compound, a nutraceutical compound, vitamin and food supplement.

[0077] Example 54. A method for controllably distributing a substance unit, comprising: holding in or on a volume of a distribution device, at least one container comprising at least one substance unit stored in a storage region of the at least one container; generating a signal to move the at least one substance unit in the at least one container; activating in response to the signal at least one actuator in the container to move the at least one substance unit from at least one addressable storage location in the container to at least one second addressable storage location in the container, wherein the activating comprises activating the at least one actuator from outside the storage region. Example 55. The method according to example 54, wherein the activating comprises activating the at least one actuator in the container to move the at least one substance unit, without physically penetrating into the container.

[0078] Example 56. The method according to any one of examples 54 or 55, wherein the activating comprises activating the at least one actuator to move the at least one substance unit from at least one addressable storage location in the container out from the container.

[0079] Example 57. The method according to example 56, wherein the activating comprises activating the at least one actuator to dispense the at least one substance unit out from the container into a second container.

[0080] Example 58. The method according to example 57, comprising verifying an identity of the at least one substance unit in a timed relation with a movement of the at least one substance unit within the container and / or in a timed relation with a movement of the at least one substance unit out from the container.

[0081] Example 59. The method according to any one of examples 54 to 58, wherein the activating comprises generating outside the container a magnetic field suitable to induce the at least one actuator to move the at least one substance unit.

[0082] Example 60. The method according to any one of examples 54 to 59, comprising generating following the activating an indication with information about an updated location of the at least one substance unit.

[0083] Example 61. The method according to any one of examples 54 to 60, comprising delivering a human detectable indication with an indication regarding an expected scheduled activation of the at least one actuator and / or upon completion of the activating.

[0084] Example 62. The method according to any one of examples 54 to 61, comprising aligning the at least one substance unit with at least one opening of the container, and wherein the activating comprises activating following the aligning the at least one actuator to move the at least one substance unit out from the container via the at least one opening.

[0085] Example 63. The method according to example 62, wherein the activating comprises activating following the aligning the at least one actuator to push the at least one substance unit to a different container via the at least one opening.

[0086] Example 64. The method according to any one of examples 54 to 63, comprising verifying an identity of the container prior to the generating of the signal to move the at least one substance unit, and wherein the activating is performed if identification of the container is verified based on the received identification information.

[0087] Example 65. A system for dispensing substance units, comprising: (a) a substance unit container including:

[0088] (i) a plurality of tracks;

[0089] (ii) a plurality of substance units arranged in said a plurality of tracks;

[0090] (iii) and at least one actuator movable by magnetic forces from outside the container;

[0091] (b) a magnetic actuator interface comprising at least one magnetic element positioned to apply force on said actuator when said magnetic element is moved; and

[0092] (c) a control system configured to select a track of said plurality of tracks and instruct said magnetic actuator interface to move said actuator to said track.

[0093] Example 66. the system of example 65, comprising a resting location for said at least one actuator, which resting location includes a magnetically interacting element attracted to said at least one actuator.

[0094] Example 67. The system of example 65 or example 66, wherein said plurality of tracks include an opening and wherein said opening includes an elastically deformable retaining element which blocks at least part of said opening and is deformable under force along said track to unblock said radially outwards opening.

[0095] Example 68. The system of any of examples 65-67 wherein said plurality of tracks include a radially inwards opening and wherein said opening is narrower than said substance units and prevents radially inwards movement of said units, but allows radially outward movement of said at least one actuator.

[0096] Example 69. The system of any of examples 65-68, wherein said container has an opening of egress and / or ingress of said plurality of substance units and wherein said tracks are mounted on a carousel and rotatable so one of said tracks can selectively be aligned with said container opening.

[0097] Example 70. The system of example 69, wherein said container has at least one stable resting position where said carousel is held in place by at least one magnet and no track is aligned with said egress opening.

[0098] Example 71. The system of any of examples 65-70, wherein said magnetic element is mounted on a linearly movable base.

[0099] Example 72. The system of any of examples 65-71, wherein said magnetic element is mounted on a rotatable base.

[0100] Example 73. The system of any of examples 65-72, wherein said magnetic element is positionable under any location in said container that said at least one actuator can reach. Example 74. The system of any of examples 65-73, wherein said container and said magnetic actuator interface are sized and shaped to be stacked such that said magnetic element is adjacent said at least one actuator.

[0101] Example 75. The system of example 74 comprising at least one sensor to detect alignment of said at least one actuator and said at least magnetic element.

[0102] Example 76. The system of example 74 or example 75 comprising at least one magnet for attaching and aligning said container and said magnetic actuator interface.

[0103] Example 77. The system of any of examples 65-76, wherein said container and said magnetic actuator interface and said control circuitry are separate and hand separable components each with its own housing.

[0104] Example 78. The system of example 77, wherein said system does not provide feedback to said control circuitry regarding a measured position of said at least one actuator in said track.

[0105] Example 79. The system of example 77 or example 78, wherein said system does not include a position sensor for said at least one actuator.

[0106] Example 80. A substance unit container comprising: a base defining a horizontal plane; and a plurality of circumferentially arranged storage tracks, each with an opening radially inwards and each with an opening radially outwards, wherein each track has a longitudinal axis and wherein at least one of the axes is slanted relative to said horizontal plane.

[0107] Example 81. A substance unit container comprising: a base defining a horizontal plane; and a plurality of circumferentially arranged storage tracks, each with an opening radially inwards and each with an opening radially outwards, wherein each track is sized to selectively hold a size zero capsule or a plurality of disc shaped tablets.

[0108] Example 82. The substance unit container of any one of examples 80 and 81 containing at least one substance unit.

[0109] Example 83. A method of controlling a rotatable carousel in a substance container using magnetic force, comprising:

[0110] (a) engaging a magnet or magnetic -responsive element in the container using a magnetic- responsive or magnetic actuator; and

[0111] (b) applying force including a component in a tangent direction to said carousal to rotate said carousel. Example 84. The method of example 83, wherein said magnetic-responsive or magnetic element is an actuator and comprising, after said rotating, moving said actuator using said magnetic- responsive or magnetic actuator to apply a force having a radial component on a substance unit in said carousel.

[0112] Example 85. A method of dispensing a substance unit from a container having a body with an opening and having an alignable insert, comprising, by an automated system,

[0113] (a) aligning a track of said insert with said opening; and

[0114] (b) applying force against a substance unit in said track in a direction of said opening.

[0115] Example 86. The method of example 85, comprising: providing said insert with no track aligned with said opening; performing (a)-(b); and realigning said insert so no track is aligned with said opening.

[0116] Unless otherwise defined, all technical and / or scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which the invention pertains. Although methods and materials similar or equivalent to those described herein can be used in the practice or testing of embodiments of the invention, exemplary methods and / or materials are described below. In case of conflict, the patent specification, including definitions, will control. In addition, the materials, methods, and examples are illustrative only and are not intended to be necessarily limiting.

[0117] As will be appreciated by one skilled in the art, some embodiments of the present invention may be embodied as a system, method or computer program product. Accordingly, some embodiments of the present invention may take the form of an entirely hardware embodiment, an entirely software embodiment (including firmware, resident software, micro-code, etc.) or an embodiment combining software and hardware aspects that may all generally be referred to herein as a “circuit,” “module” or “system.” Furthermore, some embodiments of the present invention may take the form of a computer program product embodied in one or more computer readable medium(s) having computer readable program code embodied thereon. Implementation of the method and / or system of some embodiments of the invention can involve performing and / or completing selected tasks manually, automatically, or a combination thereof. Moreover, according to actual instrumentation and equipment of some embodiments of the method and / or system of the invention, several selected tasks could be implemented by hardware, by software or by firmware and / or by a combination thereof, e.g., using an operating system.

[0118] For example, hardware for performing selected tasks according to some embodiments of the invention could be implemented as a chip or a circuit. As software, selected tasks according to some embodiments of the invention could be implemented as a plurality of software instructions being executed by a computer using any suitable operating system. In an exemplary embodiment of the invention, one or more tasks according to some exemplary embodiments of method and / or system as described herein are performed by a data processor, such as a computing platform for executing a plurality of instructions. Optionally, the data processor includes a volatile memory for storing instructions and / or data and / or a non-volatile storage, for example, a magnetic hard-disk and / or removable media, for storing instructions and / or data. Optionally, a network connection is provided as well. A display and / or a user input device such as a keyboard or mouse are optionally provided as well.

[0119] Any combination of one or more computer readable medium(s) may be utilized for some embodiments of the invention. The computer readable medium may be a computer readable signal medium or a computer readable storage medium. A computer readable storage medium may be, for example, but not limited to, an electronic, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or any suitable combination of the foregoing. More specific examples (a non-exhaustive list) of the computer readable storage medium would include the following: an electrical connection having one or more wires, a portable computer diskette, a hard disk, a random access memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or Flash memory), an optical fiber, a portable compact disc read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the foregoing. In the context of this document, a computer readable storage medium may be any tangible medium that can contain, or store a program for use by or in connection with an instruction execution system, apparatus, or device.

[0120] A computer readable signal medium may include a propagated data signal with computer readable program code embodied therein, for example, in baseband or as part of a carrier wave. Such a propagated signal may take any of a variety of forms, including, but not limited to, electromagnetic, optical, or any suitable combination thereof. A computer readable signal medium may be any computer readable medium that is not a computer readable storage medium and that can communicate, propagate, or transport a program for use by or in connection with an instruction execution system, apparatus, or device.

[0121] Program code embodied on a computer readable medium and / or data used thereby may be transmitted using any appropriate medium, including but not limited to wireless, wireline, optical fiber cable, RF, etc., or any suitable combination of the foregoing.

[0122] Computer program code for carrying out operations for some embodiments of the present invention may be written in any combination of one or more programming languages, including an object-oriented programming language such as Java, Smalltalk, C++ or the like and conventional procedural programming languages, such as the "C" programming language or similar programming languages. The program code may execute entirely on the user's computer, partly on the user's computer, as a stand-alone software package, partly on the user's computer and partly on a remote computer or entirely on the remote computer or server. In the latter scenario, the remote computer may be connected to the user's computer through any type of network, including a local area network (LAN) or a wide area network (WAN), or the connection may be made to an external computer (for example, through the Internet using an Internet Service Provider).

[0123] Some embodiments of the present invention may be described below with reference to flowchart illustrations and / or block diagrams of methods, apparatus (systems) and computer program products according to embodiments of the invention. It will be understood that each block of the flowchart illustrations and / or block diagrams, and combinations of blocks in the flowchart illustrations and / or block diagrams, can be implemented by computer program instructions. These computer program instructions may be provided to a processor of a general-purpose computer, special purpose computer, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, create means for implementing the functions / acts specified in the flowchart and / or block diagram block or blocks.

[0124] These computer program instructions may also be stored in a computer readable medium that can direct a computer, other programmable data processing apparatus, or other devices to function in a particular manner, such that the instructions stored in the computer readable medium produce an article of manufacture including instructions which implement the function / act specified in the flowchart and / or block diagram block or blocks.

[0125] The computer program instructions may also be loaded onto a computer, other programmable data processing apparatus, or other devices to cause a series of operational steps to be performed on the computer, other programmable apparatus or other devices to produce a computer implemented process such that the instructions which execute on the computer or other programmable apparatus provide processes for implementing the functions / acts specified in the flowchart and / or block diagram block or blocks.

[0126] Some of the methods described herein are generally designed only for use by a computer, and may not be feasible or practical for performing purely manually, by a human expert. A human expert who wanted to manually perform similar tasks, such as determine a position of a substance unit in one or more containers, move a specific substance unit between two addressable locations in a container and / or generate an indication regarding a position of at least one substance unit in a container, might be expected to use completely different methods, e.g., making use of expert knowledge and / or the pattern recognition capabilities of the human brain, which would be vastly more efficient than manually going through the steps of the methods described herein.

[0127] BRIEF DESCRIPTION OF THE SEVERAL VIEWS OF THE DRAWINGS

[0128] Some embodiments of the invention are herein described, by way of example only, with reference to the accompanying drawings. With specific reference now to the drawings in detail, it is stressed that the particulars shown are by way of example and for purposes of illustrative discussion of embodiments of the invention. In this regard, the description taken with the drawings makes apparent to those skilled in the art how embodiments of the invention may be practiced.

[0129] In the drawings:

[0130] FIG. 1A is a flowchart of a general process for moving a substance unit located within a container, according to some embodiments of the invention;

[0131] FIGs. 1B-1C are schematic illustrations showing movement of a substance unit within a container using a magnetic field, according to some embodiments of the invention;

[0132] FIG. ID is a block diagram of a substance unit distribution device, according to some embodiments of the invention;

[0133] FIG. IE is a flowchart of a general process, performed by a user of a substance unit distribution device, according to some embodiments of the invention;

[0134] FIG. IF is a flowchart of a general process performed by a substance unit distribution device, according to some embodiments of the invention;

[0135] FIGs. 1G-1K are schematic illustrations of a container, for example an active container, according to some embodiments of the invention;

[0136] FIG. IL is a schematic illustration of a travelling displacer of an active container, according to some embodiments of the invention;

[0137] FIG. IM is a schematic illustration of a substance unit, according to some embodiments of the invention;

[0138] FIG. IN is a block diagram of a dispensing device, according to some embodiments of the invention;

[0139] FIG. 2A is a schematic illustration showing dynamic constraints on the motility of a substance unit along a path, for example a storage track, according to some embodiments of the invention; FIG. 2B is a schematic illustration showing plurality of substance units arranged along a storage track, according to some embodiments of the invention;

[0140] FIG. 2C is a schematic illustration showing physical barriers to the motility of a substance unit along a storage track, according to some embodiments of the invention;

[0141] FIG. 3A is a schematic illustration showing substance units in a storage state, according to some embodiments of the invention;

[0142] FIG. 3B is a schematic illustration showing transfer and / or dispensing of a substance unit, according to some embodiments of the invention;

[0143] FIGs. 4A-4C are schematic illustrations showing use of a travelling displacer, according to some embodiments of the invention;

[0144] FIGs. 5A-5C are schematic illustrations showing use of a travelling displacer along with internal surfaces to assist in the reorganization of substance units, according to some embodiments of the invention;

[0145] FIG. 6A is a schematic illustration showing arrangements of substance units of different sizes in a container, according to some embodiments of the invention;

[0146] FIGs. 6B-6D are schematic illustrations showing interactions between travelling displacers and substance units, according to some embodiments of the invention;

[0147] FIG. 7 is a schematic illustration of a distributing device, for example an active container rig in which a container includes two or more parallel storage tracks, according to some embodiments of the invention;

[0148] FIG. 8 is a schematic illustration of a distributing device in which a container includes two or more parallel storage tracks that are open to at least one trunk track, according to some embodiments of the invention;

[0149] FIG. 9A is a schematic illustration of a distributing device in which a container includes niches and single-ended (blind) storage tracks, along with one or more ports, according to some embodiments of the invention;

[0150] FIG. 9B is a schematic illustration of a distributing device in which a container includes a displacer protrusion, according to some embodiments of the invention;

[0151] FIGs. 10A-10B are schematic illustrations showing an active container having alternative arrangements of storage tracks, according to some embodiments of the invention;

[0152] FIG. 10C is a schematic illustration of a distributing device includes a multi-level active container, according to some embodiments of the invention;

[0153] FIGs. 11 A- 11C are schematic illustrations showing adjustment of resistance to movement along a storage track, according to some embodiments of the invention; FIGs. 11D-11E are schematic illustrations showing pressurization-based dynamic adjustment of retention forces (resistance to movement) acting on at least one substance unit in an active container, according to some embodiments of the invention;

[0154] FIGs. 12A-12B are schematic illustrations showing modification of retention forces (resistance to movement) at a level of individual addressable locations, according to some embodiments of the invention;

[0155] FIGs. 13A-13C are schematic illustrations showing storage of an inhomogeneous array of substance units in an arrangement of storage wells, according to some embodiments of the invention;

[0156] FIGs. 14 and 15 are schematic illustrations showing actuated movement of substance units by movement of a travelling displacer, according to some embodiments of the invention;

[0157] FIGs. 16A-16C are schematic illustrations showing use of a travelling displacer to address specific substance units held in a storage region of a container, according to some embodiments of the invention;

[0158] FIGs. 17A-17H are schematic illustrations showing control of resistance-to-motion when using a travelling displacer to push at least one substance unit, according to some embodiments of the invention;

[0159] FIG. 18 is a schematic illustration showing at least one mechanically engaging actuator interface between an active container and at least one controller, according to some embodiments of the invention;

[0160] FIG. 19 is a schematic illustration showing use of leaf actuators, according to some embodiments of the invention;

[0161] FIGs. 20A-20B are schematic illustrations of a leaf actuator, according to some embodiments of the invention;

[0162] FIGs. 21A-21B are schematic illustrations showing actuating of a leaf actuator, according to some embodiments of the invention;

[0163] FIG. 22 is a schematic illustration of a controller having a printed circuit board (PCB) patterned with a coil array, according to some embodiments of the invention;

[0164] FIG. 23A is a schematic illustration showing movement of an end effector of an actuator by a magnetic field, according to some embodiments of the invention;

[0165] FIGs. 23B-23C are schematic illustrations of a magnetic end effector, according to some embodiments of the invention;

[0166] FIGs. 24A-24B are schematic illustrations showing generation of a magnetic field to move a travelling displacer, according to some embodiments of the invention; FIGs. 25A-25E are schematic illustrations showing generation of a magnetic field to move a travelling displacer to rotate a carousel insert, according to some embodiments of the invention;

[0167] FIG. 26 is a schematic illustration of an active container rig having PCBs patterned with magnetic coil arrays, according to some embodiments of the invention;

[0168] FIG. 27A is a schematic illustration of circuit board layouts of a planar stepper motor, according to some embodiments of the invention;

[0169] FIGs. 27B-27E are schematic illustrations showing operation of the planar stepper motor of FIG. 27 A, according to some embodiments of the invention;

[0170] FIGs. 28A-28C are schematic illustrations showing navigation of a travelling displacer through a storage region, according to some embodiments of the invention;

[0171] FIGs. 29A-29D are schematic illustrations showing operation of a substance unit-capturing travelling displacer, according to some embodiments of the invention;

[0172] FIGs. 3OA-3OD are schematic illustrations showing operation of a substance unit-capturing travelling displacer with open sides, according to some embodiments of the invention;

[0173] FIGs. 31A-31E are schematic illustrations showing operation of an open-sided substance unit-capturing travelling displacer, according to some embodiments of the invention;

[0174] FIGs. 32A-32D are schematic illustrations showing operation of an open-sided substance unit-capturing travelling displacer to release and / or push a substance unit, according to some embodiments of the invention;

[0175] FIGs. 33A-33B are schematic illustrations showing operation of an open-sided substance unit-capturing travelling displacer to rotate a substance unit, according to some embodiments of the invention;

[0176] FIGs. 34A-34B are schematic illustrations showing operation of an open-sided substance unit-capturing travelling displacer with an assisting displacer, according to some embodiments of the invention;

[0177] FIG. 35 is a schematic illustration of an active container rig configured to transfer active containers, according to some embodiments of the invention;

[0178] FIG. 36A is a schematic illustration of a stepper motor, according to some embodiments of the invention;

[0179] FIG. 36B is a schematic illustration of an interior of an active container configured to be driven by the stepper motor of FIG. 36A, according to some embodiments of the invention;

[0180] FIG. 37 is a schematic illustration showing in-taking and / or inward movements of substance units of a stepper motor, according to some embodiments of the invention; FIG. 38 is a schematic illustration showing expelling and / or outward movements of substance units within an active container, according to some embodiments of the invention;

[0181] FIGs. 39A-39B are schematic illustrations showing retaining properties of an active container when its addressable locations are only partially filled with a substance unit, according to some embodiments of the invention;

[0182] FIG. 40 is a schematic illustration showing a mechanism for controllably moving a magnet in a plane, according to some embodiments of the invention;

[0183] Figs. 41A-41E show a mechanism for controllably moving a magnet in a plane, for example for dispensing substance units, according to some embodiments of the invention;

[0184] Figs. 42A-42B are inside views of a substance container in accordance with exemplary embodiments of the invention; and

[0185] Figs. 43A-43C are views of an inside of a substance container including at least one substance storage track with a slant from the horizontal, in accordance with some embodiments of the invention.

[0186] DESCRIPTION OF SPECIFIC EMBODIMENTS OF THE INVENTION

[0187] The present invention, in some embodiments thereof, relates to controllable distribution of individual units and, more particularly, but not exclusively, to controllable distribution of substance packets, also termed herein substance units.

[0188] Abroad aspect of some examples of the present disclosure relates to containers, optionally active containers for substance units, and to rigs which include and operate those active containers to rearrange the substance units they contain. Herein, the terms substance packet and substance unit are used interchangeably.

[0189] In some embodiments, active containers and active container rigs act as nodes of a distribution system for substance units, optionally including substance units associated with stringent quality, storage, and / or monitoring requirements such as pharmaceuticals and nutraceuticals (e.g., vitamin pills). Optionally, other types of substances e.g., flavoring agents and / or coloring agents) are provided as substance units. Optionally the “substance” of a substance unit comprises a small object (e.g., one or more electronic components, sensors, and / or special actuators). The small object may be an object which is itself commercially distributed, and / or an object which supports functionality of the distribution system itself. Optionally, a substance unit is configured to receive a sample, e.g., a medical sample, and used to convey the sample from its source to another site for testing and / or study. Alternatively, or additionally, a substance unit comprises and / or is configured to receive and convey at least one of, a bioactive agent, a pharmaceutical compound, a nutraceutical compound, vitamin and food supplement. Alternatively, or additionally, a substance unit comprises and / or is configured to receive and convey at least one of, a diagnostic sensor, an environmental sensor and logger, an environmental actuator (for example silica gel, a CO2 container), a multi-modal drug delivery unit, different types of actuators, food substances (gum, mint etc.), any hardware element, microchips, electronic components, and / or chemical strip assays.

[0190] According to some embodiments, a substance unit has a size of up to 40 mm in length, up to 40 mm in width and up to 40 mm in thickness, for example a size of up to 35 mm X 35 mm X 35 mm, a size of up to 30 mm X 30 mm X 30 mm, or any intermediate, smaller or larger size. In some embodiments, a substance unit has a diameter of between 2 mm to 30 mm, between 2 mm to 7 mm, between 5 mm to 10 mm, between 7 mm to 12 mm, between 11 mm to 20 mm, between 15 mm to 30 mm, or any intermediate, smaller or larger diameter value. In some embodiments, a substance unit has a thickness of between 1mm to 10 mm, between 1 mm to 6 mm, between 3 mm to 8 mm, between 5 mm to 10 mm, or any intermediate, smaller or larger value. In some embodiments, for example when the substance unit comprises a capsule, the substance unit has a length of between 5 mm to 40 mm, for example a length of between 5 mm to 15 mm, 10 mm to 20 mm, 15 mm to 30 mm, 20 mm to 40 mm, or any intermediate, smaller or larger length value, and a thickness of between 2 mm to 10 mm, for example between 2 mm to 6 mm, between 3 mm to 8 mm, between 4 mm to 9 mm, or any intermediate, smaller or larger thickness value.

[0191] According to some embodiments, active containers and active container rigs are variously configured to participate in and / or perform many distribution operations substantially autonomously, potentially lowering costs and / or inefficiencies associated with the movement of individual substance units. This can enable routine exchanges of substance units among different active containers, and / or within active containers, which provide capabilities and / or levels of service which are not presently available, and / or make these more available.

[0192] For example, the distribution system is optionally used for automating both the distribution chain (or part thereof) of pharmaceuticals from the manufacturer to a patient optionally according to their current prescriptions, and the organization of those pharmaceuticals to dispense them according to the patient’s personal daily regimen of pharmaceutical consumption.

[0193] Particularly with the addition of suitable authorization and authentication mechanisms, the distribution system optionally becomes capable of significant flexibility. For example, it is optionally used to deliver substance units prospectively to users, meter actual use, and optionally return unused substance units to the system in known states with well-known histories, potentially to be redistributed and / or disposed of elsewhere. Optionally, patients receive organized and personalized reminders of their individual regimens, while physicians and / or caregivers are provided with access to detailed information regarding patient compliance with what has been prescribed, and potentially information regarding the effects of what has been prescribed.

[0194] The active containers of the distribution system optionally provide internally controlled storage environments for the substance units they distribute, e.g., an environment sealed to mitigate, minimize and / or prevent contamination and / or environmentally induced degradation of the distributed substance units.

[0195] Furthermore, in some embodiments, substance units and / or active containers are tracked in a manner which is “data twinned”. As a result, a substance unit is represented in the system by data which represent it sufficiently well to support automatic processing of the substance unit, optionally down to the resolution of the individual substance unit itself, including tracking of its individual history of locations within the distribution system.

[0196] Although automation of this tracking can potentially be performed at low cost, a person of ordinary skill in the art will readily understand that performing and re -performing individual acts of substance unit identification may be less cost effective than allowing the known state of a container to stand in for the substance units it contains. To enable this, an active container should be able to store substance units in such a way that they can be reliably retrieved according to the locations they are assigned, e.g., as recorded by their respective data twinning records. However, the freedom to manipulate those locations according to dynamic requirements is potentially in tension with reliable retrieval. The two features together seem to call for a “fixed dynamism”- fixed, since the substance units should remain where they are put, but dynamic, because where they are put should be repeatedly adjustable according to changes in circumstance.

[0197] In some embodiments of the present disclosure, fixation is maintained in part by keeping the storage regions of an active container well packed. Unintended movements are optionally prevented by using sizes and shapes of storage tracks which fittingly contain the substance units- which themselves are optionally limited to a range of sizes and shapes which promote fixation. Insofar as the packing elements used to maintain fixation are themselves moveable, this mechanism provides potential advantages for retaining dynamism; the interior of an active container is arranged somewhat as a lock or puzzle, for which a relatively small number of initial movements are available. In some embodiments, movements are constrained by arrangements of guiding surfaces, helping to ensure that when movements are generated, they conform to predetermined expectations which can easily be maintained in synchrony with the records of the data twins of the active containers and the substance units they contain. Additionally, or alternatively, fixation is maintained by dynamic adjustments to the interior arrangements of an active container. This can include global clamping of substance units, e.g., by adjusting the open region of an active container (e.g., reducing its vertical height) so that substance units are held in place by friction and / or by creating constrictions through which substance units are unable to pass. To prepare for rearrangements of substance units, the global clamps are removed. In some embodiments, reversible local clamping and / or constriction is performed; e.g., regions may be closed off from exchanging substance units by activating collapses, constrictions, and / or misalignments in selectably controllable locations within the active container. Such local modifications are reversed as appropriate to restore freedom of movement. This approach to fixation of substance units potentially allows use of a broader selection of substance unit shapes and sizes, despite associated scenarios for inadvertent rearrangements of substance units, e.g., by jarring an active container at an inopportune time during which clamping is released. Optionally, sensing (e.g., by a MEMS device) is used to detect events such as sudden accelerations, and mitigations carried out, e.g., by a detailed re-inspection of the substance units of an active container.

[0198] In the distribution system overall, different tradeoffs between active containers which accept a greater variety of substance units, but are potentially more expensive to operate, and active containers which are less flexible in what they can accept, but potentially more efficiently operated.

[0199] Actuation to move substance units within an active container is potentially in tension with maintaining the substance units in a sufficiently sealed environment (e.g., sufficiently sealed according to substance-dependent requirements to prevent contamination and / or deterioration of the substance). In some embodiments, mechanical linkages are provided in which actuator elements engage across a flexible sealed membrane.

[0200] According to some embodiments, an actuator can be or comprise a travelling displacer positioned at least partially within a container and used to rearrange, move and / or push at least one substance unit within a container.

[0201] In some embodiments, the seal barrier overcome by transmitting magnetic fields into the active container from outside, and converting these into a source of force, e.g., by the use of magnetically attracted and / or repelled materials inside the active container. This provides a potential advantage over a flexible membrane, e.g., by removing a component potentially vulnerable to wear-through and / or punctures.

[0202] This approach also provides a potential advantage insofar as the magnetically affected object is optionally a relatively simple element, e.g., with no internal moving parts. Optionally, this element is the travelling displacer, which itself optionally acts as an end effector of the actuator(s) which induces rearrangements of substance units. In some embodiments, an end effector is optionally a travelling displacer or a portion thereof, that is affected by the actuator and induces movement of a substance unit, optionally by directly contacting the substance unit. Optionally, an end effector comprises a magnetic responsive element or is a portion of such an element. In some embodiments, planar arrays of electrically conductive traces are provided which can be selectably activated to generate magnetic fields which induce movements of the travelling displacer, potentially in any planar direction, thus producing a planar motor. By providing more than one such planar array, a plurality of planar travel zones are optionally defined. This provides a potential advantage by enabling flexible definition of the patterns of end effector movement used to move substance units around. In some embodiments, magnetic fields are generated from two or more coils positioned at different sides, optionally opposite sides, of a container. Optionally, each coil is patterned in a different PCB, and the PCBs are positioned at different sides of the container.

[0203] Optionally at least one coil is associated with the container and configured to receive power and be controlled by a distribution device. Optionally at least one coil is part of the device.

[0204] According to some embodiments, a container, for example an active container comprises at least one actuator interface, for example a coil, in addition or as an alternative to an actuator interface of the device. In some embodiments, the container actuator interface is electrically connectable to a power source of a distribution device via at least one electrical connector.

[0205] Additionally, or alternatively, in some embodiments, electrical power is carried into the active container, and, e.g. , one or more electrical motors within the active container used to provide power to any suitable electro-mechanical actuator design. It is not excluded that this power is used to generate magnetic fields which generate planar movements from within an active container. It is anticipated, however, that component cost considerations will typically favor component arrangements in which electrically powered circuitry is maintained in controller modules of the distribution system, with a relatively greater number of active containers in circulation being restricted to the components needed to implement end effectors of actuators which that circuitry controls.

[0206] An aspect of some embodiments relates to moving, for example controllably moving, at least one substance unit within a container, without physically penetrating into the container. In some embodiments, the at least one substance unit is moved, for example pushed (optionally laterally) between at least one first addressable location within the container and at least one second addressable location within the container. In some embodiments, the at least one substance unit is pushed within a storage region of the container. In some embodiments, moving of the at least one substance unit comprises controllably transferring the at least one substance unit out from the container, for example via a port. Optionally, the at least one substance unit is controllably transferred from the container to a different container.

[0207] According to some embodiments, the at least one substance unit is moved within the storage region of the container, by affecting at least one actuator, that can be or comprise a travelling displacer, within the container from outside the container. In some embodiments, the at least one actuator is affected without physically penetrating into the container, for example into the storage region of the container where the at least one substance unit is stored.

[0208] According to some embodiments, the at least one actuator is affected by energy applied on the actuator from outside the container. In some embodiments, the energy comprises thermal energy, magnetic energy and / or electromagnetic energy. In some embodiments, the at least one actuator is configured to move, for example to move in an axial direction, to turn, to rotate, to flip and / or to change its shape or size in response to the applied energy.

[0209] In some embodiments, the at least one actuator is positioned completely within the container, for example within a storage region of the container. Optionally, the at least one actuator extends out from a storage region of the at least one substance unit, but part of the actuator still remains within the container. In some embodiments, the at least one actuator comprises, an electrical motor, a magnetic responsive element, a liner actuator, a memory metal, a shape memory alloy, or any other energy responsive element.

[0210] According to some embodiments, the at least one actuator is used as a displacer, for example a travelling displacer, configured to move, optionally push, the at least one substance unit within the container. Alternatively, or additionally, the at least one actuator comprises or operates as a blocker, which reversibly blocks a passage of the at least one substance unit within the container. In some embodiments, application of energy on the blocker blocks or unblocks the passage.

[0211] According to some embodiments, the energy is applied from an energy generator, for example an actuator interface, located outside of the container. In some embodiments, the actuator interface is part of a controller, for example a container rig configured to be coupled to the container. In some embodiments, the container rig is configured to couple the container, for example to position the actuator interface of the controller and the actuator of the container in a proximity close enough, for example to allow an effective effect of the applied energy on the actuator.

[0212] According to some embodiments, addressable locations, for example addressable storage locations, are distinct locations each having a different address, that are suitable for storing at least one substance unit or a portion thereof. In some embodiments, information about a container includes information about an arrangement of addressable locations and optionally a content of each addressable location. In some embodiments, an addressable location can be occupied with at least one substance unit (or a portion thereof) or be empty. In some embodiments, at least one substance unit occupies more than a single addressable location.

[0213] According to some embodiments, the container comprises one or more storage compartments that are distinct compartments shaped and size to receive and hold at least one substance unit, optionally stationary. Optionally, at least one wall of the one or more storage compartments is in contact with the at least one substance unit or a portion thereof positioned within the compartment. Optionally, at least some or all of storage compartments in a container are addressable, each includes a distinct address.

[0214] According to some embodiments, a container, for example a storage region of a container, includes non-addressable storage compartment. Optionally, a non-addressable storage compartment is a storage compartment that does not include a distinct address and / or that is not accessible to an actuator. In some embodiments, scanning of the container, optionally when the container is inserted into a device, includes assigning at least one distinct address to each or to at least some of the storage compartments, for example to occupied storage compartments, or to storage compartments that include a specific type of substance units. In some embodiments, assignment of addresses to one or more storage compartments is repeated, for example when a substance unit is dispensed, and / or when a dispensing program is modified. In some embodiments, the assignment of address is performed based on a result of at least one scan of the container, for example to identify arrangement of storage compartment, whether a storage compartment is occupied or not, and / or an identity of a substance unit in each of the storage compartments.

[0215] In some embodiments, addressable locations are locations in a container that are identified by a control circuitry of a device or a system that includes several devices, and that are optionally accessible to at least one actuator of the container. In some embodiments, the device identifies the locations by receiving information from a remote device or from an ID tag of the container. Alternatively, or additionally, the locations are identified upon scanning of the container by the device. In some embodiments, an ID tag includes or is one or more features of an element, for example a substance unit, a container or a device, that are sufficient to identify it with a required degree of certainty. For example - an ID tag may indicate an ID that clarifies that a container is part of a system or that this is a specific container or that it is a specific type of container (e.g. one for nutraceuticals may differ from one for controlled substances). An aspect of some embodiments of the invention relates to a multi-component substance dispensing system including a container, an actuator interface and a control circuit. In some embodiments of the invention, the container contains a plurality of substance units to be dispensed, optionally arranged in tracks. The actuator interface contains force delivery means which force can penetrate the housing of the container and move at least one substance unit at a time, optionally, by moving an actuator (sometimes termed a driver) located in the container. Optionally, this force can move one or more parts of the container, even when empty of substance units. The control circuit contains, for example, software, to select which substance unit is to be dispensed and / or how to control the actuator for example so as to bring about this dispensing.

[0216] In some embodiments of the invention, this division allows the container to be simple and / or cheap. For example, the container may be formed of a plastic insert and a plastic or glass housing. The insert may include, for example, one or more tracks. In some embodiments of the invention, the motive force includes magnetic force and the container includes one or more magnetic-responsive element (e.g., an actuator or a driver portion of the actuator + actuator interface), for example, which can be positioned to push against one or more substance units. In such a magnetic example, the actuator interface can include, for example, multiple sources of magnetic energy, for example, coils. In another example, the actuator interface includes at least one magnet and a field mover, for example, an actuating means such as a motor operated rotating stage and / or linear sliding stage, for moving the magnet. High level control of such actuator interface can be executed, for example, on more generic circuitry such as a cellular telephone processor or other common programable processor. This potentially allows a general-purpose controller to be used and / or a simpler actuator to be used. It is noted that while in some embodiments both the actuator interface and the actuator / driver are magnets, either one may be a ferro magnetic or other magnetic field responsive material. In some embodiments of the invention, the magnet of the actuator interface is replaced by an electromagnet.

[0217] In some embodiments of the invention, the system is reliable due to mechanical considerations, so less feedback to the circuitry is required. For example, the actuator location may be estimated based on the actuator interface location and / or commands to relocate. In another example, substance unit locations can be tracked based on tracking movements thereof, rather than based on an absolute positioning. This can further simplify the container and / or actuator interface.

[0218] Providing cheap, separate components may also allow each component to have a different wear and / or reliability and / or replacement and / or maintenance schedule.

[0219] An aspect of some embodiments of the invention relates to a substance unit container including an insert, for example, a rotatable insert (e.g., a carousel), which can be selectably aligned with one or more openings in a housing of said container. In some embodiments of the invention, the insert includes one or more open channels and one or more blocked areas and when not dispensing a substance unit, a blocked area may be aligned with such one or more openings. When dispensing a substance unit, an open channel is optionally aligned with such opening, optionally temporarily.

[0220] In some embodiments of the invention, the insert has a resting position with the opening blocked, enforced, optionally by magnetic means. For example, by providing one or more magnetically-responsive elements in the insert and one or more corresponding magnetically- responsive elements in said housing, magnetic forces can drive the insert to be in a blocked state.

[0221] In some embodiments of the invention, the insert is a carousel and is rotatable to be selectively blocked and / or open. In some embodiments of the invention, rotating is by positioning an actuator in a location in said carousel where it cannot move circumferentially and then applying a magnetic force (e.g., by an actuator interface) on said actuator to cause rotation of the carousel with the actuator.

[0222] An aspect of some embodiments of the invention relates to one or more tracks in a container used for dispensing substance units. In some embodiments of the invention, the container is relatively flat, for example tracks defining axes or planes and all the axes or planes are within 30 degrees or 20 degrees or 10 degrees of a same plane, and the tracks extend in a generally radial direction.

[0223] In some embodiments of the invention, an actuator is used to push substance units out of said tracks. Optionally, the tracks have a narrowing in at least one location (e.g., entry or exit) to prevent passage (e.g., egress and / or ingress) of substance units therethrough. In some embodiments of the invention, the narrowing allows the passage of the actuator. Optionally and / or alternatively the tracks have one or more elastic retention elements, for example, a cylinder or other geometry, which blocks at least part of said track, to prevent unintentional passage of a substance unit therethrough. In some embodiments of the invention, the narrowing on one side allows the passage of the actuator. Optionally and / or alternatively the shape of track and / or retention element interferes with movement of the actuator past the retention element, for example, due to interaction with the geometry of the actuator.

[0224] An aspect of some embodiments of the invention relates to non-horizontal tracks in a container used for dispensing substance units. In some embodiments of the invention, more than one, for example every alternate track, is slanted upwards, so that at a more radially inwards location, such tracks are vertically higher than neighboring tracks, for example, higher by at least 30%, 50%, 80%, 100% or greater or smaller or intermediate percentages of the diameter (or height) of the lower tracks. Optionally, at a more radially outwards location all the tracks may be at an essentially same radial position. This potentially allows a higher density of tracks, which higher density potentially allows the same amount of substance units to be provided using a container with a smaller footprint and less circumferential spacing between tracks.

[0225] An aspect of some embodiments of the invention relates to accessing substance units of multiple sizes in a container used for dispensing them. In some embodiments of the invention, the container is divided into tracks (though other set-ups of multiple units may be used). The identification of the substance units in each track (and optionally within each track, e.g., order) is optionally tracked. Optionally, when an actuator is used to apply force on a substance unit, the amount of force and / or amount of movement are selected according to the identity of the substance unit(s) in such track, for example, the substance unit to be pushed out. For example, for a less- radially-extending unit, less radial motion of the actuator is required and for a small substance unit that is close to the container’s circumference less amount of movement is applied than for a small substance unit that is positioned more internally.

[0226] In a particular example, tracks are designed to hold standard size “zero” capsules, for example, aligned in a radial or in a circumferential direction. In a track aligned radially, the volume taken up by one capsule may be taken up instead by a plurality of smaller (e.g. disc / coin shaped) tablets. The identity of each such tablet and their order can be used to identify each such tablet individually and plan dispensing thereof accordingly.

[0227] An aspect of some embodiments of the invention relates to using magnetic forces for manipulating substance units and / or substance unit containers. Magnetic forces have the potential benefit of being able to penetrate a housing of a container without breaching such housing.

[0228] In a first example of several features which may be used together or individually, a container includes a rotating and / or otherwise moving insert, for example, a carousel and a magnetically-responsive element associated with the carousel has a tangent force selectively applied to it, to cause rotation of the carousel.

[0229] In some embodiments of the invention, such magnetic responsive element may also be used as an actuator for applying force on substance units. In general, if tracks are provided in the carousel and are aligned radially, force on the actuator in a tangent direction will rotate the carousel and force in a radial direction will move substance units in the tracks.

[0230] In some embodiments of the invention, the carousel has resistance to movement within the container, for example due to a magnetic latching mechanism (e.g., one or more magnetically- responsive materials in the carousel aligned with one or more magnetically-responsive elements in a housing of the container). Optionally, sufficient force to break the latching and allow rotation is only possible when the actuator is in a radially outward position, in a track. This may allow the actuator to be moved circumferentially without rotating the carousel, when in a radially inward position. In some embodiments of the invention, an amount of force applied may be controlled by the magnetic actuator used. A potential benefit of such latching mechanism is the stabilization of the carousel and consequently substance units, within the cartridge when not attached to a dispensing device thereby preventing untracked changes in location.

[0231] In some embodiments of the invention, alignment of an actuator interface with the actuator and / or acceptable vertical separation therebetween, is detected using a sensor, for example, a reed switch, which detects movement of an actuator interface magnetically-responsive material, when aligned with the actuator.

[0232] In some embodiments of the invention, the actuator has a resting location in the container, which location also includes a magnetically-responsive material, to attract the actuator and / or hold it in place.

[0233] In some embodiments of the invention, one or more magnetic elements are used for aligning the container with an actuator interface.

[0234] It should be understood that the device, device components and methods described herein can be used in combination with other devices, optionally in a network and / or in a system, for example as described in patent application “DISTRIBUTION METHOD, APPARATUS, AND SYSTEM FOR SUBSTANCE UNITS”, Docket No. 104566, filed by the same applicant, incorporated herein as a reference in its entirety.

[0235] Before explaining at least one embodiment of the invention in detail, it is to be understood that the invention is not necessarily limited in its application to the details of construction and the arrangement of the components and / or methods set forth in the following description and / or illustrated in the drawings and / or the Examples. The invention is capable of other embodiments or of being practiced or carried out in various ways.

[0236] Exemplary general process for moving substance units

[0237] According to some embodiments, substance units, for example substance units optionally associated with stringent quality, storage, and / or monitoring requirements such as bioactive agents, pharmaceuticals, nutraceuticals, vitamins, food supplements, dietary supplements, multi vitamin minerals, medicine substances, bioactive agent, pills, tablets, capsules, coated tablets and / or ingredients, are provided to a subject. In some embodiments, the substance units are provided to a subject with administration instructions and / or as part of a treatment plan. In some embodiments, the substance units provided to the subject include different types of substance units, for example different type of bioactive agents.

[0238] According to some embodiments, one or more substance units are provided to the subject as part of a treatment of at least one disease, as part of a personal wellness regimen and / or as part of a diet.

[0239] According to some embodiments, the substance units are provided in at least one container, for example an active container, which includes a plurality of substance units which are subjectspecific. Alternatively, the container includes substance units that are used to generate at least one customized container for a specific subject or a specific group of subjects (such as people needing similar combinations of substance units such as diabetics or pregnant women or athletes). In some embodiments the container includes substance units that are typically used one in association with the other, such as a drug with substance units that are used to augment its desired effect and / or counteract its unwanted side effect. In some embodiments, the substance units are stored in the at least one container in addressable locations. In some embodiments, when the active container is coupled to a distribution device, for example to a controller of the distribution device, the device is used to move a selected substance unit from a first addressable location to a second addressable location in the container, without physically penetrating into the container, while optionally maintaining a storage region of the container covered. In some embodiments, moving of the substance unit comprises dispense or transfer of the selected substance unit out from the container.

[0240] According to some embodiments, the movement of the substance unit within the container or out from the container is performed according to a predetermined plan and / or in response to a signal received from a user of the distribution device. In some embodiments, the movement of the substance unit is performed without tampering or opening of the container by the user.

[0241] Reference is now made to Fig. 1 A, depicting a general process for moving a substance unit within a container, according to some embodiments of the invention.

[0242] According to some embodiments, a container with substance units is provided at block 10. In some embodiments, the substance units are arranged and positioned in a storage region of the container at addressable locations. As uses herein, an addressable location is a specific known location in a storage region of a container that can optionally be individually accessed. In some embodiments, the substance units are of the same type, shape and / or size, for example pills of a bioactive compound from the same production batch. Alternatively, the substance units include a plurality of different type, shape, and / or size of substance units or essentially identical substance units but from different batches. In some embodiments a substance unit may be any sort of orally administered substance, including for example pills, tablet, caplets, lozenges, capsules, coated tablets, capsules with granules inside, and the like.

[0243] According to some embodiments, each substance unit is positioned in a single individual addressable location in a storage region of the container. Alternatively, a group of two or more substance units of the same type are stored in the same addressable location. In some embodiment a single substance unit occupies several individually addressable locations.

[0244] According to some embodiments, a signal to move at least one substance unit positioned within the container is received at block 12. In some embodiments, the signal is received from a control circuitry of a distribution device. Optionally, the control circuitry is a control circuitry of a controller of the distributing device coupled to the container. In some embodiments, the signal is received as part of a predetermined plan for re-organizing the substance units within the container, or for dispensing at least one substance unit out from the container.

[0245] According to some embodiments, an actuator interface of the controller is activated in response to the received signal, at block 14. In some embodiments, the actuator interface is configured to generate and optionally direct energy to an actuator in the container. In some embodiments, for example when a container comprises an actuator interface, the actuator interface of the container is activated by the control circuitry in response to the received signal, at block 14.

[0246] According to some embodiments, at least one substance unit moves within a storage region of the container (e.g. laterally), at block 16. In some embodiments, the at least one substance unit moves within the container, for example from at least one first addressable location to at least one second addressable location, while optionally maintaining the container unopened.

[0247] Exemplary moving a substance unit using a magnetic field

[0248] According to some embodiments, at least one substance unit is moved within a storage region of a container, for example an active container, in response to a magnetic field generated from outside the container. In some embodiments, the magnetic field is generated by an electromagnet or a magnet positioned outside the container. Optionally, the magnetic field is generated externally by an electromagnet integral to the container by a distribution device providing power thereto. In some embodiments, the magnetic field is generated by a coil or a motor, optionally formed as a printed circuit board (PCB), or as a thin film.

[0249] According to some embodiments, the generated magnetic field affects at least one actuator positioned within the container, causing the actuator to at least one of, move, rotate, flip, and / or change its shape in the container. In some embodiments, the generated electric field is moved outside the container, causing the actuator within the container to move and push a substance unit to a target addressable location within the container.

[0250] Reference is now made to Figs. IB and 1C, depicting movement of a substance unit within a container in response to a magnetic field generated outside the container, according to some embodiments of the invention.

[0251] According to some embodiments, a container 31 comprises a body 33 having an inner storage region 35 and at least one opening 37 of the storage region 35. In some embodiments, the container 31 comprises at least one substance unit 39, for example a plurality of substance units, stored in the storage region 35. In some embodiments, the container 31 comprises an actuator 41, at least partly or completely within the storage region 35.

[0252] According to some embodiments, to move the substance unit 39 to a target location, for example to a target addressable location within the storage region 35, a magnetic field source 43 is provided in a distance 45 above or below the actuator 41, at a distance and / or orientation relative to actuator 41, suitable for affecting the actuator 41. In some embodiments the magnetic field source 43 is part of the container and is operated by external power circuitry and power source (not shown). In some embodiments the magnetic field source 43 is not part of the container. In some embodiments, the magnetic field source comprises a magnet, or an electromagnetic coil, which generates a magnetic field configured to affect the magnetic actuator. Optionally, for example in the embodiments shown in Figs. IB and 1C, the magnetic field source 43 generates a magnetic field 47 that attracts the magnetic actuator. However, in alternative embodiments, the generated magnetic field repels the magnetic actuator. In some embodiments attraction and / or repulsion are employed by one or more magnetic field sources 43 thereby controlling the movement, positioning, and / or orientation of actuator 41.

[0253] According to some embodiments, movement of the magnetic field 47 in direction 49, optionally by moving the magnetic field source 43, causes the actuator 41 to push the substance unit 39 laterally, optionally in a similar direction as direction 49. In some embodiments, for example as shown in Fig. 1C, the actuator 41 pushes the substance unit 39 to a selected addressable location in the storage region 35. Optionally, movement of the magnetic field 47 allows to push the substance unit 39 out from the container through at least one opening 37, for example when there is a need to dispense the substance unit or to transfer the substance unit to a different container. Optionally the magnetic field source 43 remains stationary but the magnetic field is generated sequentially at different locations of the magnetic field generator thereby mimicking movement of the field. Exemplary substance distribution device

[0254] Reference is now made to Fig. ID depicting a substance distributing device, according to some embodiments of the invention.

[0255] According to some embodiments, a substance distributing device, for example device 53 comprises or is in association with at least one container, for example an active container 55 and at least one controller, for example a container controller 59, also termed herein as a container rig. In some embodiments, the container 55 is functionally coupled to the container controller 59. Optionally, both the container 55 and the container controller 59 are positioned within a housing 61 of the device 53. Optionally each of the container 55 and the container controller 59 are positioned in separate housings.

[0256] According to some exemplary embodiments, a housing 61 of the device comprises a volume, for example an inner volume, that is shaped and sized to receive and hold at least one container. Optionally, a housing 61 comprises a volume for two or more containers. In some embodiments, the device comprises an actuator interface for each container, and / or a container moving mechanism for aligning a container of the two or more containers with an actuator interface. Alternatively, or additionally, the device comprises a moving mechanism of an actuator interface for aligning an actuator interface of the device with a container of the two or more containers.

[0257] According to some exemplary embodiments, the housing 61 comprises least one recess, aperture and / or movable cover, shaped and sized to allow passage of at least one container 55 into and out from or become otherwise attached or connected to the housing volume.

[0258] According to some exemplary embodiments, a maximal size of the device 53, or housing 61, is up to 50 cm in length, up to 50 cm in width and / or up to 50 cm in thickness. In some embodiments a maximal size of the device 53, or housing 61, is up to 30 cm in length, up to 30 cm in width and / or up to 30 cm in thickness. In some embodiments a maximal size of the device 53, or housing 61, is up to 20 cm in length, up to 20 cm in width and / or up to 20 cm in thickness. In some embodiments, a maximal size of the device 53, or housing 61, is up to 15 cm in length, up to 15 cm in width and / or up to 15 cm in thickness. In some embodiments, a maximal size of the device 53, or housing 61, is up to 10 cm in length, up to 10 cm in width and / or up to 10 cm in thickness.

[0259] In some embodiments of the invention, the device and / or container and / or both are sized for daily portability in a handbag or a clothes pocket. For example, they might be less than 10 cm, 5 cm, 3 cm, 1 cm thick. Optionally and / or alternatively they may have a maximal dimension of less than 15 cm, 10 cm, 8 cm, 5 cm. In some embodiments of the invention, especially for medications and / or nutrients, the number of dose units in such a container is sufficient for at least one day, thee days, a week, a month or smaller or intermediate periods. For example, a container may include between 1 and 10 different medication / nutrient types, for example, between 2 and 7, for example, between 3 and 5. In one example, a container contains between 10 and 200 pills or other units, for example, between 20 and 110, for example, between 30 and 70, or intermediate or greater numbers of pills or other units.

[0260] According to some exemplary embodiments, the volume of the device is shaped and sized to hold at least one container stationary relative to the housing, for example by using at least one fastener. Alternatively, the at least one container is held by a container moving mechanism, configured to controllably move and / or hold the container relative to the housing. In some embodiments, the at least one fastener is configured to reversibly fasten the container 55 to the device 53. Alternatively, the at least one fastener irreversibly fastens the container 55 to the device 53. In some embodiments, the at least one fastener comprises a magnetic fastener and / or a snap- fit fastener. In some embodiments container 55 is an integral part of device 53.

[0261] According to some embodiments, the container 55 comprises a body 63 having an inner storage region 57, which is shaped and sized to store at least one, for example a plurality of substance units 65. In some embodiments, the storage region 57 comprises one or more storage tracks 67, optionally elongated storage tracks configured to store the substance units 65. In some embodiments, the storage tracks 67 comprise at least one, for example a plurality of storage compartments distributed along a storage track, each is configured to store at least one substance unit of the substance units 65.

[0262] According to some exemplary embodiments, the storage region 57 comprises a plurality of addressable locations, for example a plurality of addressable storage locations.

[0263] According to some embodiments, a maximal dimension of a single substance unit, for example width, thickness or length, is up to 40 mm, for example up to 25 mm, up to 20 mm, up to 15 mm, up to 10 mm or any intermediate, smaller or larger value.

[0264] According to some embodiments, each of the storage tracks 67 or the storage compartments comprises at least one wall, at least In some embodiments container 55 is an integral part of device 53. partially surrounding or contacting a substance unit, for example to prevent uncontrolled movement of the substance unit within the storage region 57. In some embodiments, each substance unit is positioned in a different addressable location of different addressable locations 69, of the storage region 57. In some embodiments, an addressable location is a known identifiable location in the storage region that can be addressed on-demand, for example when there is a need to move a substance unit found in the addressable location.

[0265] According to some embodiments, one or more substance unit or travelling displacers have dimensions and / or shape that prevent their passage in some paths within a container. In some embodiments, at least a portion of the travelling displacer is shaped and sized to pass through paths that does not allow passage of substance units. Optionally, this allows to prevent passage of one or more substance units through one or more openings, and / or to allow passage of one or more substance units and block passage of travelling displacers.

[0266] According to some embodiments, the container 53 comprises one or more openings, for example openings 71 and 71a in the body 63, forming a passage towards the storage region 57. Optionally, each opening is connectable to a port, for example ports 72 and 72a, crossing through housing 61. In some embodiments, the port, for example port 72, comprises a seal, for example a door, to allow controllable egress from the storage region 57, while optionally maintaining an enclosed storage region. In some embodiments, the port, or an external portion of the port extending out from the device housing 61, comprises or is connectable to a mouthpiece, for example to allow dispensing of a substance unit directly into a mouth of a subject. Alternatively, or additionally, an external portion of the port, for example port 72, or is connectable to at least one different device, for example a different dispensing device, optionally to allow transfer of at least one substance unit from the dispensing device 53 to the different device via port 72. Such connection may be direct and / or via an adapter part of port 72 or connectable to port 72. In some embodiments, the port, for example port 72, is shaped and sized to allow passage to and from the container storage region 57. In some embodiments, an opening of the container, for example opening 71 is shaped and sized to allow passage of at least one substance unit, but is too narrow or prevents passage of an actuator 73a, which may comprise or be a travelling displacer, through the opening.

[0267] According to some exemplary embodiments, the at least one opening 71 or 71a of the container is sealable, optionally temporarily, optionally by having at least one seal in the opening, to prevent passage of fluids into and / or out from the storage region 57. In some embodiments, the sealing is opened by transferring at least one substance unit through the seal, and / or by pressing the at least one substance unit against the seal with a force that is suitable to tear the seal.

[0268] According to some embodiments, the storage region 57 is rotatable, optionally shaped as a carousel. In some embodiments, the storage region 57 is rotatable relative to the ports 72 and 72a, for example to align different storage tracks and / or addressable locations with at least one of the ports 72 and 72a. In some embodiments the container is rotatable as a whole, allowing ports 72 and 72a to face in varying directions.

[0269] According to some embodiments, the container 53 comprises at least one actuator 73a. In some embodiments, the at least one actuator 73a is configured to respond to energy applied from outside the container 53 and in response to the applied energy, to apply force on one or more of the substance units 65. In some embodiments, the force applied by the at least one actuator on one or more of the substance units is suitable for moving, for example pushing, the one or more substance units 65 from at least one first addressable location to at least one second addressable location in at least one storage track, between two or more storage tracks, and / or between two storage compartments, all in the storage region 57. Alternatively, or additionally, the force is suitable to move one or more substance units 65 from at least one addressable location 69 in the storage region 57, out from the container 55 to a different container of the device 53, or out from the device 53 via at least one port 72, 72a.

[0270] According to some embodiments, the at least one actuator 73a comprises, an electrical motor, a magnetic responsive element, a liner actuator, a memory metal, a shape memory alloy, or any other energy responsive element. In some embodiments, the at least one actuator comprises or is at least partially formed from but is not limited to, ferromagnetic materials such as iron, nickel, cobalt, and alloys thereof, paramagnetic materials such as aluminum and platinum, diamagnetic materials such as copper and carbon in graphite form, or a composite material that incorporates magnetic particles or coatings within a non-magnetic matrix, optionally allowing for tailored magnetic properties.

[0271] According to some embodiments, the container 53 further comprises at least one identification (ID) tag 75a, optionally a passive ID tag that does not require a power source for activation, for example a passive RFID (Radio Frequency Identification) Tag, an Ultra-High Frequency (UHF) Tag, a Near Field Communication (NFC) tag, a barcode label, and an Optical Character Recognition (OCR) Tag. In some embodiments, the ID tag 75a includes information related to the container 53, for example information about the production of the container or the filling of the container with the substance units 65, information about the substance units, information about a user of the container, information about a treatment and / or an administration plan related to the content of the container, information about an expiration date of the container or its content.

[0272] It should be understood that an ID tag, in some embodiments, includes or is one or more features of an element, for example a substance unit, a container or a device, that are sufficient to identify the element with a required degree of certainty. For example - an ID tag may be indicative of an ID that clarifies that a container is part of a system or that this is a specific container or that it is a specific type of container (e.g. one for nutraceuticals may differ from one for controlled substances).

[0273] According to some embodiments, the controller 59 or the device 53, comprises a control circuitry 81 functionally coupled to a memory 83, and to an actuator interface 85. In some embodiments, the control circuitry 81, the memory 83 and / or the at least one actuator interface 85 are positioned within a controller housing 81a. In some embodiments, housing 81a is optional.

[0274] According to some embodiments, actuator 73a, is a portion of actuator interface 85, optionally a complementary portion of the actuator interface 85 located in the container.

[0275] According to some embodiments, the controller housing 81a is shaped and sized to receive the container 53, optionally having an aperture or a recess, for receiving the container 53.

[0276] According to some exemplary embodiments, the actuator interface 85 is configured to cause at least one substance unit to move between a first addressable location in the storage region to a second addressable location in the storage region, or to cause the at least on substance unit to be dispensed out from the device, or to be transferred to a different device, or to a different container. In some embodiments, the actuator interface 85 moves the substance unit in the container, from outside the container or from outside a storage region of the container. In some embodiments, the actuator interface 85 moves the substance unit by affecting an actuator, for example a travelling displacer positioned in the storage region from outside the container or from outside the storage region. In some embodiments, the actuator interface 85 affects the actuator in the container without physically penetrating into the container or into the storage region and / or without physically contacting the actuator (directly or indirectly).

[0277] According to some embodiments, actuator interface 85 is configured to generate an energy field, for example a magnetic field, with parameter values suitable to affect the at least one actuator 73a. In some embodiments, the actuator interface 85 comprises at least one magnet or at least one electromagnet. Alternatively, or additionally, the at least one actuator interface 85 comprises at least one motor, for example a stepper motor, which is optionally planar. In some embodiments, the at least one actuator interface 85 is manufactured or is coupled to a PCB, which is optionally flexible. In some embodiments, the at least one actuator interface 85 is manufactured or is coupled to a thin flexible film layer, which optionally comprise electrical wiring. A potential advantage of having a flexible actuator interface may be to allow delivery of the energy field to the at least one actuator from different sides of the container 55, for example by bending the at least one actuator interface 85 around at least a portion of the container 55 or the actuator 73a. According to some exemplary embodiments, the actuator interface comprises a magnet, for example a permanent magnet, configured to generate a permanent, stable and optionally continuous electric field.

[0278] According to some embodiments, the actuator interface 85 comprises one or coils configured to generate a magnetic field upon application of an electric current. In some embodiments, the one or more coils are patterned in at least one PCB. In some embodiments, at least one coil, optionally all coils, comprises at least one magnetically responsive core, optionally a ferromagnetic core. Optionally, the magnetically responsive core is a central core.

[0279] According to some embodiments, the control circuitry 81 is configured to signal the actuator interface 85 to generate the energy field based on at least one indication stored in the memory 83. In some embodiments, the at least one indication comprises information about an administration regime of the substance units 65, position of the substance units 65 in the storage region 57 and / or information of addressable locations 69 of the substance units 65. Additionally, the at least one indication stored in the memory 83 comprises information about the container 55, for example ID information, formation of the storage region 57, location of storage tracks 67 and / or storage locations and / or information about a current position of the storage region 57 relative to at least one port 72, 72a.

[0280] According to some embodiments, the controller 59 or device 53 comprises a user interface 83a, configured to generate at least one human detectable indication, for example an audio indication and / or a visual indication. Additionally, or alternatively, the user interface 83a is configured to receive an input signal from a user of the distribution device 53.

[0281] According to some embodiments, the controller 59 or device 53 comprises a communication circuitry 85a, configured to transmit and / or receive signals, for example wireless signals to and from at least one remote device 65a, for example a remote computer, a handheld device, a cellular device, a cloud storage and / or processing, a server, a database or any other computerized device or a combination of the aforementioned. Optionally, the communication circuitry is configured to communicate with a communication circuitry of at least one different distribution device.

[0282] According to some exemplary embodiments, the communication circuitry 85a communicates with the remote device 65a by delivering and / or receiving at least one signal with information about the operation of the device 53. In some embodiments, the communication circuitry 85a transmits information to the remote device 65a about content of at least one container, position of one or more substance units in at least one container and / or passage of at least one substance unit into and / or out from at least one container. In some embodiments, the communication circuitry receives information from the remote device 65a about addressable storage locations of at least one container from the remote device, which is used by the control circuitry 81 to activate the actuator interface 85.

[0283] According to some embodiments, the device 53, optionally the controller 59, comprises at least one information detector, for example ID reader 87 a, configured to read the ID tag 75 a. In some embodiments, the ID reader 87a comprises an optic sensor or a camera. In some embodiments, the ID reader 87a is configured to read an ID tag, for example, ID tag 75a or ID tag 55a, which can include information about an owner of the container or the device, respectively. In some embodiments, reading the ID tag 75a allows, for example to link a container to a specific subscription. Optionally, the container includes substance units that are found in one or more subscriptions received by the owner, and are sufficient to an entire treatment period or to only a portion of a treatment period.

[0284] According to some exemplary embodiments, the at least one information detector is functionally connected to the control circuitry 81 and is configured to detect information associated with at least one object, selected from the group consisting of a container, a second device functionally coupled to the device and / or a container of the second device. In some embodiments, the at least one information detector comprises at least one information reader configured to read an information tag physically coupled to the object or associated with the object. In some embodiments, the control circuitry 81 verifies an identity of the object based on signals received from the information detector, for example by determining a relation between the information and one or more indications stored in a memory associated with the device, for example memory 83 or a memory of a remote device 65a. Optionally, the identity is verified by the remote device 65a based on signals received form the device 53.

[0285] According to some embodiments, the controller 59 or device 53 optionally comprises a motor, for example an electric motor 89a, functionally coupled to the control circuitry 81. In some embodiments, the electric motor 89a is configured to move the storage region or part thereof in a desired direction, for example to position the at least one actuator 73a in a desired orientation relative to at least one storage track and / or at least one storage compartment, to allow access to a selected addressable location. Alternatively, or additionally, the motor 89a is configured to move, for example to rotate or turn the storage region 57 in a way suitable to align at least one storage track and / or at least one storage compartment with at least one port 72, 72a.

[0286] According to some exemplary embodiments, the container 55 comprises at least one container connector configured to mechanically couple the at least one container to the device 53. In some embodiments, the electric motor 89a is functionally coupled, optionally reversibly coupled, to the at least one container connector, and is used to rotate and / or axially move the at least one container connector and the container 55, optionally relative to the housing 61 or relative to the actuator interface 85. In some embodiments, the motor 89a, is mechanically coupled to the actuator interface, and is used to rotate and / or axially move the actuator interface 85 relative to the housing 61 or relative to the container 55.

[0287] According to some embodiments, the controller 59 or device 53 optionally comprises and / or is associated with one or more sensors 91 A, for example an optic sensor, to obtain information regarding the content of the container 55, for example to identify the type and / or position of the substance units 65. In some embodiments, the one or more sensors 91 A comprises or is part of a scanner, configured to scan the container 63 or at least one substance unit positioned within the container. Optionally, the container body 63 is at least partially transparent, for example to allow visualization of the container 55 content by the sensor 91a. In some embodiments, the transparent portion of the container body is positioned to allow visualization of the storage region from outside the container. Optionally, the transparent portion is formed from or comprises transparent glass. In some embodiments, the container body, for example housing 63 is formed from at least two portions irreversibly coupled to each other, for example using glue, in a way that prevents separation of the at least two portions w / o deforming or disintegrating the container body. In some embodiments, a size of the container body is up to 30 cm in width, up to 30 cm in length and up to 30 cm in thickness, for example up to 20 cm in width, up to 20 cm in length, up to 20 cm in thickness, up to 10 cm in length, up to 10 cm in width, up to 10 cm in thickness, or any intermediate, smaller or larger value.

[0288] Optionally the sensor visualizes the container content during loading and / or egress or substance units, for example one by one. Optionally at least one sensor 91a is included in the container 55 and is in communication with the controller 59. Optionally identification of the substance units based on the sensing is a prerequisite for allowing a substance unit to be transferred into, out of and / or between containers.

[0289] According to some exemplary embodiments, the one or more sensors 91a scans a container and / or at least one substance unit stored in the container, when the container is inserted into the device 53, or is functionally coupled to a controller 59. Additionally, or alternatively, the one or more sensors 91a scans a container when it is removed from the device. Additionally, or alternatively, the one or more sensors 91a scans at least one substance unit when it exits the container, for example during dispensing or when the substance unit is transferred to at least one different device. According to some embodiments, control circuitry 81 generates an indication regarding a position of the container and / or the at least one substance unit based on one or more scans of the one or more sensors 91a.

[0290] According to some embodiments, the controller 59 is integrated in the device 53 and the container 55 is removably coupled to the device 53. In some embodiments, the container 55 is configured to be coupled and decoupled from the device 53, for example using at least one fastener of the device. Alternatively, the housing of the device comprises a volume, for example an inner volume shaped and sized to receive at least one container, and closed by a movable door.

[0291] According to some embodiments, actions performed by the control circuitry 81 are performed at least in part by the remote device 65 a, and indications described as generated by the control circuitry 81 are generated by the remote device 65a and are transferred to the device 53 via the communication circuitry 85a.

[0292] According to some embodiments, the device 53 comprises an ID tag 55a, which is similar to ID tag 75a. In some embodiments, an ID reader of a first device, for example ID reader 87a reads the ID tag of a second device, prior to being coupled to the second device. In some embodiments, the control circuitry 81 or a remote device, for example remote device 65a, verifies the identity of the second device based on signals received from the ID reader, prior to the coupling.

[0293] According to some embodiments, a container, for example container 55 comprises at least one actuator interface, for example actuator interface 57a. In some embodiments, the actuator interface 57 a is electrically connectable to a power source of the device, for example power source 59a, when the container is coupled to the device, for example when the container is coupled to the controller 59. In some embodiments, the actuator interface 57a is similar to actuator interface 85. In some embodiments, the actuator interface 57a is configured to move, optionally rotate, a storage region 57 or part thereof relative to the container housing 61, and or to move the actuator 73, in response to a signal received form the control circuitry 81. In some embodiments, the actuator interface 57a comprises a motor, for example an electric motor. Alternatively, the actuator interface 57a comprises at least one electromagnet, optionally one or more magnetic coils, configured to generate a magnetic field. Optionally, the actuator interface 57a is patterned in a PCB positioned in the container.

[0294] According to some embodiments, a generated magnetic field is used to directly move nonconsumable substance units, for example a sensor or a sample collector. According to some embodiments, the device 53 comprises at least one power source 59a, providing electrical power to components of the device 53. In some embodiments, the power source comprises at least one replaceable battery and / or at least one rechargeable battery.

[0295] According to some embodiments, optionally, a container comprises at least one of the sensors 91a, operable upon electrically coupling of the container to a power source, for example power source 59a.

[0296] According to some embodiments, the storage region 57 comprises storage compartments and / or storage tracks that are shaped and sized to hold and move at least one substance unit in a way that is detectable by the sensor 91a. In some embodiments, during storage and / or movement of the at least one substance unit, at least one surface of the substance unit faces the sensor 91a, and / or is detectable by the sensor. In some embodiments, scanning of the at least one surface allows to identify the substance unit. In some embodiments such identification is at a group level (e.g. the type of substance unit such as specific medication of a specific manufacturer). Optionally, the identification is at the level of an individual substance unit, potentially differentiating even between nearly identical substance unit of a single manufacturing batch. In some embodiments, identification is based on inherent features of the substance units (such as color, size, shape, and / or texture). Additionally, or alternatively, identification is based on information printed or attached to the substance unit (e.g. an identifiable pattern or marking). In some embodiments, the storage compartments and / or storage tracks are shaped and sized to restrict movement of the substance unit to a target movement path or a movement orientation relative to the position and / or orientation of the sensor 91a.

[0297] According to some exemplary embodiments, the sensor, for example sensor 91a, is configured to detect at least one of, content of at least one container, position of one or more substance units in at least one container and / or passage of at least one substance unit in and / or out from at least one container in the device. In some embodiments, the control circuitry 81 is configured to generate at least one indication based on signals received from the at least one sensor. In some embodiments, a generated indication is a signal, message, or data output, which represent any type of information, such as a status update, an alert, a user prompt, a recommendation, or any form of feedback that informs the user or system about a particular condition or event.

[0298] According to some embodiments, the control circuitry 81 is configured to store information about a content of addressable storage locations of at least one container in a memory associated with the device, for example memory 83 or a memory of the remote device 65a based on signals received from the at least one sensor 91a, or to update existing information stored in the memory based on the signals. According to some embodiments, the sensor 91a comprises a scanner configured to scan at least one substance unit during a passage of the at least one substance unit in and / or out from the container. In some embodiments, the control circuitry 81 is configured to identify the at least one substance unit based on information stored in a memory functionally connected to the control circuitry 81.

[0299] According to some embodiments, the control circuitry 81 is functionally connected to a memory optionally a memory associated with the control circuitry, for example memory 83 or a memory of the remote device 65a.

[0300] According to some embodiments, the container 55 comprises at least one sensor 63a, in addition or as an alternative to sensor 91a of the device. In some embodiments, the at least one sensor 63a is similar to sensor 91a. In some embodiments, the sensor 63a is positioned at least partly or entirely within the storage region 57, or is positioned outside the storage region 57. In some embodiments, the sensor 63a comprises a scanner configured to scan a content of the container 55, optionally a content of the storage region 57. A potential advantage of having a container sensor may be to allow sensing and / or scanning of the container content when content of the container is not detectable by an external sensor.

[0301] According to some embodiments, the device comprises a PCB, for example a PCB having at least one actuator as part of the device housing, for example as part of the device cover. In some embodiments, the controller of the device has at least two PCBs, above and below a container. Optionally, in case a device has at least two controllers, each controller can control one or both of the PCBs, for example actuators associated with the PCBs. Alternatively, or additionally, at least one PCB is part of a container, and when the container is attached to the device or to a controller of the device, the PCB of the container is electrified by a power source of the controller. Optionally, both the container and the controller comprise PCBs, operable by the controller.

[0302] Optionally, a PCB is flexible, and can bend at least partially around a container.

[0303] It should be understood that in some embodiments, one or more of, user interface 83a, sensor 91a, ID reader 87a, memory 83, and / or control circuitry 8a, are part of a remote device in communication with the device 53.

[0304] Exemplary general process performed by a user of the distribution device

[0305] Reference is now made to Fig. IE, depicting actions performed by a user of a distribution device, according to some embodiments of the invention.

[0306] According to some embodiments, a container which holds substance units is delivered to a subject, as part of a treatment plan. According to some embodiments, the container is identified, at block 93A. In some embodiments, the subject activates an ID reader, for example ID reader 87a of the distribution device 53 shown in Fig. ID, optionally to verify that the container includes substance units for his use, and / or according to a specific treatment plan of the subject. Optionally the ID reader is activated automatically by the distribution device, for example upon its coupling to the container device, upon turning the distribution device on and / or before some or every interaction between the distribution device and the actuator.

[0307] According to some embodiments, the container is coupled to a distribution device, at block 95a, by a subject or automatically by another device. In some embodiments, once the container is coupled and the distribution device is operable, the subject receives a human detectable indication from the distribution device.

[0308] According to some embodiments, optionally, a dispensing plan is provided to the distribution device, at block 97a. In some embodiments, the subject inserts a dispensing plan, or a dispensing protocol, to a memory of the distribution device, for example memory 83, optionally using the user interface 83a. In some embodiments the dispensing plan is inserted electronically by communication with a different device.

[0309] According to some embodiments, the subject initiates the dispensing, at block 99a. In some embodiments, the subject initiates the dispensing using the user interface 83a. In some embodiments, initiating dispensing comprises initiating the dispensing protocol optionally provided at block 97a. In some embodiments dispensing is initiated automatically, such as at a scheduled time or as a result of an instruction communicated by a different device.

[0310] According to some embodiments, the subject receives an indication that dispensing is completed, at block 101a.

[0311] According to some embodiments, subject receives information about a status of the container, at block 103a. In some embodiments, the subject receives the information about the status of the container, following initiation of the dispensing.

[0312] According to some embodiments, optionally, information and one or more indications generated by the device are delivered to a remote device, for example remote device 65a shown in fig. ID. Optionally, the remote device is a computer device of a health care provider (HCP). In some embodiments, the control circuitry 81 activates the actuator interface or other components of the device 53 based on signals received from the remote device 65a.

[0313] Exemplary general process performed by a distribution device Reference is now made to Fig. IF, depicting actions performed by a distribution device, according to some embodiments of the invention.

[0314] According to some embodiments, a distribution device, for example distribution device 53 shown in Fig. ID, holds a container, at block 105A. In some embodiments, the container is fastened within or to a housing of the device. In some embodiments, the container is a removable container, configured to be reversibly coupled to the device, for example to at least one holder of the device. In some embodiments, the container is integral to the device. In some embodiments, the container is held in a volume, for example an inner volume of the distribution device.

[0315] According to some embodiments, the distribution device, receives container information, at block 107a. In some embodiments, the device 53 receives the information directly from the container, for example from an ID tag associated with the container, optionally physically associated with the container. Alternatively, or additionally, the ID tag is associated with material provided with the container. Alternatively, or additionally, the device receives information about the container from a subject operating and / or interacting with the device, for example a user of the device, optionally using a user interface of the device.

[0316] According to some embodiments, the information received at block 107a, comprises information regarding the manufacturing and / or filling of the container, information about the container content, information about the arrangement of one or more storage tracks and / or storage compartments of the container, and / or information about addressable locations of the container.

[0317] According to some embodiments, the device scans at least one substance unit, at block 109a. In some embodiments, the device scans at least one substance unit stored in the container, using at least one scanner of the device.

[0318] According to some embodiments, the device verifies substance unit and / or container identity, at block I l la. In some embodiments, the device verifies identity based on the results of the scanning performed at block 109a and / or container information received at block 107a. In some embodiments, the device verifies the identity of the container by determining a relation between the information received at block 107a, and at least one indication stored in a memory of the device, for example an indication with information about a target container planned to positioned in the device. In some embodiments, the device verifies the identity of the at least one substance unit by determining a relation between the information achieved by the scanning and at least one indication stored in the memory of the device, for example an indication with information about a target substance unit planned to be stored in the container. According to some embodiments, if the verification is not completed and / or indicates wrong cartridge or container, the device generates an alert signal. Additionally, future actions of the device are aborted or cancelled.

[0319] According to some embodiments, if the verification is completed and / or indicates proper container or proper substance unit, the device generates a positive verification indication.

[0320] According to some embodiments, the device optionally receives and stores at least one dispensing plan in a memory of the device, at block 113a. In some embodiments, the dispensing plan is inserted by the user of the device. Alternatively, the device receives the dispensing plan as part of the container information received at block 107a. Alternatively, the device receives the at least one dispensing plan from a remote device. Alternatively, or additionally, the at least one dispensing plan is stored in a memory associated with the device, for example a memory of a remote device that is in communication with the distribution device. Optionally, the device determines whether the container or its content is compatible with the dispensing plan. In some embodiments, if the compatibility is confirmed the device allows to use the container for dispensing. Alternatively, if compatibility is not confirmed, the device generates an alert indication.

[0321] According to some embodiments, the device activates a container actuator, for example actuator 73a shown in Fig. ID, at block 115a. In some embodiments, the device activates the actuator according to the dispensing plan, or indications thereof. In some embodiments, the device activates the actuator without physically penetrating into the container, for example into a storage region of the container which includes at least one substance unit and / or without physically contacting actuator 73a, directly or indirectly.

[0322] According to some embodiments, a substance unit is aligned by the device with at least one opening of the container prior to the activation of the container actuator at block 115a, for example when planning to dispense a substrate unit at block 121a.

[0323] According to some embodiments, the device moves, for example pushes, at least one substance unit in the container by the activated actuator, at block 117a.

[0324] According to some exemplary embodiments, an identity of the substance unit is verified in a time relation with the movement of the substance unit, for example before, during and / or after the movement.

[0325] According to some embodiments, the device generates an indication with an updated positioning information of the substance unit in the container at block 119a. In some embodiments, the device generates the indication following the movement at block 117a, and based on previous positioning information and information about the activity of the actuator. Alternatively, or additionally, the device generates the indication based on information received from at least one sensor configured to detect position of the substance units within the container.

[0326] According to some embodiments, following activation of the container actuator, at least one substance unit is dispensed out from the container at block 121a. In some embodiments, the at least one substance unit is moved by the actuator out from the device, via at least one port of the device. Optionally, the at least one substance unit is transferred to a different device, for example to a different container of the same device or a different container of a different device.

[0327] According to some embodiments, the substance unit is scanned at block 123a. In some embodiments, the substance unit, optionally the dispensed substance unit is scanned, for example as described in block 109a. In some embodiments, the substance unit is scanned, before, after and / or during the dispensing of the substance unit.

[0328] According to some embodiments, the device verifies identity of the dispensed substance unit, at block 125a. In some embodiments, the identity of the substance unit is verified in a time relation with the dispensing, for example before, during and / or after the dispensing. In some embodiments, the device verifies the identity of the dispensed substance unit, by determining a relation between the results of the scanning performed at block 123 a to the results of the scanning performed at block 109a, or to an indication thereof. Alternatively, the device verifies the identity of the dispensed substance unit, by determining a relation between the results of the scanning performed at block 123 a and a dispensing plan or an indication thereof, optionally stored in the memory.

[0329] In some embodiments such identification is at a group level (e.g. the type of substance unit such as specific medication of a specific manufacturer). Optionally, the identification is at the level of an individual substance unit, potentially differentiating even between nearly identical substance unit of a single manufacturing batch. In some embodiments, identification is based on inherent features of the substance units (such as color, size, shape, and / or texture). Additionally, or alternatively, identification is based on information printed or attached to the substance unit (e.g. an identifiable pattern or marking).

[0330] According to some embodiments, the device generates an indication regarding the dispensed substance unit identity at block 127a.

[0331] According to some embodiments, the device generates a dispensing indication, at block 129a.

[0332] According to some embodiments, following completion of the substance unit movement or dispensing, an indication for example a human detectable indication is delivered with information regarding an expected scheduled activation of the actuator interface in the future. Exemplary modular substance distribution devices

[0333] Reference is now made to Figs. 1G-1H, which schematically illustrate components of an active container rig 100, according to some embodiments of the invention. Fig. 1H shows active container rig 100 in partially exploded form, separated into the rig’s individual modules. Reference is also made to Fig. IN, which schematically illustrates components of active container rig 100 in block diagram form, according to some embodiments of the invention. It should be understood that the specific provision and arrangement of modules in an active container rig 100 is optionally variable according to the functionality implemented. In some embodiments, , active container rigs 100 are identified by the presence of one or more active containers 70 (e.g., characterized as next described) for substance units 101, along with one or more attached components which provide and / or shape the functionality of the active container 70; for example, by optionally providing motive force for inserting, ejecting, arranging and / or rearranging the substance units 101 stored by of the active container(s) 70; by optionally control of these activities and tracking their effects by “data twinning”; and sensing, such as sensing used in verification of substance units 101, and / or in authentication / authorization services.

[0334] In some embodiments, as shown in the illustrated example of Figs. 1G-1H, active container rig 100 is optionally implemented with a modular design. In some embodiments, modular components of active container rig 100 include active container 70, controller 60, auxiliary controller 80, and transfer interface 50. In some embodiments, having a modular design is not an absolute requirement of an active container rig 100. However, in some embodiments, modularity can be a preferred approach to implementation because of the expectation that active containers 70 will provide mobile protective packaging within a distribution system for substance units 101. Optionally, a given active container 70 will potentially be reconfigured for use in several different active container rigs 100 over the course of its service lifetime.

[0335] In some embodiments, for example, an active container 70 may be part of an active container rig 100 defined at a pharmacy facility where it receives pills of one or more types defined by a patient’s active prescriptions. In some embodiments, the active container 70 is then received by the patient, who uses the active container 70 in a different active container rig 100 suited, e.g., to organizing the pills into groups according to time of dose consumption, providing reminders, and / or monitoring compliance. Conversely, in some embodiments, it is anticipated that a same active container 70 will potentially experience repeated turnover in its substance units 101 contents over the course of that service lifetime; e.g., at least transitory storage of a number of substance units 101 which is up to at least five, ten, fifty, a hundred, or more times its volumetric storage capacity for substance units 101. In some embodiments, while the same active container 70 may be used in this cycle for several iterations with the same patient and pharmacy, the contents of an active container 70 are optionally exchanged (wholly or partially) into a new active container 70 at any appropriate juncture, with the records of the identities of the contents being also updated appropriately.

[0336] Exemplary active containers

[0337] According to some embodiments, active container 70 provides a storage volume for substance units 101 (e.g., as illustrated in Fig. II). The hexagonal shape of the example shown is further discussed, e.g., in relation to Fig. 1J.

[0338] It is envisioned, for some examples of the present disclosure, that this storage will optionally be accessed multiple times over the lifetime of an individual active container 70, not only to remove substance units 101 that have been added to it, but also optionally to add new (e.g., replenishing) substance units 101 on potentially multiple occasions. In some embodiments, this can include mixed storage of different type of substance unit 101, and / or changes over time in the types of substance unit 101 stored. Single-fill active containers 70 are not excluded, however. Optionally a single-fill active container, is a tamper-evident container, where the container is designed to prevent reopening after initial use or after installed in a distributing device, for example an active container rig.

[0339] In some embodiments, active container 70 is ordinarily sealed against contamination, while also optionally providing intermittent access to introduce or remove substance units 101 through one or more ports 121. only one port 121 is visible in Fig. 1H, the positions of two other ports 121 can be seen, e.g., in the isolated view of base 75, floor 74B, and upper part 74A shown in Fig. 4A.

[0340] According to some embodiments, the active container, for example active container 70 comprises anti-contamination sealing, for example to prevent contamination of the substance units stored in the active container. In some embodiments, the anti-contamination sealing is optionally hermetic, e.g., able to maintain a pressure differential for extended periods (a week or more, for example) under normal storage conditions. For example, port 121 is optionally provided with one or more gaskets, against which a door of the port is pressed to prevent exchange of gasses with the environment. Additionally, or alternatively, operations for which port 121 is unsealed may be concluded by adhering a new foil or other material into place over the opening of port 121, by reinserting a plug (an original plug or a new one), or in another manner. In some embodiments, a port 121 or portion thereof is rated for a certain number of opening and closing operations before it is considered necessary to replace or otherwise maintain it. Optionally, active container 70 is considered disposable after a certain number of port operations; e.g., after being emptied by dispensing all its contents, and / or transferring its present contents to one or more new active containers 70.

[0341] Optionally, ports 121 are configured to break and restore a hermetic seal multiple times. This is a potential advantage, e.g., for the distribution of pharmaceutical substances, and / or for substances having stringent requirements for environmental conditions more broadly. In some embodiments, anti-contamination sealing is configured to restrict microbial ingress specifically, whether or not the anti-contamination sealing is hermetic. In some embodiments, the anticontamination sealing may be augmented in such cases by measures such as sterilization substances and / or irradiation (e.g., UV irradiation). Optionally, positive pressure using a clean gas is used to mitigate opportunities for contamination occurring while a port 121 is open to receive or provide a substance unit 101.

[0342] Examples of active containers 70 without strict sealing are not excluded, e.g., for use with substance units 101 that lack stringent environmental control requirements. In some embodiments, this lack may be, e.g., because of the nature of the substance itself, because the substance is protected within a carrying envelope which already provides sufficient protection from contamination, and / or because the contents of active container 70 are to be used within a period of time brief enough that contamination and / or environmental control requirements are reduced. Optionally, such a brief period may be for example a week or less or a month or less.

[0343] In some embodiments, all of the ports 121 of an active container 70 are of a single type; e.g., having the same size, shape, and manners of opening, closing and sealing. Optionally ports 121 of different types are provided; for example, a port 121 for receiving substance units 101, and a different design of port 121 for releasing substance units 101. Optionally, ports 121 are differentiated for transferring therethrough of substance units 101 of different types (e.g., different in size, shape, rigidity, and / or storage requirements). Optionally, there is a type of port 121 differentiated for transferring of travelling displacers 200 therethrough. Optionally, a port 121 is of a single-use type, e.g., intended to be used once for use in provisioning when initially preparing an active container 70 for use, and then sealed permanently for the remaining service life of the active container 70. Conversely, a port 121 may be configured to be opened only once, e.g., to be used in releasing reusable and / or recyclable components within the active container 70 at the end of its service lifetime. In some embodiments, structure of a port varies over the service lifetime of an active container 70. For example, a port 121 may start out as a larger port during provisioning, then receive an insert which reduces the size of the port 121 and optionally includes features such as a sealing gasket, moving door, plug puller and / or replacer, foil cartridge, adhesive, and / or sensor(s). Optionally, port inserts are intended to be replaced one or more times over the service life of an active container 70.

[0344] According to some embodiments, the active container, for example active container 70 is reusable or recyclable. In some embodiments, to allow reuse of the active container, the active container is cleaned and / or sterilized using known methods is the art, for example using at least one of, autoclaving (Steam Sterilization), ethylene oxide (EO) sterilization, gamma radiation, hydrogen peroxide vapor sterilization, dry heat sterilization, chemical disinfection (e.g., peracetic acid, alcohol), ultraviolet (UV) light sterilization, ozone sterilization, irradiation (electron beam), plasma sterilization (low-temperature).

[0345] According to some embodiments, active container 70 is “active” at least in the sense that it includes features supporting internal rearrangements of substance unit 101. In particular (e.g., Fig. IN), active container 70 optionally includes one or more actuators 130 which are operated to rearrange the substance units 101 it contains, and / or used in transferring (e.g., from or to another active container 70) and / or dispensing (e.g., to an end user) substance units 101.

[0346] According to some embodiments, a generic reference herein to an actuator which an active container 70 includes and / or contains should be understood as referring to a structure comprising at least the end effector of the actuator, and optionally such additional structure as is appropriate to allow coupling of the end effector to its source of motive power, directly or indirectly. Other coupled parts of the actuator distal to the source of motive power are optionally provided separately from the active container 70, e.g., as part of the configuration of a particular active container rig 100. Typically (although not necessarily), the source of motive power for an actuator 130 is located outside of the active container 70 itself, e.g., provided in the active container rig 100 by a controller 60 or another module.

[0347] According to some embodiments, a storage of substance units 101 is structured by one at least one storage track 122, which optionally defines addressable locations 110, each sized to hold substance units 101, optionally provided in predefined unit sizes and / or multiples thereof. In some embodiments, for example, a substance unit 101 may comprise a pill, lozenge, tablet, and / or capsule; sized so that it fits within a single addressable location 110 of a storage track 122. Examples of multiple-unit substance units 101 are described, for example, in relation to Fig. 6A, as well as examples of the substances they can contain, which may include but are not limited to pharmaceutical and / or nutraceutical substances. In some embodiments, other examples include, e.g., inks, adhesives, and flavoring agents. In some embodiments, a substance unit 101 includes an object (e.g., a manufactured object) useful according to its mechanical and / or electrical construction, e.g., a fastener or a small electronics item. Such substance units 101 optionally themselves provide capabilities used by a distribution network including the active container 70, for example, by serving as sensors and / or by acting as tools which modify the capabilities of the active container 70, e.g., by interacting with other substance units 101 to puncture, heat, cut, or otherwise modify them.

[0348] In some embodiments, a substance unit 101 introduced to an active container 70 then acts as a travelling displacer 200, and / or as a blocker which occupies an addressable location 110 to help secure other substance units 101 in place.

[0349] According to some embodiments, a substance unit 101 may include packaging additional to the economically and / or functionally significant “substance” itself; for example, to protect the substance, bind the substance, and / or bulk the substance to a size and / or shape suitable for handling within an active container 70 and / or when being passed between active containers 70. In some embodiments, the substance packaging optionally comprises, for example, a capsule, membrane, and / or padding material. For example, the substance is optionally provided in a pill form including excipient, coating, and / or encapsulating materials, as known in the art.

[0350] In some embodiments, a substance unit 101 is configured to serve as a carrier for a sample, e.g., a biological sample. For example, the substance unit 101 is optionally originally introduced to an active container 70 as an empty capsule, and dispensed to a user who provides a sample (e.g., comprising a swab end and / or a fluid) in the capsule. The filled capsule is optionally returned again to an active container 70 for eventual delivery to a testing lab.

[0351] According to some embodiments, movements of substance unit 101 may occur along pathways defined by storage tracks 122 (and their addressable locations 110) and / or along other pathways within active container 70 not used for storage. In some embodiments, the movements are generated from one or more actuators 130, and may be guided by any suitable combination of the internal structure of active container 70 (e.g., the shapes of its walls, which are optionally dynamic), restraints on movement due to the presence of other substance units 101, and the externally applied control to the actuator(s) 130 themselves. In some embodiments, the actuators 130 may themselves contact one or more substance units 101 as they engage with substance units 101 to move them. In some embodiments, an actuator engages with substance units 101 across a flexible membrane within which the substance units 101 are sealed.

[0352] In some embodiments, including as illustrated in Figs. 1 G-1H, active container 70 operates as a cartridge which can be removably engaged with one or both of controller 60 and auxiliary controller 80 in order to transfer and / or dispense substance units 101. Accordingly, an active container 70 may be optionally attached to several different controllers 60 and / or auxiliary controllers 80 over the course of its operating lifetime. Exemplary controllers

[0353] Controller 60, in some embodiments, includes control circuitry 99 which interfaces with one or more active containers 70 to perform rearrangements of substance units 101.

[0354] According to some embodiments, as rearrangements are performed they are optionally tracked by controller 60, and a data record 90 linking the substance units 101 to their respective addressable locations is optionally updated accordingly. Accordingly, in some embodiments, the current addressable location(s) occupied by a substance unit 101 are optionally unique to it, uniquely identify it, and can be used to uniquely select it.

[0355] According to some embodiments, interfacing optionally comprises electrical, magnetic, and / or mechanical contact (via actuator interface 98) with control-receiving elements of actuators 130. For example, control circuitry 99 may include one or more circuit boards which produce magnetic fields upon receiving electrical current which are controllable to manipulate elements inside active container 70; for example, one or more travelling displacers 200. In some embodiments, such magnetic driver-type actuators are detailed, for example, in relation to Figs. 22-27 E. In some embodiments, Magnetically driven actuators may themselves act within an active container 70 by engaging substance units 101 directly, and / or by moving other elements which drive rearrangements of substance units 101. It should be noted that magnetically powered drives provide a potential advantage for sealed manipulation of the interior contents of an active container 70, since magnetic power can be transmitted and translated into movements across solid and completely sealed barriers, and without physically penetrating into active container 70.

[0356] Additionally, or alternatively, another form of actuator and / or force transmission to an actuator is provided. Examples include mechanical transmission using for example, spindle drives, force-transmitting buttons, and cable linkages. In some embodiments, force is transmitted while maintaining sealing by using a flexible intervening barrier (e.g., a silicone membrane) through which an actuator interface 98 is able to engage the actuators 130 of an active container 70. In some embodiments, power transmission arrangements use sealed bearings. In some embodiments, controller 60 includes power circuitry 97, e.g., comprising a battery and optionally charging circuitry. Auxiliary controller 80 optionally contains any of the elements of controller 60 (indeed, it may be identical in construction). However, it may include only a subset of features. It is considered “auxiliary” in the sense of being optional, and / or in the sense of being controlled itself by a main controller 60. However, there is not necessarily a single controller which is distinctly in charge of all others. Nor should the separation into main and auxiliary controller modules be understood as essential to, e.g., the control of operations within active container 70 both from above and below. A potential advantage of auxiliary controller 80 in the configuration shown is that it may allow actuation of the actuators 130 of active container 70 via either of the two largest surfaces of active container 70. In some embodiments, for example, when both controller 60 and auxiliary controllers 80 comprise magnetic coil and / or trace arrays, a magnetically attracted material such as iron can be driven along either the “upper” or the “lower” interior surface of active container 70 using magnetic attraction; optionally also affecting the vertical position and / or configuration of the magnetically attracted material.

[0357] Exemplary data records

[0358] According to some embodiments, data record 90 can originate from an initial state associated with active container 70 when it is first filled with substance units 101 and sealed. Alternatively, it can be developed from an initial “empty” state, as each individual substance unit 101 is added to it. Optionally, where appropriate to circumstances, data record 90 is originated by inspection of the present contents of active container 70.

[0359] In some embodiments, after its origination, data record 90 is maintained as a “data twin” of the state of the contents of active container 70, and updated when this state changes. Optionally, definition of the state in terms of addressable locations 110 allows data record 90 to have a “digitized” resolution. In some embodiments, that means that for purposes of determining the state of an active container’s 70 contents, it is sufficient to know which substance unit 101 is stored in which addressable location(s) 110. For example, position within the addressable location 110 need not be known to a greater resolution (although this is not excluded). There is a qualification, in some embodiments, that the substance unit 101 should be in “sufficiently good condition” to qualify as being what the data record 90 claims it to be. For example, the substance unit 101 may be subject to qualifications regarding mechanical damage, storage history, and / or expiration status.

[0360] According to some embodiments, data record 90 is considered to “belong” to the active container 70 specifically, since, in a modular system, active container 70 may be detached from any particular controller 60 which operates it. Accordingly, data record 90, in some embodiments, includes one or more features which associate it to a particular active container 70. For example, it includes an identifier expressed as data which can also be determined for comparison by inspection of the active container 70. Additionally, or alternatively, the identifier is transferred along with the active container 70 as it moves from controller 60 to controller 60, as it is packaged up to be physically shipped to a new location, or otherwise experiences a change in setting.

[0361] In some embodiments, the data record 90 is maintained in a remote location (central and / or distributed). When a controller 60 (or controller 80) encounters an active container 70, it inspects it to determine its identifying data. This may comprise any form of inspection and / or communication - e.g., RFID, bar code, photographic comparison, contents inspection, and / or another type of identification. Optionally multiple sources of identifying information are used. In some embodiments, a chain of custody evidence may contribute to identification, at least under certain circumstances.

[0362] In some chain of custody, the data record 90 is state-safe, and includes support for tamperevidencing. In particular, the identifying scheme for an active container 70 optionally includes features to resist introducing skew between the storage state which the data record 90 used by a controller 60 describes for active container 70, and the actual state of that active container 70. For example, the retrieval system for data records 90 is sent updates with each valid modification of the contents of the active container 70 (including rearrangement of those contents). Furthermore, the active container 70 itself is, in some embodiments, updated in such a way that its current identifier state will not be accidentally useable together with an outdated state of its data record 90. For example, a counter is incremented at each modification. Other features more resistant to exceptional conditions and / or deceptive intent are optionally provided, such as identifiers modified by use of the actuators of an active container 70, identifiers which are changed irretrievably when an active container 70 is tampered with (e.g., opened and / or used outside of system-controlled operations), and / or identifiers which effectively rely on the state of active container 70 itself.

[0363] In some embodiments, at least some substance units 101 are fully or partly identifiable in themselves. For example, they are uniquely identifiable. Identification is optionally (e.g., by microscopic appearance, serial number, RFID tag, or other identifying information), or any combination of such features, including potentially also one or more of color, shape and visible markings and the like. Additionally, or alternatively, they may be identifiable as belonging to a type, e.g., a pill of a particular formulation, batch number, and / or expiration date. To the extent that a substance unit 101 is identifiable in itself, it can be retrieved from its addressable location(s) 110, and subjected to a cross-check on the validity of the corresponding link of that substance unit 101 to its addressable location(s) 110 in a data record 90. It is a potential advantage for manipulations of substance units 101 to be dependable, so that instances requiring cross-checking can be reduced, minimized or eliminated. This dependability relies, in turn, on active container 70 being able to reliably preserve the contents state of its substance units 101 during potentially rough handling, e.g., during shipping transportation, and / or while carried in the pocket of an individual engaged in strenuous activities.

[0364] According to some embodiments, there may be cases where it considered irrelevant which of several equivalent substance units 101 is transported in a certain case, for example when dealing with identical substance units of the same batch. However, there is in general still found, in examples described herein, retrieval of a substance unit 101 from a particular addressable location 110 (or set of them), coupled to features of retrieval and other substance unit 101 manipulations which help ensure that the retrieved substance unit 101 does indeed match whatever identifying information is associated with it.

[0365] According to some embodiments, this applies even in the case that a data record 90 eventually “forgets” which of several equivalent substance units 101 were transferred. The situation may be optionally contrasted with that of retrieval from a bin of equivalent substance units 101, in that the retrieval from a storage track 122 inherently is directed to a particular substance unit 101. Moreover, direction is optionally by an individually assigned address, and not merely as, e.g., “the next one in line”, with inventories tracked merely by use of a counter. While it is not excluded that bin-like and / or counter-like retrieval schemes are used in conjunction with some embodiments of the present invention, e.g., within certain storage regions of an active container 70, these retrieval modes should be understood as distinct in character.

[0366] Exemplary transfer interfaces

[0367] According to some embodiments, transfer interface 50 is optionally provided as a physical interface to port 121 external to active container 70. Optionally, it also interfaces electrically and / or optically to active container 70 and / or controller 60, e.g., via connector 73 (on active container 70) or another connector (e.g., on controller 60). In some embodiments, transfer interface 50 may be implemented, for example, as a mouthpiece, allowing dispensed substance units 101 to be delivered directly into the oral cavity of a recipient from dispenser port 52. In some embodiments, the physical offset from port 121 provided by transfer interface 50 potentially protects the interior of active container 70 from contamination. In some embodiments, transfer interface 50 is also involved in authentication and / or authorization of device operation; for example, it may include one or more sensors 51 which detect conditions of its use, e.g., the identity of an oral cavity to which it is inserted. In some embodiments, transfer interface 50 provides support for the sealing and / or unsealing of port 121. For example, it may store adhesive and / or foil, and optionally transport this material to port 121 for use in resealing. Transfer interface 50 optionally includes actuator(s) capable of removing and / or returning a plug from / to port 121. Optionally, transfer interface 50 includes a heating element and / or a curing element (e.g., a nichrome wire and / or UV source) which is activated during sealing and / or unsealing.

[0368] In some embodiments, a transfer interface 50 is configured to modify substance units 101 as they pass through it. For example, the transfer interface 50 may add packaging to a substance unit 101 to convert its size and shape to one which is more suitable for handling within active container 70. For example, the substance may be padded (e.g., with a hardening foam) and / or placed in a shell which is sized and shaped so that actuators and / or guiding surfaces of the active container 70 engage with the substance unit 101 to move it predictably among locations within the active container 70. Optionally, the same or a different transfer interface 50 is used to remove the substance from added packaging before dispensing or otherwise transferring the substance unit 101 outside of its active container 70. While it is not excluded that packaging / unpackaging operations are performed within the internal spaces of active container 70 itself, it is a potential advantage to provide this functionality in a modular fashion, allowing the same design of active container 70 to be adaptable for use with a variety of such preparatory adaptations of substance units 101.

[0369] It should be understood that the modular design illustrated in Figs. 1G-1H and other Figures herein is optional. In some embodiments, some or all of the components described and / or their functionality are integrated into a single unit which is not ordinarily reconfigured with different component combinations. It should be understood that any suitable mix of modular and fixed integration is optionally used; for example, auxiliary controller 80 may be integrated into a housing along with active container 70, while controller 60 remains detachable-or the reverse. Transfer interface 50 is optionally integrated with either or both of controller 60 and active container 70, or itself provided as a module that can be reversibly attached to them (and potentially re-used with other such components after later detachment).

[0370] It should also be understood that examples of active container rig 100 are not limited to have only one of each modularly-described component. For example, controller 60 may be sized to operably connect to two or more active container 70 at once. Conversely, an active container 70 may be sized to accept operable connection to two or more controllers 60 at once.

[0371] Exemplary active container internals

[0372] Reference is now made to Figs. 11-1 K, which schematically illustrate components of active container 70, according to some embodiments of the invention. Fig. II shows a partially exploded view of active container 70 including lid 71, base 75, and insert 74. Fig. 1J shows a partially exploded view of base 75 and insert 74 in which the view of base 75 is partially dimmed to emphasize which components belong to insert 74. Fig. IK shows a cutaway view of the interior of active container 70, the view exposing visibility into half of a storage track 122.

[0373] Further reference is made to Fig. IL, which schematically illustrates an example of a travelling displacer 200, according to some embodiments of the invention. Reference is also made to Fig. IM, which schematically illustrates an example of a substance unit 101, according to some embodiments of the invention. According to some embodiments, for example as shown in Fig. II, arrays of substance units 101 are shown, arranged along storage tracks 122, which extend as radial spokes from hub space 78, visible in Figs. 1J-1K. It may be noted that the shapes of these substance units 101 are optionally uniform, and optionally selected to allow close-fitted packaging of the substance unit 101 along the extent of a storage track 122, e.g., such that each individual substance unit 101 occupies 90% or more of the room allotted to its addressable location 110 in a direction along the pathway of the storage track 122. Optionally 100% (or more) of this room is used, with the result that adjacent substance units 101 are placed into substantially constant contact. Values of more than 100% are optionally possible if there is space for at least some substance units 101 to be pushed up slightly by interactions with their neighbors. Close-fitted storage is a potential advantage for retaining substance units 101 in place, since blockage of movement at the ends of a train of such close-fitted substance units 101 is potentially sufficient to ensure that all substance units 101 in the train are secured in their respective addressable locations 110. It should be understood, however, that wider spacing is optionally provided in some embodiments of the present disclosure. Features optionally used with wider-spaced storage of substance units 101 are discussed, e.g., in relation to Figs. 10A-17H.

[0374] In the illustrated embodiments, the substance units 101 are cylindrical with chamfered caps. Accordingly, their cross sections as seen from above each storage track 122 are roughly square or rectangular, allowing each substance unit 101 to fit snugly against its neighbor(s). Furthermore, this shape provides an extended line of contact, which potentially assists in maintaining stability of orientation of the direction of motion of a substance unit 101 being urged forward by contacts with another substance unit 101 pushing on it. The cylindrical roundness optionally allows moving, for example rolling, along a selected direction (the direction of the pathway which the storage track 122 defines), and the extended line of contact also potentially assists in maintaining stability of the axis along which the substance units 101 move.

[0375] In some embodiments, chamfering potentially assists in centering a substance unit 101 as it enters between guiding surfaces of a storage track 122. These features are optionally provided individually or together in any suitable combination as features which assist in the reliable and reproducible handling of substance units 101. For example, substance units 101 shaped like a rectangular block would not roll, but they would still tend maintain their relative orientations in a train of interacting substance units 101. With chamfering and / or an increasing number of comers (e.g., an equal-sided hexagonal or octagonal shape), this may also occur. However, there is a potentially greater tendency for substance units 101 with a smaller difference in minimum vs. maximum diameters to rotate in case of looseness in the packing of substance units 101 along a storage track 122.

[0376] Alternatively, the substance units 101 may have any shape with any geometrical properties, for example any known shape of pills, tablets and the like.

[0377] According to some embodiments, the features just described in relation to shapes and sizes of substance units 101 are particularly of relevance for use with examples of storage tracks 122 relying on close-fitting guiding surfaces to physically maintain position relationships between substance units 101 and their assigned addressable locations 110. In effect, the substance units 101 are optionally forced together closely enough in such conditions that they can also be depended on to provide guiding surfaces for each other. However, even in more loosely packed conditions, control of the movements of substance units 101 optionally makes use of the geometrical fitment of substance units 101 with each other, e.g., as described in relation to Figs. 10A-10C, 17A-17H.

[0378] According to some embodiments, the substance units 101 are shaped and sized to fit within a storage track and / or within preformed paths of a container, for example to allow secure positioning and / or to reduce likelihoods of jamming during storage and / or movement within the container.

[0379] According to some embodiments, for example as shown in Fig. II and visible in more detail in cutaway Fig. IK, active container 70 comprises door 77 of port 121, along with door pocket 76 into which door 77 slides to open. For example, in some embodiments, door 77 is actuated by operation of an electromagnet, and / or pushed aside by the operation of an external device such as a component of transfer interface 50. It should be understood that other implementations of port 121 are optionally provided in which door 77 is otherwise configured, and / or replaced, e.g., by a foil seal, plug, or other closure device.

[0380] Along the half of a storage track 122 exposed by the cutaway are arranged a plurality of addressable locations 110. In some embodiments, they are defined in part by sets of unit retainers 145 which protrude into the storage area for substance units 101, and optionally contribute at least partial mechanical resistance to the movement of a substance unit 101 between the addressable locations 110 thus defined. Additionally, or alternatively, the addressable locations 110 are defined at least in part according to the resolution of the control logic used when moving substance units 101 around within the interior of active container 70.

[0381] Also shown is sidewall 140, which defines one of the lateral sides of storage track 122, marking a lateral limit beyond which the substance units 101 shown in Fig. II cannot pass, due to their height within storage track 122. Herein, in relation to a storage track 122, “lateral” refers to directions generally orthogonal to the direction of the path which the storage track 122 defines. In some embodiments, a second (and wider) lateral limit is defined by support wall 143, which interconnects the upper part 74A of insert 74 with its floor 74B. Upper part 74A and floor 74B are shown separated in Fig. 4A, but this particularly separation into parts should not be considered limiting. In some embodiments, lateral position of support wall 143 sets the lateral extent into which travelling displacer 200 can move while moving longitudinally along the more central regions of storage track 122. Support wall 143 optionally terminates upon reaching gap 142, and beyond this site travelling displacer 200 is optionally free to move circumferentially around the perimeter of insert 74, insofar as a particular load-out of substance units 101 permits.

[0382] In some embodiments, for example as shown in Fig. II, insert 74 is circular, and capable of rotating within its setting inside of base 75, thus forming a carousel which is capable, by rotation of alternately aligning any of storage tracks 122 with any of ports 121. In other positions, none of storage track 122 is aligned to a port 121. Rotation is optionally actuated by a spindle linkage, for example as described in relation to Fig. 18, and / or using a travelling displacer 200, for example, a magnetically powered travelling displacer 200, e.g., as described in relation to Figs. 4A-4B, 5C, and / or 27C-27E. It should be noted that the hexagonal shape of base 75 provides a potential Advantage by being a regular tiling shape. The tiling shape potentially allows configurations comprising multiple conjoined active containers 70, each connected at two or more of its sides by its ports 121. Additionally, or alternatively: compared to a square or a triangle, the comer regions (unavailable for use as storage tracks of insert 74) are potentially reduced in size. It should be understood that the hexagonal shape is not limiting, nor are the considerations which provided a hexagonal shape with certain potential advantages necessarily determining of preferred embodiments. Rectangular, square, circular, triangular, and / or other shapes are also contemplated as potentially suitable embodiments for examples of the present disclosure.

[0383] According to some embodiments, an actuator, for example actuator 130 comprises a travelling displacer, for example travelling displacer 200 as shown in Fig. IL.

[0384] In some embodiments, as illustrated, travelling displacer 200 comprises two domains: wide displacer domain 200A, and narrow displacer domain 200B. Both domains are low enough to fit under sidewall 140, optionally allowing wide displacer domain 200A to be wider than the corresponding width axis of the substance unit 101 shown in Fig. IM. In turn, this optionally allows the aperture 79 of port 121 to be set (optionally) so that substance unit 101 can exit it, but the exit of travelling displacer 200 is prevented. In some embodiments, when narrow displacer domain 200B leads, it can be optionally used to nudge a final substance unit 101 fully out of aperture 79, optionally without risking loss of the travelling displacer 200 itself. It may also be noted that the substance unit 101 of Fig. IM is cylindrical in shape, and that the constraining dimensions of the illustrated storage tracks 122 allow it to roll along the elongated axis of each storage track 122, but prevent twisting to a different orientation. This provides a potential advantage for producing predictable movements of the substance units 101 in response to forces exerted by travelling displacer 200 optionally acting as a pusher element on a group of such substance unit 101. These are examples of the use of the relationship of relative sizes and orientations of surfaces to guide movements of substance unit 101 within active container 70, which is discussed more generally, for example, in relation to Figs. 2A-2C. It should be understood, in particular, that the illustrated shapes of travelling displacer 200 and of substance unit 101 in Fig. 1L-1M are non-limiting examples.

[0385] Exemplary pathways defined by resistance to movement

[0386] Reference is now made to Fig. 2A, which schematically illustrates dynamic constraints on the motility of a substance unit 101 along a storage track 122, according to some embodiments of the invention. Reference is also made to Fig. 2B, which schematically illustrates a plurality of substance units arranged along a storage track 122 according to some embodiments of the invention.

[0387] Herein, the term “track” refers to a structural arrangement which defines a pathway along which substance units move by actuated movement; for example, to reach a port, and / or as part of internal rearrangements of substance units. The term “storage track”, more particularly, refers to tracks which also define “addressable locations” along the pathway in which substance units are stored.

[0388] In a typical case there may be one substance unit stored per addressable location. However, this ratio is not fixed; for example, a substance unit may occupy a plurality of addressable locations. This and other cases are discussed, for example, in relation to Fig. 6A. Alternatively, a plurality of substance units (optionally identical) may occupy a single addressable location.

[0389] A characteristic of storage tracks constructed according to some embodiments of the invention is a capability to maintain their stored substance units in a fixed and / or dependably recoverable relationship with the addressable locations which the storage track defines. In part, “addressable locations” should be understood as “addressable” in the sense that they are associated with features that support this capability, thus comprising an “address” with which the location is supported.

[0390] Before further explaining examples of some types of supporting features, it should be understood that the aforementioned capability to fix stored substance units 101 in their places is potentially in tension with the path-defining characteristics of a track. Optionally, the motion of substance units along the track necessarily comprises changes in the relationship of those substance units with the storage track’s addressable locations.

[0391] According to some embodiments, the “addressability” of the addressable locations also relates in part to system capabilities for selecting a substance unit for movement from a particular (selected) addressable location, and / or to system capabilities for moving selected substance units into particular (selected) addressable locations. For purposes of description, addressable locations should be considered as discrete and mutually exclusive in the sense that a storage track which comprises at least two addressable locations optionally supports simultaneous storage (and addressing for movements into or out of this storage) of at least two appropriately-sized substance units, one in each addressable location.

[0392] This does not exclude addressable locations from having, in some embodiments, mutual physical overlap (which is distinct from physical interpenetration of the stored substance units themselves). Also, despite definition of addressable locations as discrete and mutually exclusive, it is not excluded that an addressing scheme uses, e.g., continuously or fractionally offset addresses, e.g., addresses defined by distance along a storage track. In such cases, the addressing scheme should be considered as collapsing in practice into a number of jointly addressable locations which suit track structure, actuator resolution, controller programming, and / or the substance units used. “Jointly” addressable implies that each individual addressable location can remain empty (and available for receiving a substance unit) while the others are already used for substance unit storage.

[0393] Features which support maintaining substance units in a fixed and / or dependably recoverable relationship with the addressable locations are optionally provided with differing underlying operating principles and in different combinations, depending on specifics of the implementation. Unifying these differences, Fig. 2A illustrates an explanatory framework in which an addressable location 110 (abstractly represented as a virtual bounding box) is conceived of as a location from which movement is restricted by retaining forces (also referred to as resistance to movement). In general, however, movement is not prevented absolutely.

[0394] In the illustrated example, orthogonal movement directions within a plane (that is, along surface 11, indicated by a sparsely drawn grid of segments) are considered for a substance unit 101 (which can be of any shape; a sphere is used as an example). Surface 11 is, for example, an interior surface of a housing 120, for example, as described in relation to Figs. 1G-1N, or any other enclosure for substance units 101 described herein. Movement in three dimensions of substance units 101 among addressable locations 110 is not excluded. Substance unit 101 is spherical in the illustrated example, but other shapes are not excluded; for example any other shape of a substance unit 101 as described herein.

[0395] Graphs 20-23 (shown in isometric perspective) illustrate increasing resistance to movement as substance unit 101 is displaced from a starting position centered in its addressable location 110. Also illustrated is a reduction in resistance past a certain peak. This represents, for example, movement of substance unit 101 into a new addressable location 110, or movement outside the enclosure of active container 70, e.g., beyond a port 121.

[0396] According to some embodiments, for example as shown in Figs. 2A-2C, in each direction, the peak resistance is what needs to be overcome in order to be moved to a new addressable location 110 by a force (indicated by direction-of-force arrow 24) exerted from, e.g., a travelling displacer 200 or other actuator 130. It should be realized that resistances to movement in any given direction are not necessarily all fixed. In some embodiments, moreover, they are dynamically controlled to define storage tracks 122, and more particularly the pathway of the storage track 122 along which substance units 101 move in travelling from one addressable location 110 to another. Tracks (and / or pathways) not used for storage may also be defined by dynamic control.

[0397] It is noted that the above definition of a “track” includes the concept of a pathway which the track defines. In the abstracted example of Fig. 2A, the resistance curves are undifferentiated in all directions (isotropic), so that they do not in themselves define a preferred pathway. A pathway may arise, however, in the context of the movements available to travelling displacer 200 as its environment is configured at the time it engages a substance unit 101 at addressable location 110.

[0398] For definition of the pathway which a storage track defines, reference is optionally made to guiding surfaces of the storage track. Substance units 101 are made to move along pathways of some examples of storage tracks by their interactions with these guiding surfaces. Guiding surfaces optionally include surfaces of barriers within an active container 70 such as walls and protrusions which ordinarily prevent substance units 101 from moving beyond them. Such barrier surfaces may extend wholly or partially from the top to the bottom of the active container 70. When extending partially across this direction, such barriers may be size selective; for example, allowing the passage of travelling displacers 200 with a lower height than the substance units 101 which the barrier is sized and shaped to retain. Additionally, or alternatively, size selectivity is implemented by the selected size of gaps between adjacent walls.

[0399] Guiding surfaces optionally include surfaces which resist but do not prevent passage beyond them, e.g., elastic elements and / or shaped elements which such as wells that create potential energy barriers to passage. Guiding surfaces optionally include surfaces which redirect and / or re-orient substance units 101 so that their interactions with other guiding surfaces are changed. Guiding surfaces of any of these types are optionally static (z.e., unmoving relative to fixed elements of the external framework of active container 70) or dynamic. Some examples of dynamic guiding surfaces are constantly present but moveable relative to the external framework of an active container 70 (e.g., slideable, and / or rotatable as part of a carousel). It is not excluded that guiding surfaces are dynamically formed from the internal structure of an active container 70, e.g., by adjustments which fold or otherwise deform a structure (e.g., a membrane) to create a temporary protrusion.

[0400] Turning now to the group of substance units 101 shown in Fig. 2B, it may be understood that the pathway of a storage track 122 may be defined by manipulating resistance to movement in different directions for substance units 101 interacting along a train. While the first substance unit 101 of the train may be expected to go in the direction it is directly urged (e.g., by a travelling displacer 200 or other actuator 130), other substance units 101 may go in different directions, unless additional pathway-defining guidance is provided, e.g., in the form of one or more guiding surfaces, as just described. Optionally, the shapes of substance units 101 themselves are selected to assist in guiding each other as they interact; for example, as described in relation to Figs. 6B- 6D.

[0401] It should be generally clear to a person of ordinary skill in the art what distinguishes an actuator 130 from static or dynamic in-built guiding surfaces of storage tracks 122. However, where further definition is required for distinguishing such structures, a more immediate and singular relationship to the origin of the forces which produce rearrangements of substance units 101 should be understood as distinguishing an actuator 130 possessed of an end effector from a mere guiding surface. For example, solid travelling displacers 200 (e.g., travelling displacers 200 illustrated and / or described in relation to Figs. IL, 2A, 6A-10C) are examples of actuators 130 in which the end effector comprises a surface of the travelling displacer 200 which is urged against a substance unit 101. In other uses of such travelling displacers 200, end effector surfaces engage with internal structure of a carousel or other movable surface defined within active container 70, which the movable surface is then moved to urge internal rearrangements of the positions of substance units 101 which an insert 74 holds. Noting that this type of rearrangement involves multiple contacts with many different internal surfaces, the role of the end effector is appropriately assigned to the travelling displacer 200 itself.

[0402] In some embodiments, for example as shown in Figs. 14-15, travelling displacer 1400 may be understood as comprising the end effector, with different portions of membrane 1401 being recruited into use as guiding surfaces as travelling displacer 1400 slides along membrane 1401. In the examples of Figs. 19-21B, there is also a separating membrane provided, but this is coupled to leaf actuators 1901 which are selectively positioned and shaped for introduction into the volume of the addressable locations 110 of storage tracks 122 in order to effect rearrangements of substance units 101. Accordingly, the role of end effector is appropriately assigned to the leaf actuators 1901.

[0403] It should be generally clear to a person of ordinary skill in the art what distinguishes substance units 101 as such from both actuators 130 and any in-built guiding surfaces of storage tracks 122. In particular, where a train of substance units 101 is moved along a storage track 122 in response to urging by a travelling displacer 200 or other actuator 130, the role of actuator 130 is generally assigned to the originating side of the first interaction with a substance unit 101, rather than to each substance unit 101 in turn as it pushes on the next substance unit 101 in line. It is not excluded, however, that a substance unit 101 may optionally itself be used as a travelling displacer 200, e.g., by wrapping substance unit in a metal foil which is affected by magnetic forces transmitted into its addressable location 110 or where substance unit is of a type that may contain or be made of material that is affected by magnetic forces, such as a sensor or a sample collector. In this case, the magnetically driven substance unit 101 optionally has a dual function as a travelling displacer 200.

[0404] Potentially more commonly, movements of an individual substance unit 101 are guided in part by interactions with other substance units 101. For example, storage tracks 122 described in relation to Figs. 10A-10C use counter-proceeding rows of substance units 101 to form a lateral boundary of the storage track 122 corresponding to each such row. The use of substance units 101 to provide each other’s guiding surfaces is optionally predicated on providing substance units 101 of suitable shape and size to perform this function dependably. In some embodiments, dependability is enhanced by suitably chaperoning movements of substance units 101, and / or dressing arrangements of substance units 101, for example as described in relation to Figs. 16A- 17 H.

[0405] While the flat engagement surface 200C of travelling displacer 200 potentially suffices to urge substance unit 101 along direction-of-force arrow 24 (e.g., as intended), subsequent displacement interactions between addressable location 110 and addressable location 110A, and between addressable location 110A and addressable location HOB, are not necessarily as well- constrained. For example, substance unit 101A could be displaced sideways (e.g., along direction- of-travel arrow 25) due to the small region of contact it has with substance unit 101, coupled to potential added resistance due to the presence beyond it of substance unit 101B. The opposite direction is also available. There are, however, several features which can be supplied within the structure of housing 120 to produce an anisotropic distribution of resistance to movement graphs 20-23, thereby defining a more dependable pathway along a storage track 122. Such features should be understood as contributing to the definition of a pathway for a storage track insofar as they result in selecting one or more directions of motion into and / or out of the addressable location 110. Furthermore, the structure of substance unit 101 itself may contribute to defining anisotropic resistance to movement, e.g. a cylindrically-shaped substance unit 101 (such as is illustrated in Fig. IL) defines a rolling axis which is optionally oriented along a pathway of a storage track 122, and potentially also has less of a tendency to move askew when pushed by a rounded surface.

[0406] Reference is now made to Fig. 2C, which schematically illustrates physical barriers to the motility of a substance unit 101 along a storage track 122, according to some embodiments of the invention.

[0407] To the example of Fig. 2B, Fig. 2C adds sidewalls 140, end wall 141, upper unit retainers 145B, and lower unit retainers 145A. For the sake of visualization, the positions of sidewalls 140 and unit retainers 145A, 145B are shown partially exploded laterally from the center of track 122. The illustration of Figs. 1J-1K also shows several of these elements, and the descriptions of them here apply to Figs. 1J-1K as well.

[0408] As shown, sidewalls 140 prevent substance unit 101 (and other substance units 101A- 101B) from moving laterally beyond, e.g., addressable location 110 (addressable locations 110A- 110B are not labeled, but may be understood as corresponding to positions shown in Fig. 2B).

[0409] Thus, sidewall 140 plays a role in creating the capability of the storage track 122 to maintain, e.g., stored substance unit 101 in a fixed and / or dependably recoverable relationship with addressable location 110.

[0410] Furthermore, sidewalls 140 constrain the direction of the pathway 111 which storage track 122 defines. It should be noted that the illustrated examples of sidewalls 140 do not extend fully from their upper sides to the plane of surface 11. The resulting gap 142 is optionally exploited, e.g., to allow passage of a travelling displacer 200, or to allow a surface of a separate interior portion of housing 120 to intrude into one or more of the addressable locations 110, 110A, HOB and engage one or more of the substance units 101, 101A, 101B. Similar “intrusions” (different in locations and / or direction) are described, for example, in relation to Figs. 4A, 5C, and / or 18-21B.

[0411] It should be understood that gap 142 is optionally provided as a gap above sidewall 140, that it is not necessarily continuous along the whole extent of sidewall 140, and that a plurality of such gaps 142 are optionally provided on one or both sides of storage track 122. In normal operation, the barrier to movement represented by sidewall 140 is not passed by any substance unit 101; it is practically a complete barrier, at least for substance units 101 of sufficient vertical height to reach it. This has the effect of constraining pathway 111 so that it is bidirectional (at least, assuming that there is also sufficient constraint preventing movements out of the assumed plane of movement; that is, below surface 11, or upward in the opposite direction).

[0412] It should be understood that in an ordinary sense, the pathway 111 defined by a storage track 122 is not necessarily confined to two directions only (e.g., branching is not excluded). However, where a particular definition and / or avoiding double-counting is a concern, branching pathways may be understood as comprising two or more pathways, and potentially two or more storage tracks 122, correspondingly. Should it be necessary to count addressable locations 110 belonging to a particular segment of storage track 122, the pathway involving a less-changed direction should be considered to dominate inclusion, or else the definition of a larger number of storage tracks 122 may be preferred. Where two candidate storage tracks 122 cross each other (e.g., in a straight line), a “shared” addressable location 110 in common with each can belong alternately to either, but should be assigned to just one storage track 122 at a time.

[0413] Also, for purposes of definition when needed: abrupt pathway direction changes (e.g., of 60° or more) and / or mutual separation of addressable locations 110 by a non-storage region as large or larger than unit-sized substance units 101 which they can contain should ordinarily be considered to distinguish different storage tracks 122. However, when the mutual separation is merely a linking region between exactly two addressable locations 110 not otherwise considered to be part of any storage track, or would result in the isolation of an addressable location 110 which is otherwise along a pathway of motion, those addressable locations 110 should be considered as comprised in a same storage track 122. Moreover, cases of clustered addressable locations 110 (e.g., in star-like arrangements) should not be excluded from including a storage track 122 merely because of a separation which a substance unit 101 traverses in passing from one addressable location 110 to another.

[0414] Contrasting with the effectively absolute barriers of sidewalls 140, optionally provided unit retainers 145A, 145B are sized and positioned so that the resistance to movement they cause is ordinarily overcome upon exertion of displacement force, e.g., by travelling displacer 200. Optionally, the resistance to movement is high enough to resist passage between two adjacent addressable locations 110 of a substance unit 101 under its own weight, and / or its own weight under an inertial acceleration less than some specified value, e.g., 2 g (that is, twice the acceleration of Earth gravity, or about 19.6 m / s2), 4 g, 5 g, 8 g, 10 g, or another acceleration. In some embodiments, the resistance to movement is dynamic, e.g., as discussed in relation to Figs. 11 A- 11C.

[0415] According to some embodiments, at least two opposite surfaces of a storage track and / or defining a storage track are used to control a degree of resistance or amount of displacement force needed to move at least one substance unit in the storage track. Optionally, the at least two opposite surfaces are in contact with the at least one substance unit

[0416] In some embodiments, unit retainers 145A, 145B help define addressable locations 110, but are not totally relied on to prevent crossing into an empty addressable location 110. In this aspect, the unit retainers 145A make the occupation of intermediate positions between the adjacent addressable locations 110 less stable, which potentially assists in maintaining and / or recovering a defined relationship between addressable locations 110 and the substance units 101 that they contain. For example, a cylindrical or spherical substance unit 101 may tend to roll back toward the center of an addressable location 110, rather than maintain contact with another substance unit 101 which it has been pushed against. This also provides a potential advantage for managing the defined relationship in cases in which the substance units 101 are somewhat undersized compared to the available space. It should be understood, furthermore, that positions of substance unit 101 within their addressable location 110 are optionally “dressed” by active measures, for example, as described in relation to Figs. 14-15 and / or 16A-17H.

[0417] Also, with respect to passive retaining, it should be noted that space occupied by substance units 101 themselves can play a significant role in maintaining stored substance units 101 in their assigned relationship with the addressable locations 110. In the example of Fig. 2C. end wall 141 can effectively prevent movement of substance unit 101 along storage track 122 as long as it remains in its depicted relative location. Examples of ways that end wall 141 can be moved include the case where end wall 141 is actually an openable door of a port 121, which opens, e.g., to allow release of a substance unit 101 (in this case, substance unit 101B). In another example, storage track 122 is part of a carousel or other movable insert 74, while end wall 141 is a part of base 75, and not present at all selectable positions of movable insert 74.

[0418] Exemplary rearrangements of substance units

[0419] Exemplary substance unit expulsion

[0420] Reference is now made to Figs. 3A-3B, which schematically illustrate transfer and / or dispensing of a substance unit 101 to a location outside of active container 70, according to some embodiments of the invention. Active container 70 is shown in a cutaway view with the lid removed, allowing viewing into the interior of base 75 and insert 74, including a sectional view of a storage track 122. Figure 3A shows a storage state before transfer. Travelling displacer 200 has been navigated into storage track 122 from a starting position in hub space 78, and advanced until it engages (contacts) one of the substance units 101 of substance unit group 300. Substance unit group 300 comprises each of the substance units 101 shown in storage track 122. Door 77 of port 121 is closed. In some embodiments, a substance unit group, for example substance unit group 300 comprises two or more substance units that can optionally move together as a group.

[0421] In the subsequent state shown in Fig. 3B, door 77 has opened (in the example shown, this is by withdrawal into door pocket 76). Travelling displacer 200 has been advanced radially outward along storage track 122. This has pushed substance unit group 300 along before it, with each substance unit 101 in turn transferring force to the next one in the group. Alignment of the direction of travel is ensured by the structures of insert 74 which help to define storage track 122, which in turn also match the size and shape of the substance units 101. The cylindrical shape of the substance units 101 also helps control the direction of travel by providing a linear contact region between each pair, and allowing the substance units 101 to roll along with relatively low resistance. However, the cylindrical shape shown is not limiting. It may be noted that wide displacer domain 200A is low enough to fit underneath sidewall 140, but too wide to fit through port aperture 79.

[0422] Finally, substance unit 301 has been pushed beyond aperture 79, leaving behind reduced substance unit group 401. Rather than being pushed out to the environment, substance unit 301 may be immediately received by a transfer interface 50 attached to port 121, by another active container 70 attached directly or indirectly to port 121, or by another device configured to use the port.

[0423] Movement of travelling displacer 200 itself, in some embodiments, is accomplished by operation of a magnetic coil and / or trace array, for example, as described in relation to Figs. 22- 27E. Operation of port 121, in some embodiments, is under the control of controller 60 (e.g., also using a magnetic coil and / or trace arrangement; or by another mechanism, such as operation of a protruding catch). Sealing is provided, e.g., using appropriate gaskets and / or sealing compounds. It should be understood that the sliding door arrangement shown in Figs. 3A-3B is an example, and non-limiting. Optionally, for example, door 77 is hinged. In another example, door 77 is provided as an adhesive film and / or foil, and peeled away and refreshed / replaced as appropriate. In another example, door 77 is implemented as a plug which compresses for insertion into port 121, and expands to form a seal. The “ordinarily sealed” state of port 121, in some embodiments, is sufficient to maintain a pressure differential of at least 0.1 bars for a period of, e.g., at least 10 hours, and in some embodiments for a period of several days or weeks, e.g., at least 4 weeks.

[0424] It should be understood that the substance unit 101 movements of Figs. 3A-3B optionally occur in reverse when receive a substance unit 101 into active container 70 via a port 121. It should be understood, in this case, that the received substance unit 101 experiences an externally exerted force which causes it to enter port aperture 79, and that the role of travelling displacer 200 is passive (e.g., serving as a blocker to prevent over-insertion of substance units 101 into hub space 78). Optionally, travelling displacer 200 is not used in this situation.

[0425] In some embodiments, one or more additional elements are present which serve to lock substance units 101 in place and / or restrict their movement, e.g., so that they do not pass into hub space 78 or enter the outer circumference of insert 74 (except as intended). For example, insert 74 is optionally provided with one or more locking rings, themselves rotating for at least a short circumferential distance within insert 74, having a first position which leaves an end of at least one storage track 122 open to allow passage of substance unit 101 therethrough, and a second position which closes off the end(s).

[0426] Exemplary substance unit stowing

[0427] Reference is now made to Figs. 4A-4C, which schematically illustrate use of a travelling displacer 200 along with internal surfaces to assist in the reorganization of substance unit group 401 within active container 70, according to some embodiments of the invention. Again, the lid 71 of active container 70 has been removed from the view. Insert 74 is shown in a partially exploded view, divided into upper part 74A and floor 74B, allowing more detailed viewing into the movements of the contents of active container 70. Substance unit groups 401 and 402 should each be understood, more generally, as examples of one or more substance units 101.

[0428] The example of Figs. 4A-4C optionally represents stowing which returns substance unit group 401 to a storage track 122 after an expulsion operation (e.g., as described in relation to Figs. 3A-3B), and / or stowing of one or more substance units 101 which have just been received (e.g., received through a port 121).

[0429] In Fig. 4A, arrow 403 indicates motion of substance unit group 401 to a new position labeled as substance unit group 402. This movement comprises both a circumferential movement (clockwise), and a radial movement (inward).

[0430] The circumferential movement is accomplished by movement of travelling displacer 200 circumferentially (arrow 405) while engaged with a niche in insert 74 (one of several such niches provided). Insert 74 is free to rotate along (as a carousel) along with the circumferential movement of travelling displacer 200, resulting in the circumferential displacement of substance unit group 401 to the position of substance unit group 402.

[0431] The niche with which travelling displacer 200 engages is defined by niche floor 410 (part of floor 74B), and by niche wall 410A (part of upper part 74A). For any of Figs. 4A-5C, the force which moves travelling displacer 200, in some embodiments, is provided by a magnetic coil and / or trace array positioned outside of active container 70 (e.g., below active container 70, and / or in another suitable position). In some embodiments, the circumferential motion is induced through another type of actuator 130; for example, an axial drive as described in relation to Fig. 18.

[0432] The radially inward movement to the position of substance unit group 402 is generated by contacts of substance unit group 401 with one or more surfaces fixed to base 75. In the example shown, the surfaces comprise displacer protrusion 404. Accordingly, a circumferential motion of travelling displacer 200 is converted to a radially inward movement of substance units 101.

[0433] In Fig. 4B, arrow 406 indicates motion of travelling displacer 200 around a circumference of floor 74B which brings it to the radially outermost location of substance unit group 402. The curving shape of the leading surface of travelling displacer 200 allows travelling displacer 200 to wedge itself between the outer wall of floor 74B and substance unit group 402. As travelling displacer 200 advances (Fig. 2C), the wedging action pushes substance unit group 402 radially further inward (arrow 407).

[0434] It should be noted that the movements of travelling displacer 200 within active container 70 are permitted due to the partially open structure of insert 74, e.g., as detailed in relation to Fig. IK.

[0435] Exemplary Substance unit Rearrangement

[0436] Reference is now made to Figs. 5A-5C, which schematically illustrate use of a travelling displacer along with internal surfaces to assist in the reorganization of substance unit 503 within housing 120, according to some embodiments of the invention. Substance unit groups 501, 502 and substance unit 503 should all be understood, more generally, as examples of one or more substance units 101. Figs. 5A-5C are also lidless views into active container 70, with upper part 74A also removed. Storage tracks 122 and their addressable location 110 are not explicitly labeled, but should be understood as corresponding to locations along the spokes of floor 74B; e.g., as described in relation to Fig. IK.

[0437] In this example, substance unit 503 is moved from a first storage track 122 which holds it (and optionally other members of a first substance unit group 501), to a different storage track 122. The sequence begins in the state of Fig. 5A, with substance unit group 501 advanced radially to about the end of one of the spokes of floor 74B corresponding to the various storage tracks 122 defined in active container 70.

[0438] In Fig. 5B by pushing against substance unit 503, travelling displacer 200 detaches it from contact with the rest of substance unit group 501 and moves it circumferentially along arrow 510. Reduced substance unit group 502 is left behind.

[0439] Fig. 5C represents the final state of the contents of active container 70 after several more operations, travelling displacer 200 first followed arrow 512 clockwise to one of the niches described in relation to Figs. 4A. Engaging there, it moved circumferentially (again clockwise), resulting in the circumferential advance of insert 74 by two track positions (arrow 513). the circumferential motion results in the movement of against substance unit 503 along the path of arrow 511, including engagement with comprise displacer protrusion 404, resulting in its radially inward displacement, e.g., as also described in relation to Fig. 4A.

[0440] Disengaging from its niche, travelling displacer 200 followed the clockwise path of arrow 514 to again reach substance unit 503, this time contact it from the other side. By wedging action, travelling displacer 200 has forced substance unit 503 into one of the addressable locations 110 of its new storage track 122.

[0441] Exemplary unit sizes and addressable location sizes

[0442] Reference is now made to Fig. 6A. which schematically illustrates arrangements of substance units 101 spanning a range of shapes and / or sizes corresponding to the occupation of one or more addressable locations 110 of a storage track 122, according to some embodiments of the invention. Alternatively, they have the same shape and / or size with variations of less than 20%, less than 10%, less than 5%, or any intermediate, smaller or larger percentage value. The example illustrates three storage tracks 622A, 622B, 622C (all examples of a storage track 122), each containing ten addressable locations 110, in an arrangement two units wide and five units long. Grid lines 600A, 600B are superimposed for reference.

[0443] Examples where one substance unit 101 corresponds to one addressable location 110 include the four substance units 603 of storage track 622C. Substance unit 604, half the width of storage track 622C, occupies two of its addressable locations 110. Substance unit 605, the full width of storage track 622B, also occupies two addressable locations 110. In the case of storage track 622A, substance unit 601 is itself only single unit in size; however, it is positioned to occupy two addressable locations 110 across the width of storage track 622A. Similarly, substance unit 602 is the size of two addressable locations 110, but is positioned to occupy four of them.

[0444] In some embodiments, the recorded addressable location 110 of substance units 101 are fully sufficient for guiding operations which move them around, regardless of how much of the volume of their assigned addressable location(s) 110 the substance units 101 physically occupy. For example, it is optionally irrelevant to movement planning and execution whether or not substance unit 602 is centered in its four assigned addressable locations 110, or offset to one side or the other.

[0445] It should be noted that the uniform unit structure of the addressable locations 110 illustrated in Fig. 6A is optionally substituted by a non-uniform structure. For example, the addressable locations 110 in storage track 622A are optionally half the linear size in each direction, compared to storage tracks 622B, 622C. While mutually overlapping addressable locations 110 are not excluded, for purposes of description herein, such cases are treated as equivalently reduced to sets of non-overlapping addressable locations 110.

[0446] It should be noted that substance units 101 optionally comprise any substance suitable in size and shape for distribution within active containers 70. Examples other than pharmaceuticals include, e.g., inks, adhesives, and flavoring agents. Optionally, substances which are needed per use in units significantly smaller than an addressable location 110 are provided using subenclosures, which are themselves actuated (e.g., using a screw-driven piston) to finally dispense a requested substance. Optionally, such a sub-enclosures can release substance several times before it is emptied. In some embodiments, a substance unit 101 includes an object (e.g., a manufactured object) useful according to its mechanical and / or electrical construction, e.g., a fastener or a small electronics item. In cases where this object is irregular in shape, it may be encapsulated (e.g., housed within a polymer case or bubble) to give it an outer shape better suited to handling within active container 70.

[0447] Some examples of the management of the movement of substance units 101 in doublewidth storage tracks 122 are described in relation to Figs. 10A-10B, although these are not necessarily suitable for certain mixed-size combinations of substance units 101.

[0448] Exemplary contact surfaces as guiding contacts

[0449] Reference is now made to Figs. 6B-6D, which schematically illustrate geometries of contact interactions between travelling displacers and substance units, according to some embodiments of the invention. The floor along which motions occur is represented by surface 11.

[0450] In the example of Fig. 6B, each of the substance units 651 is cylindrical, resulting in a well- defined linear region of interaction perpendicular to their rolling direction, and along which force is transmitted generally in the rolling direction with balanced torques. This geometry provides a potential advantage by stabilizing the direction in which the substance units 651 move most freely when pushed by a travelling displacer 655, even when the pushing surface is round. Potentially, then, less guidance is needed from internal structures of a storage track or other pathway along which substance units 651 travel-at least, so long as they travel along their axis of roll.

[0451] In the example of Fig. 6C, a flat-sided travelling displacer 656 is pushing short cylindrical substance units 652 which each slide along one of their flat faces. Linear contact regions exist (vertically), but there is no rolling axis. The contact between the travelling displacer 656 and the substance unit 652 is potentially relatively stable, since a slight displacement left or right does not lead to greater instability. However, contacts between substance units 652 could easily lead to lateral deflections, unless movements are well-guided by additional constraints.

[0452] The example of Fig. 6D is much like the example of Fig. 6B, except that the train of substance units 652, 653 is of mixed geometry. It may be noted, however, that interactions of round-walled substance unit 652 with the substance units 653 ahead of it and behind it are now relatively stabilized (more like those between travelling displacer 656 and the substance unit 652 it directly contacts). This illustrates that there is a potential advantage in selecting the order of substance units 101 along a storage track 122 to promote predictable motion when being moved in trains of two or more substance units 101.

[0453] Exemplary Single-Ended Storage Tracks

[0454] Reference is now made to Figs. 7-9B, which schematically illustrate active container rigs 100 having alternative arrangements of storage tracks 122, according to some embodiments of the invention. The single-ended accessibility described in relation to these storage tracks 122 should not be understood as limiting, since “back access” is optionally provided by adding a further track on the track side depicted as closed. However, closed-end geometries provide a potential advantage by allowing the track contents to be secured by capping off just one of the track ends.

[0455] In the example of Fig. 7 and active container rig 700, several storage tracks 722 of active container 770 have been arranged in parallel along one side, opening in common into a central space 778. Two more storage tracks 722A are located at the sides. Travelling displacer 200 can move along any of the regions defined by coil and / or trace array region 762A of circuit board 762, allowing it to move substance units 101 to any of the ports 121, and / or among the various storage tracks 722.

[0456] It may be noted that in the example of Fig. 7. storage tracks 722 are open on one side only. In some embodiments, access of travelling displacer 200 to deep locations within storage tracks 722 is by using travelling displacer 200 as a wedge to lift up substance unit 101 as it moves underneath them. Lifting potentially occurs in part because the substance units 101 are unable to move horizontally when pushed against the closed end of their respective storage track 722. Additionally, or alternatively, travelling displacer 200 is shaped to have at least one sloped side which assists in lifting substance units 101.

[0457] Furthermore, optional auxiliary controller 780 corresponds to auxiliary controller 80. It optionally also includes a circuit board comprising an array of magnetic field generating coils and / or traces. This circuit board may use the arrangement of circuit board 762, or another arrangement. In some embodiments, the depth of active container 770 is sufficient to allow travelling displacer 200 to be pulled up against the roof of active container 770, travel over the tops of substance units 101 in their storage tracks 722, and then be pulled down onto them again by activation of circuit board 762. This example is an alternative method of provided access into the depths of a single-ended storage track 122.

[0458] Housing 761 of controller 760 is optionally used to house additional components supporting the operation of active container rig 700, e.g., components as described in relation to Fig. IN and controller 60.

[0459] In some embodiments, central space 778 is used as a temporary holding area during rearrangements of substance unit 101 within their storage tracks 722, 722A. For example, each of the storage tracks 722 may hold a different type of substance unit 101; for example, a different pill type stored for a user’s eventual consumption. During a preparatory period before consumption, substance units 101 of different types can be arranged in mixed order in one or both of the storage track 722A at the sides. The open center of coil and / or trace array region 762A can be used as buffer space during proceed relatively quickly, e.g., by emptying one of the pre-prepared tracks storage track 722A through one of the ports 121.

[0460] In the active container rig 800 of Fig. 8, substance tracks 822 are again arranged in parallel, but this time they open directly onto a trunk track 823 along which substance units 101 move in a straight path to reach one of the ports 121. In this case, deep access is provided by pre-positioning one of the travelling displacers 200 at the blind end of each substance track 822. Each of the niches 824, 825 can receive a travelling displacer 200 to move it out of the way as appropriate. Additionally, or alternatively, the niches 824, 825 are used for temporary holding of substance units 101. Moving substance units 101 out of these niches is optionally performed using gravity, for example. It should be noted that travelling displacers 200 can provide an additional function by acting as “blockers”, which hold substance units 101 in place by blocking up the free end of a storage track 822. In their capacity as blockers, travelling displacer 200 are optionally locked into place by permanent magnets, and dislodged for later use by exerting counteracting magnetic forces (e.g., using an array of electromagnetic coils and / or traces) strong enough to overcome the locking force. Additionally, or alternatively, locking of blockers into place uses an interference mechanism. For example, one of the roughly square-shaped travelling displacers 200 can be rotated diagonally, jamming it against the walls of storage track 822; e.g., into receiving detentes located at its position. Being provided with dual ports, active container rig 800 optionally acts as a throughway for substance units 101 transferred into it from other active container rigs 800. For example, a plurality of active container rig 800 are optionally linked together into a linear array, with one or both terminals being used to dispense and / or transfer substance unit 101 from any of the array members.

[0461] The active container rig 900 of Fig. 9A includes niches 924 and single-ended (blind) storage tracks 922, along with ports 121, one or more travelling displacers 200, and a controller 960* which drives movements of the travelling displacer 200 e.g. , using magnetic fields generated by a coil and / or trace array). In this case, the trunk track 923 defines a closed loop. Optionally, trunk track 923 is also used as temporary storage, e.g., for assembly of mixed groups of substance unit 101, as also described in relation to Fig. 7. The closed loop allows additional freedom in rearranging substance units 101, since substance unit 101 in trunk track 923 can be advanced around the track to allow insertion at any arbitrary position.

[0462] Angle offshoot tracks 925 provide a potential advantage insofar as substance units 101 being advanced counterclockwise around trunk track 923 will not naturally fall into them as they pass. In the reverse direction, however, where there is force applied simultaneously from both directions, substance units 101 will tend to divert into angle offshoot tracks 925, allowing them to be dispensed, exchanged, or otherwise transferred out of the active container 970.

[0463] The active container rig 950 of Fig. 9B includes a displacer protrusion 955 with which substance units 101 interfere as they are inserted into insertion port 121, causing them to slide down ramp 930 into the main storage region of storage tracks 122. Lateral boundaries of storage tracks 122 are perforated by gaps 942 large enough allow travelling displacers 200, 952 to pass through, but too small to allow passage of the substance units 101. As illustrated, the size restriction is implemented using restriction by horizontal size. Additionally, or alternatively, restriction by vertical size is used, for example as described in relation to Figs. 1I-1K and sidewalls 140.

[0464] Shelf 954 provides a platform onto which substance units 101 can be pushed {e.g., travelling displacer 952 is shown in the process of elevating substance unit 901). Substance units 101 can remain stably on shelf 954 long enough for a travelling displacer 200 to be brought up to another location to push it, e.g., to a port 121. It should be noted that magnetic coil and / or trace circuit boards used with the example of Fig. 9B are optionally divided among the planes defined by shelf 954, ramp 930, and the main storage floor of the storage tracks 122. For example, three such circuit boards are optionally provided. Alternatively, a single flexible printed circuit board is optionally provided, and bent as appropriate to follow the angles defined by these planes.

[0465] Exemplary Two-Row Storage Track Example

[0466] Reference is now made to Figs. 10A-10B, which schematically illustrate an active container 1000 having an alternative arrangements of storage tracks 122, according to some embodiments of the invention. Fig. 10A shows a cross-sectional top view of active container 1000 (an example of an active container 70), and Fig. 10B shows a cross-sectional side view of active container 1000.

[0467] Active container 1000 is another example of an active container which is operable with a magnetic drive (e.g., as part of a suitably matched controller 60, not shown). The magnetic drive operates to controllably move one or more travelling displacers 200 within the displacer space 1023 and / or storage tracks 1022 of active container 1000. The rows of active container 1000 define two counter-proceeding tracks, capable of exchanging substance units 101 anywhere along their adjoining length.

[0468] The travelling displacers 200 shown are ovoid in cross-section with an aspect ratio substantially larger than one (e.g., about 2.5), but this is not required or limiting. As also described for sidewall 140, e.g., in relation to Figs. 1G-1 M, there is provided a sidewall 1024 which extends downward along the interior height of active container 1000 far enough to prevent substance units 101 from moving outward into displacer space 1023, but not far enough to prevent travelling displacers 200 from moving freely between displacer space 1023 and storage tracks 1022. This allows a suitably configured array of magnetic coils and / or traces to drive travelling displacer 200 to move adjacent to any selected addressable location 110 of storage tracks 1022. Optionally, travelling displacers 200 are provided with ends distinguished by their magnetic polarity so that they can be re-oriented, e.g., as described in relation to Fig. 23B.

[0469] Potential advantages of a looped track for reorganization of substance units 101 are described in relation to Fig. 9A, including that a looped track allows advancing substance units 101 to any selected position. Although lacking an interior-side wall, storage tracks 1022 can be understood as jointly providing such a loop, insofar as substance units 101 can be advanced, e.g., clockwise or counterclockwise, with transfer at the ends by moving a substance unit 101 down or up. Furthermore, this long loop can be divided anywhere along its middle columns and treated as if comprising two overlapping loops.

[0470] For effective use of looping, it is assumed that each substance unit 101 is sufficiently near to the size of its assigned addressable location 110) that it cannot be overtaken by any other substance unit 101, in any of its orientations. It is also assumed that it is small enough in any orientation that it cannot rotate to block the advance of counter-proceeding substance units 101 in the opposite row, although a center barrier is optionally provided to prevent this. Furthermore, it is assumed that space equivalent to about one addressable location 110 is left open and available for adjacent substance units 101 to move into. Within these constraints, residual looseness in positioning is potentially present. If one or more of the travelling displacers 200 is used for dressing and / or cordoning the arrangement of substance units 101, then the constraints are optionally somewhat more relaxed.

[0471] In view of these conditions, it may be understood that one side of the barriers which provide resistance to lateral movement in storage track 1022 is provided by the counter-proceeding substance units 101 in the row opposite. Since the travelling displacers 200 can move to any position around the periphery of storage tracks 1022, jamming conditions can potentially be avoided by suitable choice of pushing direction, and / or “unstuck” should they occur.

[0472] It is noted, furthermore, that a high aspect-ratio travelling displacer 200 is potentially able to cross through the array of substance units 101 in storage tracks 1022, even when only one of the rows has an unfilled addressable location 110, at least when the substance units 101 are slightly undersized for their respective addressable locations 110. For example, if a short-axis width of travelling displacer 200 is less than half the size of an addressable location 110, then a cumulative under-sizing of half an addressable location 110 among all substance units 101 in a row should suffice to allow the travelling displacer 200 to pass through it.

[0473] To deal with the case when two addressable locations 110 are left unoccupied, one of the travelling displacers 200 and / or a dedicated travelling blocker may be used to fill out the order in storage tracks 1022 with a placeholder; e.g., as illustrated in Fig. 10A. The dedicated travelling blocker, like the travelling displacers 200, may be capable of fitting underneath sidewall 1024 so that it can otherwise be stored out of the way. Insertion of a placeholder may apply to situations with a larger number of unoccupied addressable locations 110 as well.

[0474] Additionally, or alternatively, and particularly as active container 1000 approaches emptier states, one or more bistable blockers 1010, 1011 are activated. Each bistable blocker 1010, 1011 comprises a mechanism which can interchange between a blocking state that denies substance unit 101 access to the addressable location 110 it controls, and a non-blocking state that permits access. Being bistable, either state will persist without a requirement for further external force exertion until actively adjusted. In the illustrated example, a “blister”-type bistable mechanism is used which blocks when it is depressed (as in bistable blocker 1011), and remains so until pushed in the opposite direction. Bistable blocker 1011 represents a bistable blocker in a non-blocking state. Activation and deactivation can use any suitable actuator. For example, the bistable blockers 1010, 1011 are optionally provided as an impermeable sheet (e.g., comprising silicone polymer) which can be manipulated from outside of active container 1000 (e.g., by pushing and / or suction) without compromising its seal. Additionally, or alternatively, magnetic actuation can be used to pull one of the travelling displacers 200 against a bistable blocker and trigger it to transition into its opposite state. Another option actuates state transition of the bistable blockers globally by manipulation of relative air pressure inside and outside a space sealed by a membrane including the bistable blockers 1010, 1011, for example manipulation by squeezing and / or releasing a pump, e.g., as described in relation to Figs. 10A-10B.

[0475] Using bistable blockers, the extent of storage tracks 1022 available for use can be actively adjusted according to the present filling of active container 1000; e.g., adjusted to return storage tracks 1022 to a state where just one (or two) unfilled addressable locations 110 are accessible by substance units 101. It should be understood that progressive restriction of access to addressable locations 110 is optionally implemented using a different type of bistable mechanism, and / or another type of unit restrictor is provided. For example, a ratcheting barrier may be provided which travelling displacers 200 can push along the length of storage tracks 1022 as addressable locations 110 are emptied. Release of ratcheting to restore access may be performed, e.g., by inserting a thin element to disengage the region involved in ratcheted engagement, or by another operation.

[0476] The example of Figs. 10A-10B also illustrates an option to orient one or more ports 121 substantially parallel to a surface over which substance units 101 move while being rearranged. When door 1077 opens, any substance unit 101 located over it is allowed to fall through to a space exterior to active container 1000. This may include, e.g., falling through to a transfer interface 50 and / or another active container 1000. Optionally one or more ports 121 with a horizontally oriented door 1077 are provided in examples of active containers 70 with this or another design, in either or both of the floor and ceiling of the active container 70. Optionally, this feature is combined with one or more non-horizontally oriented ports 121 (e.g., vertically oriented). It should be understood that the terms “horizontal” and “vertical” refer to active containers 70 operated during rearrangements and / or transfers of substance units 101 arrayed in a layer over a supporting surface. However, it is not excluded that rearrangement operations may happen in other orientations. For example, the example of Figs. 10A-10B is optionally configured to be operated while positioned upright above either of the short ends at the left or right of Fig. 10A. In this case, 1077 would assume a vertical orientation.

[0477] It should be understood that characteristics described in relation to the example of Figs. 10A-10B are optionally provided together with any of the other examples herein, changed as appropriate, insofar as their combination is self-consistent. For example, bistable blockers 1010, 1011 are optionally provided to examples which otherwise are similar to the carousel insert active container 70 of Figs. 1G-1K, and / or to the embodiments using parallel arrays of storage track 122 described in relation to Figs. 7-9B. It is also noted that the bistable blockers are an example of dynamic adjustment of resistance to movement within the framework described in relation to Figs. 2A-2C, which is optionally applicable at the resolution of a single addressable location 110. Such dynamic adjustment is also optionally used between addressable locations 110 e.g., without denying use of either), used to lock one or more substance units 101 in place (e.g., by pressing on them from above or below), and / or used to increase resistance to movement between addressable locations 110 without absolutely preventing it.

[0478] Reference is now made to Fig. 10C, which schematically illustrates a multi-level active container 1050 in isometric perspective, according to some embodiments of the invention. For visibility, the outermost containing box of active container 1050 is drawn transparently, and one corner is cut away and shows three of the substance units 101 in cross-section. As examples, circuit boards 1065 represent optional locations (in exploded view) for the placement of circuit boards defining magnetic field generating coils and / or trace on five of the six sides of active container 1050. The coils and / or traces of circuit boards 1065 are structured, for example, as described in relation to Figs. 23A-23C, 26 and / or 27A-27E.

[0479] Each of the three depicted levels 1068 comprises a storage region comprising at least two counter-proceeding storage tracks 1088 or portions thereof, defined within the perimeter of partial sidewalls 1024. In general, a single continuous row of substance units 101 acts as a track, with some tracks extending between two levels along a connecting ramp 1060. One row of the top-most level 1068 is divided into two tracks to avoid dropping substance units 101 back onto the ramp leading up to it.

[0480] The gap between partial sidewalls 1024 and the floor of each associated level is large enough to admit one or both of a travelling displacer 200, and / or at least a portion of a travelling displacer 1051. At least when operating on the bottom level 1068, travelling displacer 200 is operable as described, e.g., for other magnetically driven travelling displacers 200 herein.

[0481] Travelling displacer 1051 comprises a main body 1053 (optionally constructed like travelling displacer 200), and a flexible end effector 1052. Main body 1053 of each travelling displacer 1051 (one or more of these are optionally provided) normally occupies a position within the region 1067 which is within the containing box of active container 1050, but outside the perimeter defined by sidewalls 1024. Flexible end effector 1052 is sized to protrude into the storage areas of the storage tracks 1088 from region 1067. When magnetically engaged by traces of a circuit board 1065, the travelling displacers 1051 can move horizontally. With flexible end effector 1052 removed from within the perimeter of the sidewalls 1024, travelling displacer 1051 can also move vertically. Removal is optionally performed, for example, by causing flexible end effector 1052 to impinge on a support member attaching a sidewall 1024 to its associated floor 1069, deflecting it out into region 1067.

[0482] In this example, port 121 and associated horizontally oriented door 1077 are positioned at a corner of the bottom-most level 1068. Optionally any suitable number of ports 121 is provided; e.g., more than one port 121 on bottom level 1068, and / or one or more ports 121 on top level 1068.

[0483] Optionally, control of a travelling displacer 1051 and / or travelling displacer 200 can be transferred among circuit boards 1065 on different sides of active container 1050. Optionally, some regions within active container 1050 e.g., regions under ramp connecting ramp 1060 on the lowest level 1068) are closed off to avoid zones where substance units 101 could jam and / or become inaccessible.

[0484] It should be noted that most of the individual addressable locations 110 of the row-defined storage tracks 1088 of each level 1068 can be reached by travelling displacers 1051, potentially excepting certain addressable locations 110 on connecting ramps 1060, and there is no particular limit on the maximum number of levels 1068 which can be added while providing this access. In effect, this results in a three-dimensional storage structure.

[0485] Optionally, more than two rows are provided; i.e., a single level can optionally hold more than the length of two substance units 101 (have more than two simultaneously active addressable locations 110) along each of its axes. The storage tracks 1088 may, for example, wind back and forth across a level, reversing the direction of travel along a pathway linking them multiple times. As long as the positions at which substance units 101 change their direction of travel are on the perimeter, the flexible end effectors 1052 of travelling displacers 1051 can still potentially reach them to guide progress. Also, it is not excluded that one or more of the internal levels 1068 includes a circuit board 1065 extending above or below it like that optionally extending below the lowest level 1068.

[0486] For the sake of illustration, blockers for occupying and / or closing off empty addressable locations 110 are not shown in this example. At least the top level 1068 optionally uses bistable blockers, e.g., as described in relation to Figs. 10A-10B. As a more particular example, it is noted that the ratchet of a ratcheting blocker may optionally be implemented by interference between a corrugated surface of a travelling displacer 200 and a complementary surface of a sidewall 1024 and / or the outer bounding box of active container 1050. Release of the ratchet can be performed by adjusting the vertical position of travelling displacer 200 above or below the region of the complementary surface. There is no particular limitation on how far the flexible end effectors 1052 must protrude into the region of the storage tracks 1088; examples of half-track width and full track- width flexible end effector 1052 are shown. Longer flexible end effectors 1052 may provide more control when there is potentially more variability in the size of substance units 101 relative to the size of addressable locations 110. Nor is there a particular limitation on the number of travelling displacers 1051 provided. It may be understood, for example, that a continuous outside conveyor belt of travelling displacers 1051 is optionally provided. In other examples, a single travelling displacer 1051 is optionally provided.

[0487] Since main body 1053 does not necessarily need to travel within the storage track 1088, it can optionally be vertically taller than the gap through which the flexible end effectors 1052 protrude. In some embodiments, at least one of the inner corners of the outer bounding box of active container 1050 is rounded, allowing travelling displacer 1051 to travel around it while maintaining the same side bearing a flexible end effector 1052 to face inward. In some embodiments, a travelling displacer 1051 bears more a flexible end effector 1052 on more than one face, allowing its use along more than one internal side of active container 1050.

[0488] It should be understood that the example of Fig. 10C is not intended as a limiting example of how storage for substance units 101 can be implemented with three-dimensional arrangements of addressable location 110. For example, substance units 101 of sufficiently regular shape and size could be stacked directly on top of one another, without necessarily requiring a floor 1069 to be provided between levels. Elevation of substance units 101 is optionally then provided by one or more travelling displacers 1051 with an end effector having an oblique angle portion which acts as a “portable ramp”.

[0489] Exemplary dynamic resistance to movement exemplary adjustable restriction of inter-address movements

[0490] Reference is now made to Figs. 11A-11 C, which schematically illustrate global adjustment of resistance to movement along storage tracks 122 of an active container 70, according to some embodiments of the invention. Fig. 11 A is an isometric perspective view of a portion of a storage track 122, including capsule-shaped (oblong) substance units 101 separated by upper and lower unit retainers 1145A, 1145B. A pair of sidewalls prevents lateral movement of the substance units 101, as indicated by the monotonically rising resistance-to-motion graphs 28, 29. These graphs, as well as graphs 26, 27, are presented in isometric perspective, and represent resistance to movement along the arrow-indicated directions.

[0491] Furthermore, as indicated by arrows 1105, 1106, the distance between upper and lower unit retainers 1145A, 1145B is adjustable. When the distance is expanded (as shown), unit retainers 1145A, 1145B increase resistance to movement between addressable locations 110, but do not absolutely prevent it. When the distance is sufficiently decreased (e.g., decreased to less than the minor diameter of the substance units 101), the addressable locations 110 are isolated from each other. This type of dynamic adjustment is optionally implemented at any suitable scale-e.g., for all storage tracks 122, for an individual storage track 122, for an individual addressable location 110, and / or for an individual crossing between addressable locations 110.

[0492] The examples of substance units 101 shown are intended to be understood as large enough relative to the space constraints of storage track 122 that they cannot move past each other. However, this does not in itself prevent the possibility of a portion of substance unit 101 moving loosely beyond the nominal boundary of its addressable location 110. This may be the case, e.g., when addressable location 110 is configured to accept a wide range of substance unit 101 shapes and sizes. Even in their more permissive state, the “energy barrier” which unit retainers 1145A, 1145B represent tends to result in substance units 101 remaining in their assigned positions. This may be suitable for stationary operations (and particularly if also associated with chaperoning and / or dressing operations, e.g., as described in relation to Figs. 16A-17H). but may be optional for transportation of active container 70. For example, if enough addressable locations 110 along the pathway of a storage track 122 are filled with substance units 101 which are slightly undersized for their assigned addressable location(s) 110, the cumulative buildup of “slack” may amount to more than a single addressable location.

[0493] This could lead to a mismatch between the recorded position of a substance unit 101 and its actual position, potentially resulting, e.g., in retrieval errors. Accordingly, it is a potential advantage to provide active containers 70 and / or storage tracks 122 and / or addressable locations 110 thereof with a storage mode that dependably prevents inadvertent changes of the addressable location 110 of substance units 101.

[0494] The side cross-section view of Figs. 11B-11C schematically illustrate a mechanism used, in some embodiments, to implement this for an active container 70 and / or storage track 122. To the physical elements described in relation to Fig. 11A are added base 1130, cover 1131, and a ratchet mechanism comprising serrations 1121, 1122 carried on contacting surfaces of base 1130 and cover 1131, respectively. In this example, sealing membrane 1120 is provided to help maintain internal integrity, but optionally sealing is maintained otherwise, e.g., by an enclosure held within the lumen defined by base 1130 and cover 1131, and / or by an enclosure which entirely contains base 1130 and cover 1131. Compression placed on the combination of base 1130 and cover 1131 causes down-ratcheting, with the result that the vertical height available for movement of substance unit 101 between opposite pairs of unit retainers 1145A, 1145B is less than the height of the substance units 101 which storage track 122 stores. Optionally ratcheting is released by outward bending of tab 1123. Restoration of the greater height shown in Fig. 11 B is optionally automatic (e.g., due to spring forces and / or air pressure forces). Optionally, vacuum and / or gripping are used to increase the separation of base 1130 and cover 1131.

[0495] Reference is now made to Figs. 11D-11E, which schematically illustrate pressurizationbased dynamic adjustment of retention forces (resistance to movement) acting on substance units 101 in an active container 1150, according to some embodiments of the invention.

[0496] In the depicted example, at least the upper surface 1155 of active container 1150 is flexible, and capable of bending under changes in the internal pressure and / or gas volume of active container 1150. For example, upper surface 1155 comprises a sheet of a rubbery polymer such as a silicone rubber.

[0497] Active container 1150, including its ports 121 is pressure sealed. The pressure seal may maintain, e.g., a pressure differential of at least 0.1 bar, 0.2 bar, 0.3 bar, 0.4 bar, 0.5 bar, or another pressure differential.

[0498] Reservoir 1151 comprises an elastic collapsible chamber which is biased to hold itself open (acting as a pump), and is in pressure communication with the interior volume of active container 1150 through an aperture 1152 in active container 1150. While it is uncollapsed (e.g., as shown in Fig. HD), reservoir 1151 pulls enough gas out of the interior of active container 1150 that upper surface 1155 collapses on to the substance units 101 it contains (the “bumps” in upper surface 1155 represent collapse onto underlying substance units 101). This state is optionally used when transporting active container 1150, and may assist in preserving the substance units 101 it contains in their assigned addressable locations 110.

[0499] In the state of Fig. HE, reservoir 1151 has been collapsed by pressure from collapsing bar 1157. Collapsing bar 1157 is optionally a component provided and / or operated by a controller 60, for example. Optionally, it is provided as a component of active container 1150 itself. Upon collapse of reservoir 1151, gas is forced into the main storage chamber of active container 1150 (where its storage tracks 122 are), inflating upper surface 1155. This frees the contained substance units 101 from contact with upper surface 1155, potentially allowing them to be rearranged within active container 1150 by movements of one or more actuators 130; for example, a travelling displacer 200 or other actuator as described in relation to other examples herein.

[0500] It should be noted that this type of retention mechanism has potential advantages in particular when the structures within active container 1150 (e.g., those which guide movements of substance units 101) are relatively low in height and / or widely spaced compared to the height and / or spacings of substance units 101. However, it is optionally used even in other cases, by providing an upper surface 1155 which is sufficiently elastic, flexible, and / or loose-fitting to allow it to conform to press down on the tops of stored substance units 101 when gas volume is removed from within the main storage area of active container 1150.

[0501] A potential advantage of providing reservoir 1151 attached to active container 1150 itself is that there need be no exchange of gas with the environment in order to engage or release locking of substance units 101 in place. Furthermore, the locking potentially remains engaged without additional energy inputs, allowing active container 1150 to be transported. For example, port 121 is sealed while reservoir 1151 is collapsed, then reservoir 1151 is released to expand by its own elastic resilience, locking substance units 101 in place.

[0502] It should be understood, however, that reservoir 1151 is provided as an example of a simple pump, and not limiting. For example, a pump is optionally provided which can evacuate gas from within active container 1150 and vent it to the environment, and / or store it at an elevated pressure. Optionally, the pump is provided as a portion of a controller 60 which engages with active container 1150. In such cases, filtering of gas exchanged with the environment is optionally provided, and / or a supply of gas is provided which is pre-filtered. It should be understood that any suitable number and volumetric capacity of reservoirs 1151 and / or other pumps is optionally provided.

[0503] Reference is now made to Figs. 12A-12B, which schematically represent modification of retention forces (resistance to movement) at the level of individual addressable locations 110, according to some embodiments of the invention.

[0504] As illustrated, the addressable locations 110 are individually defined by detentes in the form of an array of dished indentations 1201, 1202 in surface above and below the storage volume of the addressable location 110, but it should be understood that this is representative of locally adjustable resistance-to-motion (retention forces) more generally.

[0505] In Fig. 12 A. isometrically presented graphs 1220-1223 show resistance to motion with the characteristic peak and falloff described in relation to other such graphs herein. The arrows to the lower left of substance unit 101 (e.g., arrow 1203) represent an adjustment to the resistance to motion being applied in one direction, at the addressable location 110 defined between upper detente 1202A, and lower detente 1201A.

[0506] This results in a lowering of the resistance-to-motion for the depicted substance unit 101 in the direction of this addressable location 110, as indicated in Fig. 12B by the lowered peak of graph 1220A. This potentially reduces the tendency of substance unit 101 to move in an unintended direction when urged at least generally from a side opposite the direction of the arrow of graph 1220A. Accordingly, it may be understood from this example that control of local resistance to motion by manipulation of the internal structure of an active container 70 provides an optional approach to guiding the motion of substance units 101 being rearranged. Optionally, fixed guiding walls such as sidewalls 140 are then not required for reliable internal rearrangements, even when generated by pushing forces transmitted along a plurality of substance units 101. Additionally, or alternatively, this is permissive of the use of a greater range of shapes of substance units 101, and / or of substance units 101 in a wider range of shape and / or size combinations along a train of mutually engaged substance units 101.

[0507] Reference is now made to Figs. 13A-13C, which schematically illustrate storage of an inhomogeneous array of substance units 101 in an open-cell arrangement of storage wells, according to some embodiments of the invention.

[0508] Fig. 13A illustrates a portion of an empty array of dished indentations 1301 above and below the array of addressable locations 110 they define within a base 1375 of an active container 1370. The view of Fig. 13B removes the upper dished indentations 1301 to allow visualizing the array of addressable locations 110 partially populated with substance units 101, as well travelling displacers 200.

[0509] In Fig. 13C, just the top set of dished indentations 1301 is shown, with dished indentations along row 1320 and at position 1321 being depicted in their “high resistance state”. This may be understood as implemented, e.g., by bistable blockers as described in relation to Figs. 10A-10B, or by any other suitable mechanism. It should be understood that the example is not limited to the use of bistable mechanisms, and is illustrative of the dynamic definition of pathways of storage tracks 122 more generally.

[0510] Arrow 1322 represents the pathway of a storage track 122 along which substance units 101 are urged upon actuation of travelling displacer 200 (on the left) to press upon the substance unit 101 adjacent to it.

[0511] Exemplary Movements Actuated by a Travelling displacer Across a Flexible Membrane

[0512] Reference is now made to Figs. 14-15, which schematically illustrate actuated movement of substance units 101 by movement of a travelling displacer 1400 along a surface of a membrane 1401, and outside of volume defined by the membrane 1401 which contains the substance units 101, according to some embodiments of the invention.

[0513] This example illustrates addressable locations 110 defined at least in part by the shape of an enclosing membrane 1401. The movement of the group of substance units 101 between the position of Fig. 14 and the position of Fig. 15 is induced by travelling displacer 1400 impinging on a substance unit 101 from outside of the membrane 1401. A potential advantage of this mode of operation is that it avoids direct contact between travelling displacer 1400 and the substance units 101 it manipulates. Optionally, this allows travelling displacer 1400 to be freely introduced to and / or retrieved from active container 70 (e.g., by a controller 60) without contamination of contents and / or cross contamination of the contents of active containers 70 later handled by the controller 60 and / or using the travelling displacer 1400.

[0514] For example, an active container 70 is optionally provided with a port 121 for travelling displacers 200 which does not provide internal access to contact with substance units 101, as well as any ports 121 which allow substance units 101 themselves to be exchanged into and / or out of the active container 70.

[0515] Exemplary dressing and chaperoning of substance units

[0516] Exemplary dressing of substance unit arrangements

[0517] Reference is now made to Figs. 16A-16C, which schematically illustrate use of a travelling displacer 200 to dress substance units 101 held in a widely spaced storage region 1670 of an active container, according to some embodiments of the invention.

[0518] Storage in the storage region 1670 is “widely spaced” in the sense that the allotted addressable locations 110 are big enough to allow at least some of the stored substance units 101 to move without immediately coming into contact with other substance units 101, at least when not fully locked in place. For example, they can potentially move by at least 20%, 50%, or 100% or more of their length along an axis of movement before coming into contact with a substance unit 101 held in an adjacent addressable location 110, to which access is not always blocked. In an individual case, or cumulatively, this freedom of movement could result in a potential for confusion in the mapping of substance units 101 to their respective addressable locations 110.

[0519] Such a condition may exist, in particular, when storing oblong substance units 101 not fully constrained in their rotational positions, and / or for storage of mixes of substance units 101 of different sizes and / or shapes. In the example shown, the substance units 101 are all oblong in shape, but it should be understood that mixed shapes of substance units 101 are optionally provided and managed (e.g., rearranged, dressed, and / or chaperoned) accordingly. It is a potential advantage, in some embodiments of the present disclosure, to be capable of reliably managing movements of substance units 101 with a mixed variety of shapes and sizes; for example, in order to allow use of existing manufactured shapes and sizes of pills and other small packages as substance units 101, potentially without modification of their shape and / or size. Providing this capability may result in at least occasional cases where a close-fitting arrangement is unavailable and / or unsuitable. Considering certain alternatives, it is noted that since substance units 101 can span multiple addressable locations 110, one potential solution to this problem is to define the addressable locations 110 as significantly smaller than a substance unit 101, and reallocate positioning of substance units 101 into irregular spacings along the pathway of a storage track 122 which take different sizes and shapes of substance units 101 into account. Additionally, or alternatively, sizes, shapes, and / or positions of addressable locations 110 are dynamically redefined according to the sizes and / or shapes of stored substance units 101.

[0520] In some embodiments, one or both of the approaches of the foregoing paragraph is used. However, the flexibility which dynamically created and / or modified guiding surfaces can be practically provided may limit their use. Furthermore, it may arise that certain substance units 101 and / or sequences of substance units 101 are inherently unsuitable for the use of close-packing to lock them in position. This may occur, for example, due to incompatible shapes / sizes, fragility, and / or risk of cross-contamination.

[0521] Accordingly, another potential advantage of a widely spaced arrangement of substance units 101 in their respective addressable locations 110 is reducing their opportunities for mutual contact. This can potentially reduce wear of substance units 101 on each other, and / or mitigate concerns for cross -contamination among substance units 101.

[0522] Along with the foregoing potential advantages, however, one general type of problem which arises in consequence of a widely spaced arrangement such as that of Figs. 16A-16C is that one or more of the substance units 101 could become displaced enough that the recorded linkage of addressable locations 110 to substance units 101 becomes unrecoverable (or only recoverable with some uncertainty). Another type of problem relates to engagement for manipulation with substance units 101 that are potentially arranged non-uniformly within an active container 70. For example, an oblong substance unit 101 may move differently depending on whether it is pushed on from a narrow end or from a wide side, particularly when trains of substance units 101 are moved in concert by pushing from one side.

[0523] Furthermore, accurate calculation of the positions of individual substance units 101 during and / or after manipulation may depend on knowing their starting state to a resolution greater than is available, e.g., from an addressable location-based data record of the positions of substance units 101. In some embodiments, however, substance units 101 may be variable in size and / or shape, and / or their precise positioning may be disturbed and / or indeterminate; e.g., due to vibrations and / or incomplete clamping of substance units 101 in their places.

[0524] By “dressing” the positions of substance units 101, one or more of these issues is optionally mitigated in some embodiments of the present disclosure. Figs. 16A-16C illustrate a sequence of “dressing” operations performed on substance units 101 within a storage region 1670 of an active container 70, in which each hexagon represents the region of a single addressable location 110. Although storage tracks 122 and their pathways are not indicated, it should be understood that the indicated addressable locations 110 are interconnected by suitably defined pathways of storage tracks. For example, guiding surfaces of any of the types disclosed herein are optionally present, e.g., guiding surfaces as described in relation to Figs. 2A-2C, and / or as described in examples referenced in relation to Figs. 2A-2C. whether static (as in a sidewall) or dynamic (e.g., adjustable in size and / or position). For the sake of description, indications of such guiding surfaces are suppressed in Figs. 16A-16C.

[0525] The substance units 101 shown in Fig. 16A are arranged in arbitrary orientations, and not necessarily well-centered in their respective associated (and data record-assigned) addressable locations 110. However, as shown, they are generally restricted in position well enough (e.g., by any one or more of the retaining mechanisms described herein, or another mechanism) that a given addressable location 110 holds no more than one substance unit 101. In some embodiments, any substance unit 101 or portion thereof which it contains is correspondingly recorded in a data record which links substance units 101 and addressable locations 110 for the active container 70 which defines the indicated set of addressable locations 110. Although such instances are not indicated in these examples, it should be noted that the arrangements just described do not exclude that there may be overlap wherein a region of space is optionally usable by more than one of the addressable locations 110. The point is that the arrangement of substance units 101 can be “loose”, in some embodiments, while still retaining enough to control to prevent being uncertainly recoverable.

[0526] In Fig. 16B, a dressing displacer 1601 is shown. Optionally, dressing displacer 1601 is specialized in size and / or shape for dressing operations. Optionally, it is also used as a travelling displacer 200 for moving substance units 101 among different addressable locations 110. The illustrated example of dressing displacer 1601 comprises a narrowed leading surface 1601A expanding toward the rear to form a wedge. Optionally a different shape is used; e.g., a circular dressing displacer 1601 is provided. In width, dressing displacer 1601 is illustrated as narrow enough in a direction perpendicular to its direction of travel 1610 that it can pass between rows of substance units 101. In doing so, however, it may contact at least some misaligned substance units 101. This may be used to regularize the alignments of contacted substance units 101, and to nudge them away from the edge of the addressable location 110 along which dressing displacer 1601 travels. For example, substance unit 1611 is about to be nudged in a clockwise direction to align generally along the vertical axis of Fig. 16B. Dressing displacer 1601 can be driven to pass between more than one pair of rows, and optionally in more than one direction. For example, Fig. 16C, depicts a state of storage region 1670 after a passage of dressing displacer 1601 throughout the array of substance units 101 shown in Fig. 16B) along an axis between the top and bottom of the figures. Potentially greater regularization of the orientation and / or offset of substance units 101 within their respective addressable locations 110 is achieved by further dressing passes along a different axis, e.g., the axis of direction of travel 1612 from lower left to upper right. It should be noted that dressing displacer 1601 does not necessarily travel along a centerline evenly positioned between centers of addressable locations 110 on its left and right. For example, it can be offset enough to prevent substance units 101 on one side from being offset beyond the centers of their respective addressable locations 110. While this potentially results in pushing substance units 101 on the opposite side beyond a centered position, this can optionally be rectified by a subsequent pass which nudges those substance units 101 back into place.

[0527] Accordingly, it should be understood that by suitable selection of the paths along which dressing displacer 1601 travels, positions of substance units 101 can be regularized, or “dressed”. For example, creep of substance units 101 towards the peripheries of their addressable location 110 can be reset, and / or orientations of the substance units 101 can be regularized so that pushing on them result in more predictable movements, e.g., as described in relation to Figs. 17A-17H. Additionally, or alternatively, an array of substance units 101 may be dressed in preparation for transportation, e.g., to place them in a defined orientation and / or location before engaging a clamping mechanism which will hold them in place.

[0528] As mentioned above, the substance units 101 are not necessarily uniform in size and shape. Optionally, the path along which dressing displacer 1601 travels is adjusted to account for the particular dimensions of the substance units 101 which the addressable locations 110 it is passing have; e.g., dimensions associated with the substance units 101 via one or more data records. It should be noted that a clamping mechanism (e.g., as described in relation to Figs. 11A-13C) may also serve as a dressing mechanism, by urging substance units 101 toward the centers of their respective addressable locations 110 as the clamping mechanism engages.

[0529] Exemplary Chaperoning / Dressing of Substance unit Arrangements

[0530] Reference is now made to Figs. 17A-17H, which schematically illustrate control of resistance-to-motion during use of a travelling displacer 200 to push a substance unit 101 out of an open-structured storage area 1770 of an active container, according to some embodiments of the invention. The illustrated conditions of Figs. 17A-17H are generally as described in relation to Figs. 16A-16C, with the additional illustration of a port 121 and outer wall of active container 70 at the top of open-structured storage area 1770. It should be understood that variations described in relation to Figs. 16A-16C are optionally substituted, e.g., the stored substance units 101 optionally are provided in a variety of shapes and sizes.

[0531] In the example of the series of Figs. 17A-17H. a wide-bodied travelling displacer 200 is used to transfer oblong substance units 101 among the various addressable locations 110, while chaperone displacers 1701 are positioned and repositioned to help ensure that intended displacements of the substance unit 101 actually take place. Two chaperone displacers 1701 are shown; optionally any suitable number (e.g., one or more) of chaperone displacers 1701 is used. The illustrated examples of two chaperone displacers 1701 are wedge shaped like the dressing displacers 1601 of Figs. 16A-16C. Indeed, a chaperone displacer 1701 is optionally also used as dressing displacer 1601, e.g., as described in relation to Figs. 17F-17H. Optionally, travelling displacer 200 (or another travelling displacer 200 shaped like it) is itself used as a chaperone displacer 1701. There is no particular requirement to use more than one displacer. For example, a single travelling displacer 200 is optionally shuttled around to perform any of the interactions next described in sequence. However, it is a potential advantage for speed and / or reliability of manipulations to use a plurality of displacers in coordination.

[0532] Fig. 17 A shows travelling displacer 200 beginning a manipulation operation to displace the substance unit 101 closest to port 121 outside. In the position of Fig. 17B, however, the train of substance units 101 being pushed has built up irregularities in its form, with the substance unit 101 most distal to travelling displacer 200 being at particular risk of falling to one side. This may or may not be known from sensing and / or modelling information available to the controller 60 which is causing travelling displacer 200 to advance. Optionally, chaperone displacers 1701 are deployed in stereotyped patterns to maintain order whether or not it is known that a certain geometrical configuration of substance units 101 has actually developed.

[0533] Whichever is the case, Fig. 17C shows a situation where controller 60 has operated to bring chaperone displacers 1701 in from the sides to a mutual distance which ensures that the substance units 101 remain confined within the column of addressable locations 110 leading to port 121. In effect, the chaperone displacers 1701 have dynamically provided guiding surfaces, actively developing storage track 122 along the vertical column of addressable locations 110 through which substance units 101 are being displaced.

[0534] In the situation of Fig. 17D, travelling displacer 200 has advanced further, recruiting a third substance unit 101 into the train being pushed along. One of the chaperone displacers 1701 is shown along the right side of this advancing train; for example, it may have been withdrawn from the position of Fig. 17C, shuttled upward by the width of an addressable location 110, and then readvanced.

[0535] The other chaperone displacer 1701 is shown performing a dressing operation, which helps to ensure that the remaining two substance units 101 along the storage track 122 comprising the vertical column of addressable locations 110 are oriented to be properly picked up by the advancing train of substance units 101; that is, engaged with their long axis substantially perpendicular to the direction of train movement. This potentially ensures that the substance units 101 is at its shortest length, preventing unintended ejection of more than one substance unit 101.

[0536] The situation of Fig. 17E follows from a position in which all five substance units 101 of the vertical column have been recruited, and the last one of these has now been urged partially into port 121. While travelling displacer 200 could optionally continue advancing to complete ejection of this substance unit 101, this might elevate a risk that a second of the substance units 101 would be accidentally ejected. Avoiding this, one of the chaperone displacers 1701 has instead been driven leftward between the two most distal substance units 101, completing ejection of the most distal (from travelling displacer 200) of the substance units 101, while urging the second most distal substance unit 101 back toward the interior of the active container 70. A rightward-travelling chaperone displacer 1701 acts to ensure that the column of substance units 101 is not laterally disrupted as a result.

[0537] In the illustrated example, the short-axis widths of the substance units 101 are sufficiently small that there are now four substance units 101 occupying substantially just two addressable locations 110 (plus a small portion of a third). This configuration temporarily violates the targeted one-to-one relationship between addressable locations 110 and substance units 101 which is to be maintained (at least, in this example). However, this condition is dependably reversible using further operations of chaperone displacer 1701 as dresser displacers. Since the positions of the four affected substance unit 101 have been constrained during earlier operations, a further sequence of actions can predictably restore a one-to-one relationship.

[0538] In Fig. 17 F. a right-and-downward movement of a chaperone displacer 1701 leaves the most distal substance unit 101 roughly centered within its addressable location 110, while the other three are displaced downward. The other chaperone displacer 1701 is shown moving in from the right to prevent lateral disruption of the remaining train of substance units 101, while the travelling displacer 200 retreats to make room.

[0539] Fig. 17G illustrates two more dressing passes in opposite directions by chaperone displacers 1701, and a further retreat by travelling displacer 200. A final dressing pass of a chaperone displacer 1701 is shown in Fig. 17H, resulting in the four remaining substance units 101 of the train being once again positioned in uniquely assigned addressable locations 110. Each of the four substance units 101 has advanced toward port 121 by one addressable location 110 relative to its starting addressable location 110.

[0540] It should be understood that there are other sequences of motion which could result in the net effect of the rearrangement which occurs between Fig. 17 A and 17H. For example, the chaperone displacers 1701 could have been used cooperatively to single out the substance unit 101 originally closest to port 121 and urge it alone upward and out of port 121. Then the other four substance units 101 could have been each urged sequentially into the vacated space next to it by similar cooperative movements of chaperone displacer 1701. The point of the sequence of Figures overall is that different types of pushing interactions between displacer and substance units 101 are optionally used in cooperation to achieve a targeted rearrangement of the substance units 101, including overcoming irregularities and / or uncertainties in starting positioning and / or the evolution of positioning as displacing operations proceed.

[0541] As already observed, in Figs. 16A-17H, the illustrated operations of dressing displacers 1601 and / or chaperone displacer 1701 rely on there being a certain amount of unoccupied room between substance units 101. The substance units 101 are enough smaller relative to their assigned addressable locations 110 (along at least one axis) that the displacers can move between them. To avoid inadvertent scrambling of the array of substance units 101, they are, in some embodiments, kept in a locked condition when not being actively rearranged (for example as described in relation to Figs. 11A-13C).

[0542] The unoccupied space available between substance units 101 does not necessarily amount to a full maximum width of the displacer being moved between them. In a more tightly packed configuration, for example, a displacer performing a “between-row” operation optionally displaces one or more substance units 101 above itself as it advances (that is, in a direction toward the position of the viewer, out of the plane of the drawings of Figs. 16A-17FT). In this way, actively guided management of the positioning of a larger range of sizes and shapes of substance units 101 is potentially accommodated.

[0543] Exemplary mechanical transmission of actuator force into sealed compartments

[0544] Reference is now made to Fig. 18, which schematically illustrate an overview of an example having mechanically engaging actuator interfaces between an active container 1870 and a controller 1860 and / or auxiliary controller 1880, according to some embodiments of the invention. Examples of actuators 130 described in relation to various types of travelling displacers 200 (including dressing displacers 1601 and chaperone displacers 1701) are optionally implemented using forces generated by magnetic fields, for example as described in relation to Figs. 22-35.

[0545] It should be understood, however, that examples of active container 70 are not limited to using actuators 130 which make direct use of magnetic field forces acting on end effectors inside of active containers 70. The examples of Figs. 18-2 IB provide examples of alternative actuator types, which may be used entirely without use of travelling displacers 200 and / or transmission of motive force into an active container 70 in the form of magnetic field energy. It should be understood, however, that examples of the present disclosure optionally make any suitable mixed use of actuator types, e.g., purely mechanical transmission of actuation forces to rotate carousel inserts, along with magnetic transmission of actuation forces producing linear movements, or another combination.

[0546] In the illustrated example, controller 1860 includes a rotating ratchet 1861 configured to engage with a mating ratchet at the hub of a carousel insert 1905 (Fig. 19) of active container 1870 (hidden in this view). Auxiliary controller 1880 includes mechanical presser ports 1881, configured to engage with membrane buttons 1882, which are described in relation to Figs. 18- 21 B. The combination of these two types of actuators is an example of how both radial and circumferential movements are optionally generated within an active container 1870, relying solely on mechanical linkages to transmit force into the interior of 1870, potentially without intruding into the sealed environment of active container 1870.

[0547] Reference is now made to Fig. 19, which schematically illustrates use of leaf actuators 1901 to modify radial positions of substance units 101 in a container 70 provided with a carousel insert 74, according to some embodiments of the invention. Fig. 19 represents a carousel insert 1905 of active container 1870, with the base and lid of active container 1870 suppressed for simplicity of representation. However, several leaf actuators 1901 should be understood as attached within the upper lid of active container 1870, e.g., as described in relation to Figs. 21 A- 21B.

[0548] In initial position 1920 of a storage track 1922 (optionally one of several such storage tracks 1922, but just one is shown), three substance units 101 (e.g., cylindrically shaped substance units 101) are stored in positions immediately adjoining each other. Arrow 1921 represents rotation of carousel insert 1905 to a new circumferential position 1930, e.g., rotation received by carousel insert 1905 from rotating ratchet 1861. In the example shown, it is assumed that the bearing on which carousel insert 1905 rotates is itself sufficiently sealed, e.g., using a sealing bushing, and / or using a flexible sealing membrane which can be stretched and / or twisted around a fixed connection to an outer casing of active container 1870. Alternatively, carousel insert 1905 comprises a sealed environment separate from the rest of active container 1870, with the “true” ports 121 of active container 1870 rotating along with carousel insert 1905 and alternately aligning with apertures in the base of active container 1870 during rotation.

[0549] During the indicated rotation, two of the substance units 101 are radially displaced inward due to interactions of substance unit 1907 with leaf actuator 1903 (one of several leaf actuators 1901 indicated). Only leaf actuator 1903 is used in the given example; the other leaf actuators 1901 are available for inducing displacements at other positions along radially oriented storage tracks 1922. Some of the intermediate positions of substance unit 1907 are also indicated, showing how rotational motion is converted into a linear rearrangement.

[0550] It should be understood that radially outward motion is optionally provided, e.g., by leaf actuators oriented in the opposite direction (e.g., horizontally or vertically flipped).

[0551] Reference is now made to Figs. 20A-20B, which schematically illustrate a leaf actuator 1901 from two orthogonal side-view directions, according to some embodiments of the invention. In both of these Figures, several leaf actuators 1901 is seen from an oblique angle. Further reference is made to Figs. 21A-21B, which schematically illustrate mechanical actuating of leaf actuator 1901 through a sealing membrane 2101, according to some embodiments of the invention.

[0552] The orthogonal side-views are each oblique to the orientation of leaf actuator 1901 itself, and show cylindrically shaped substance units 101 in an end on view (Fig. 20 A), and in a side view (Fig. 20B). Portions of carousel insert 1905 indicating positions of floor 1905B and of upper part 1905A are also shown. The illustration shows that the lower edge 2001 of leaf actuator 1901 is vertically angled. This allows it begin lowering into storage track 1922 almost as soon as one side of its opening 1923 reaches it. It also gives leaf actuators 1901 a polarity with respect to the direction of rotation of carousel insert 1905.

[0553] As leaf actuator 1901 and storage track 1922 come into alignment, leaf actuator 1901 can be lowered more. It is about half-lowered in the situation of Fig. 20A, and almost fully lowered in the situation of Fig. 20B, which represents full alignment. Lowering leaf actuator 1901 causes interference with substance unit 1907 as it moves by, resulting in its inward (in this case) displacement, along with displacement of another substance unit 101 further along the train.

[0554] In some embodiments, mechanical coupling of auxiliary controller 1880 to leaf actuator 1901 is through a flexible sealing membrane 2101, e.g., as shown in Figs. 21A-21B. In the example illustrated, leaf actuator 1901 is attached to an interior side of a button-shaped sealing membrane 2101, which deforms upon receiving pressure from presser 2105 as it exits from presser port 1881 of auxiliary controller 1880.

[0555] The combined use of two actuators (one producing circumferential movement, one producing radial movement) is a non-limiting example. In another example, the end effector of an actuator lower comprises a sloped surface, in which the tip of the sloped surface inserts at some position alongside a substance unit 101, and then wedges the substance unit 101 along as it is further depressed. This might also work in some embodiments of a leaf actuator 1901, but the coordinated use of circumferential movement potentially reduces scraping against the surface of the engaged substance unit 101. In another example, the end effector is curved so that as it is actuated to extend downward it also bends, forcing the substance units 101 it contacts to move sideways along the pathway of its storage track 122.

[0556] Exemplary planar motors used with active containers

[0557] Reference is now made to Fig. 22, which schematically illustrates a controller 2260 comprising a printed circuit board 2265 patterned with a coil array 2200 of magnetic fieldgenerating coils 2281, according to some embodiments of the invention. Controller 2260 is an example of a controller 60, and may, for example, be the controller 60 of any of Figs. 1G-1H and / or IN; wherein actuator interface 98 comprises printed circuit board 2265. The view of an optional lid of controller 2260 is suppressed to allow viewing the coil array 2200. Power circuitry 97 and control circuitry 99 are not shown, but optionally are provided within the housing of controller 2260, e.g., underneath printed circuit board 2265. Magnetic field-generating coils 2281 are optionally controlled individually, and / or in any suitably coordinated manner, e.g., using appropriate switching components as would be understood by a person of ordinary skill in the art.

[0558] In the example shown, the magnetic field-generating coils 2281 of coil array 2200 are arranged in locations suited to the internal structure of an active container 70 like that of, e.g., Figs. 1I-1K and 24A, with some magnetic field-generating coils 2281 arranged along radial spokes, and other circular coils that are optionally arranged along circumferential pathways, e.g., as described in relation to Figs. 24A-25E. To generate movement of one or more actuators 130 (not shown here), magnetic field-generating coils 2281 are activated, in groups and / or individually, using suitable timings, polarities, and / or sequences of currents. Figs. 23A-25E describe such movements with regard to examples of travelling displacers 200. However, it should be understood that actuators 130 actuated from the magnetic field-generating coil 2281 are optionally otherwise configured. For example, the end effector of the actuator 130 which is magnetically driven is optionally embedded in and / or tethered to a moveable insert 74. The use of coils to generate magnetic fields is well-known. On a given side of printed circuit board 2265, lines of magnetic force generated with a magnetic field-generating coil 2281 may interact with at least one magnetically responsive material, by either attracting or repelling the magnetically responsive material, for example to drive it toward the center of a magnetic fieldgenerating coil 2281, and / or repel it therefrom. Force and direction vary according to characteristics (e.g., magnitude and / or polarity) of the current passing through the magnetic fieldgenerating coil 2281, and / or according to the magnetic strength and / or polarity of the actuator 130 being actuated. In some embodiments, the at least one magnetically responsive material comprises, but is not limited to, ferromagnetic materials such as iron, nickel, cobalt, and alloys thereof, paramagnetic materials such as aluminum and platinum, diamagnetic materials such as copper and carbon in graphite form, or a composite material that incorporates magnetic particles or coatings within a non-magnetic matrix, optionally allowing for tailored magnetic properties.

[0559] Exemplary planar motors and end effectors

[0560] Reference is now made to Figs. 23A-23C, which schematically illustrate coil-generated electromagnetic fields used to move an end effector 2301, 2311, according to some embodiments of the invention.

[0561] In the example shown, end effector 2301 comprises a paramagnetic material, not necessarily itself strongly magnetized in the absence of an external magnetic field. The illustrated end effectors 2301, 2311 move freely over a surface, and optionally are used in examples of the present disclosure as an actuator or part thereof, for example as a travelling displacer 200, and / or in variations of a travelling displacer such as a dressing displacer 1601 and / or chaperone displacer 1701. It should be understood that the end effector is optionally an end effector of any suitable actuator, e.g., optionally tethered mechanically rather than freely roaming as in the illustrated examples. However, a potential advantage of a roaming end effector is that it can perform a wide variety of actuating operations throughout an active container 70, e.g., operations as described in relation to Figs. 3A-5C, 7-10C, and / or 13C-17H.

[0562] The example of Fig. 23A illustrates movement of end effector 2301 along arrow 2302 as induced by magnetic fields generated from a partial array of three magnetic field-generating coils 2281. Graphs 2303, 2305, 2307 illustrate attractive force as a function of time generated for a respective region near the center of each of these three magnetic field-generating coil 2281, on the side of the magnetic field-generating coils 2281 along which end effector 2301 travels. Optionally, one or more layers of material separate end effector 2301 from the magnetic field-generating coils 2281, e.g., a lid of controller 2260 and / or a base 75 of active container 70. During the period t of graphs 2303, 2305, 2307 (the same time scale in each case), the force f generated at the magnetic field-generating coil 2281 above graph 2303 is initially large (relative to its operating range). This helps to hold end effector 2301 in place. By changing the flow of current in magnetic field-generating coil 2281, force is reduced (optionally gradually or abruptly), leaving separate end effector 2301 free to move toward the middle coil in response to the rising attractive force indicated by graph 2305. Then attractive force is reduced in the middle coil while attractive force is increased in the last coil, as illustrated by graph 2307. The sequ...

Claims

WHAT IS CLAIMED IS:

1. A substance distributing device, comprising: a housing comprising a surface shaped and sized to hold at least one container having a plurality of addressable locations arranged in a storage region and at least one actuator; a control circuitry; at least one actuator interface functionally connected to the control circuitry, wherein the at least one actuator interface is configured to move at least one substance unit stored in the at least one container between a first addressable storage location and at least one second addressable storage location of the plurality of addressable locations, by activating the at least one actuator from outside the at least one storage region upon receiving a signal from the control circuitry.

2. The device according to claim 1, wherein the surface is shaped and sized to hold the at least one container in a stationary position relative to the housing.

3. The device according to any one of claims 1 or 2, wherein the at least one actuator interface is configured to move the at least one substance unit without physically penetrating into the at least one container and / or without physically connecting to the at least one actuator.

4. The device according to any one of the previous claims, comprising at least one information detector functionally connected to the control circuitry and configured to detect information associated with at least one object, wherein the at least one object is selected from the group consisting of a container, a second device functionally coupled to the device and / or a container of the second device.

5. The device according to claim 4, wherein the at least one information detector comprises at least one information reader configured to read an information tag physically coupled to the object or associated with the object.

6. The device according to any one of claims 4 or 5, wherein the control circuitry verifies an identity of the object based on signals received from the at least one information detector.

7. The device according to any one of the previous claims, comprising at least one sensor functionally connected to the control circuitry, and configured to detect at least one of, content of at least one container, position of one or more substance units in at least one container and / or passage of at least one substance unit in and / or out from at least one container in the device, and wherein the control circuitry is configured to generate at least one indication based on signals received from the at least one sensor.

8. The device according to claim 7, wherein the control circuitry is functionally connected to a memory, wherein the control circuitry is configured to store information about a content of addressable storage locations of at least one container in the memory based on signals received from the at least one sensor, or to update existing information stored in the memory based on signals received from the at least one sensor.

9. The device according to any one of the previous claims, comprising at least one scanner configured to scan at least one substance unit during a passage of the at least one substance unit in and / or out from the container, wherein the control circuitry is configured to identify the at least one substance unit based on information stored in a memory functionally connected to the control circuitry.

10. The device according to any one of claims 8 or 9, wherein the memory is a memory positioned in the device, or is a memory of a remote device in communication with the device.

11. The device according to any one of the previous claims, comprising a communication circuitry functionally connected to the control circuitry and configured to communicate with at least one remote device by delivering and / or receiving at least one signal with information about the operation of the device.

12. The device according to claim 11, wherein the communication circuitry transmits information about content of at least one container, position of one or more substance units in at least one container and / or passage of at least one substance unit into and / or out from at least one container.

13. The device according to any one of claims 11 or 12, wherein the communication circuitry is configured to receive information about addressable storage locations of at least onecontainer from the remote device, and wherein the control circuitry activates the actuator interface based on the received information.

14. The device according to any one of the previous claims, wherein the at least one actuator interface is configured to generate one or more magnetic fields which are suitable to move at least one actuator of at least one container held in by the housing.

15. The device according to claim 14, wherein the at least one actuator interface comprises magnetic field-generating coils.

16. The device according to claim 15, comprising at least one printed circuit board (PCB), and wherein the magnetic field-generating coils are patterned in the at least one PCB.

17. The device according to claim 16, wherein the at least one PCB comprises at least two PCBs, and wherein the housing comprises a volume for holding the at least one container and is positioned therebetween.

18. The device according to claim 14, wherein the at least one actuator interface comprises at least one permanent magnet configured to generate a permanent magnetic field.

19. The device according to any one of the previous claims, comprising at least one container connector configured to mechanically couple the at least one container to the device, and at least one electric motor functionally coupled to the at least one container connector, wherein the electric motor rotates and / or axially moves the at least one container connector relative to the housing.

20. The device according to any one of the previous claims, comprising at least one electric motor functionally coupled to the control circuitry and to the at least one actuator interface, wherein the electric motor rotates and / or axially moves the at least one actuator interface relative to the housing.

21. The device according to claim 20, comprising a sliding assembly including one or more sliding tracks;wherein the at least one actuator interface is coupled to the sliding assembly, and wherein the electric motor is configured to move the at least one actuator interface along the one or more sliding tracks.

22. The device according to claim 21, comprising a rotating mechanism configured to rotate the sliding assembly at least 360 degrees relative to the housing using the electric motor.

23. The device according to claim 20, comprising a rotating mechanism configured to rotate the at least one actuator interface at least 350 degrees relative to the housing using the electric motor.

24. The device according to any one of the previous claims, wherein the housing comprises at least one fastener configured to reversibly fasten the at least one container to the housing.

25. The device according to claim 24, wherein the at least one fastener comprises a magnetic fastener and / or a snap-fit fastener.

26. The device according to any one of claims 1 to 25, wherein the housing comprises at least one fastener configured to irreversibly fasten the at least one container to the housing.

27. The device according to any one of the previous claims comprising at least one port in the housing, shaped and sized to allow passage to and from the at least one container.

28. The device according to any one of the previous claims, comprising or in communication with a user interface functionally coupled to the control circuitry, wherein the user interface is configured to deliver at least one human detectable indication to a user of the device, and wherein the control circuitry is configured to use the user interface to deliver the at least one human detectable indication with information about at least one of, operation of the device, expected dispensing of at least one substance unit from at least one container held by the device, content of at least one container, and / or information about a dispensing plan of the device.

29. The device according to any one of the previous claims, wherein the housing comprises at least one recess, aperture and / or movable cover, shaped and sized to allow passage of at least one container into and out from a housing volume containing said surface.

30. The device according to any one of the previous claims, wherein a maximal size of the device is up to 50 cm X 50 cm X 50 cm.

31. The device according to any one of the previous claims, comprising the at least one container held by the housing, wherein the at least one container comprises: a container body having an inner volume, wherein the inner volume comprises a storage region comprising a plurality of addressable storage locations, each suitable to hold at least one substance unit; at least one actuator positioned at least partly within the storage region, wherein the at least one actuator is shaped and sized to move at least one substance unit between at least one first addressable storage location and at least one second addressable storage location of the addressable storage locations.

32. The device according to claim 31, wherein the at least one actuator interface is configured to activate the actuator to push the at least one substance unit without physically penetrating into the inner volume.

33. The device according to any one of claims 31 or 32, wherein the container comprises at least one printed circuit board (PCB) having one or more magnetic coils configured to generate a magnetic field suitable to move the actuator, and wherein the control circuitry controls the activation of the one or more magnetic coils by controlling electrical connectivity of the PCB to a power source of the device.

34. The device according to any one of the previous claims, wherein the storage region comprises a plurality of storage compartments, each is shaped and sized to hold at least one substance unit and serves as a separate addressable location of the plurality of addressable locations.

35. The device according to any one of the previous claims, wherein the at least one substance unit has a maximal size of 50 mm X 50 mm X 50 mm.

36. The device according to any one of the previous claims, wherein the at least one substance unit comprises a bioactive agent.

37. A substance unit container, comprising: a container body having an inner volume and at least one opening to the inner volume, wherein the inner volume comprises a storage region comprising a plurality of storage locations, each is suitable to hold at least one substance unit; and at least one actuator positioned at least partly within the storage region, wherein the at least one actuator is shaped and sized to move at least one substance unit between at least one a storage location and the at least one opening; wherein the at least one actuator comprises a magnetic responsive element, configured to move the at least one substance unit in response to a magnetic field generated from outside the container.

38. The container according to claim 37, wherein the at least one magnetic responsive element comprises a paramagnetic material, magnetic particles and / or magnetic coating.

39. The container according to any one of claims 37 or 38, wherein the storage region comprises plurality of storage compartments, each is shaped and sized to hold the at least one substance unit and serves as a separate addressable accessible to the at least one actuator.

40. The container according to claim 39, wherein the plurality of storage compartments are connectable by at least one interconnecting track having a width suitable for passage of at least one actuator.

41. The container according to any one of claims 37 to 40, wherein the storage region comprises at least one storage track, wherein the at least one storage track is shaped and sized to hold a plurality of substance units arranged along a length of the at least one storage track.

42. The container according to claim 41, wherein the at least one storage track holds the plurality of substance units each in a separate addressable location.

43. The container according to any one of claims 41 or 42, wherein the at least one storage track comprises a plurality of storage tracks, wherein at least some of the plurality of storage tracks are oriented in parallel relative to each other.

44. The container according to any one of claims 41 or 42, wherein the at least one storage track comprises a plurality of radially oriented storage tracks.

45. The container according to any one of claims 37 to 44, wherein at least one portion of the storage region is rotatable relative to the at least one opening.

46. The container according to claim 45, wherein the at least one portion of storage region is rotatable in response to a magnetic field and / or a mechanical force applied on the storage region, generated from outside the container.

47. The container according to any one of claims 37 to 46, wherein the at least one opening is sealable for preventing passage of fluids into the storage region.

48. The container according to any one of claims 37 to 47, wherein at least a portion of the container body is transparent, wherein the portion is positioned to allow visualization of the storage region from outside the container.

49. The container according to any one of claims 37 to 48, wherein at least a portion of the container body is formed from transparent glass, wherein the transparent glass is positioned to allow visualization of the storage region from outside the container.

50. The container according to anyone of claims 37 to 49, wherein the container body is formed from at least two portions irreversibly coupled to each other.

51. The container according to any one of claims 37 to 50, wherein a size of the container body is up to 30cm X 30cm X 30cm.

52. The container according to any one of claims 37 to 51, wherein the storage region includes at least one substance unit.

53. The container according to claim 52, wherein the at least one substance unit comprises at least one of, a bioactive agent, a pharmaceutical compound, a nutraceutical compound, vitamin and food supplement.

54. A method for controllably distributing a substance unit, comprising: holding in or on a volume of a distribution device, at least one container comprising at least one substance unit stored in a storage region of the at least one container; generating a signal to move the at least one substance unit in the at least one container; activating in response to the signal at least one actuator in the container to move the at least one substance unit from at least one addressable storage location in the container to at least one second addressable storage location in the container, wherein the activating comprises activating the at least one actuator from outside the storage region.

55. The method according to claim 54, wherein the activating comprises activating the at least one actuator in the container to move the at least one substance unit, without physically penetrating into the container.

56. The method according to any one of claims 54 or 55, wherein the activating comprises activating the at least one actuator to move the at least one substance unit from at least one addressable storage location in the container out from the container.

57. The method according to claim 56, wherein the activating comprises activating the at least one actuator to dispense the at least one substance unit out from the container into a second container.

58. The method according to claim 57, comprising verifying an identity of the at least one substance unit in a timed relation with a movement of the at least one substance unit within the container and / or in a timed relation with a movement of the at least one substance unit out from the container.

59. The method according to any one of claims 54 to 58, wherein the activating comprises generating outside the container a magnetic field suitable to induce the at least one actuator to move the at least one substance unit.

60. The method according to any one of claims 54 to 59, comprising generating following the activating an indication with information about an updated location of the at least one substance unit.

61. The method according to any one of claims 54 to 60, comprising delivering a human detectable indication with an indication regarding an expected scheduled activation of the at least one actuator and / or upon completion of the activating.

62. The method according to any one of claims 54 to 61, comprising aligning the at least one substance unit with at least one opening of the container, and wherein the activating comprises activating following the aligning the at least one actuator to move the at least one substance unit out from the container via the at least one opening.

63. The method according to claim 62, wherein the activating comprises activating following the aligning the at least one actuator to push the at least one substance unit to a different container via the at least one opening.

64. The method according to any one of claims 54 to 63, comprising verifying an identity of the container prior to the generating of the signal to move the at least one substance unit, and wherein the activating is performed if identification of the container is verified based on the received identification information.

65. A system for dispensing substance units, comprising:(a) a substance unit container including:(i) a plurality of tracks;(ii) a plurality of substance units arranged in said a plurality of tracks;(iii) and at least one actuator movable by magnetic forces from outside the container;(b) a magnetic actuator interface comprising at least one magnetic element positioned to apply force on said actuator when said magnetic element is moved; and(c) a control system configured to select a track of said plurality of tracks and instruct said magnetic actuator interface to move said actuator to said track.

66. The system of claim 65, comprising a resting location for said at least one actuator, which resting location includes a magnetically interacting element attracted to said at least one actuator.

67. The system of claim 65 or claim 66, wherein said plurality of tracks include an opening and wherein said opening includes an elastically deformable retaining element which blocks atleast part of said opening and is deformable under force along said track to unblock said radially outwards opening.

68. The system of any of claims 65-67 wherein said plurality of tracks include a radially inwards opening and wherein said opening is narrower than said substance units and prevents radially inwards movement of said units, but allows radially outward movement of said at least one actuator.

69. The system of any of claims 65-68, wherein said container has an opening of egress and / or ingress of said plurality of substance units and wherein said tracks are mounted on a carousel and rotatable so one of said tracks can selectively be aligned with said container opening.

70. The system of claim 69, wherein said container has at least one stable resting position where said carousel is held in place by at least one magnet and no track is aligned with said egress opening.

71. The system of any of claims 65-70, wherein said magnetic element is mounted on a linearly movable base.

72. The system of any of claims 65-71, wherein said magnetic element is mounted on a rotatable base.

73. The system of any of claims 65-72, wherein said magnetic element is positionable under any location in said container that said at least one actuator can reach.

74. The system of any of claims 65-73, wherein said container and said magnetic actuator interface are sized and shaped to be stacked such that said magnetic element is adjacent said at least one actuator.

75. The system of claim 74 comprising at least one sensor to detect alignment of said at least one actuator and said at least magnetic element.

76. The system of claim 74 or claim 75 comprising at least one magnet for attaching and aligning said container and said magnetic actuator interface.

77. The system of any of claims 65-76, wherein said container and said magnetic actuator interface and said control circuitry are separate and hand separable components each with its own housing.

78. The system of claim 77, wherein said system does not provide feedback to said control circuitry regarding a measured position of said at least one actuator in said track.

79. The system of claim 77 or claim 78, wherein said system does not include a position sensor for said at least one actuator.

80. A substance unit container comprising: a base defining a horizontal plane; and a plurality of circumferentially arranged storage tracks, each with an opening radially inwards and each with an opening radially outwards, wherein each track has a longitudinal axis and wherein at least one of the axes is slanted relative to said horizontal plane.

81. A substance unit container comprising: a base defining a horizontal plane; and a plurality of circumferentially arranged storage tracks, each with an opening radially inwards and each with an opening radially outwards, wherein each track is sized to selectively hold a size zero capsule or a plurality of disc shaped tablets.

82. The substance unit container of any one of claims 80 and 81 containing at least one substance unit.

83. A method of controlling a rotatable carousel in a substance container using magnetic force, comprising:(a) engaging a magnet or magnetic -responsive element in the container using a magnetic- responsive or magnetic actuator; and(b) applying force including a component in a tangent direction to said carousal to rotate said carousel.

84. The method of claim 83, wherein said magnetic -responsive or magnetic element is an actuator and comprising, after said rotating, moving said actuator using said magnetic-responsive or magnetic actuator to apply a force having a radial component on a substance unit in said carousel.

85. A method of dispensing a substance unit from a container having a body with an opening and having an alignable insert, comprising, by an automated system,(a) aligning a track of said insert with said opening; and(b) applying force against a substance unit in said track in a direction of said opening.

86. The method of claim 85, comprising: providing said insert with no track aligned with said opening; performing (a)-(b); and realigning said insert so no track is aligned with said opening.