A method of dispensing pills from an automated pill dispensing robot, the method comprising:
- dispensing a plurality of pills from a storage module, wherein the plurality of pills are designated for a specific patient in accordance to a prescription plan;
- receiving the plurality of pills dispensed from the storage module into a hopper system;
- aligning the hopper system with a top pre-fill tray and dispensing the plurality of pills from the hopper system into the top pre-fill tray upon completion of alignment;
- aligning the top pre-fill tray with a bottom pre-fill tray, wherein the alignment includes g) establishing an XY coordinate plane, h) assigning an X and Y coordinate position of (0, 0) as the initial starting position of the top pre-fill tray, i) assigning an X and Y coordinate position of (0, 0) as the initial starting 35 position of the bottom pre-fill tray, j) measuring the distance between the initial starting position of (0, 0) to the current X and Y coordinate position of the top pre-fill tray, k) measuring the distance between the initial starting position of (0, 0) to the current X and Y coordinate position of the bottom pre-fill tray, and l) displacing the bottom pre-fill tray to the same current X and Y coordinates of the top-prefill tray such that, once displaced, the bottom pre-fill tray is aligned directly underneath the top pre-fill tray with the same X and Y coordinates, wherein both the top pre-fill tray and the bottom pre-fill tray are housed inside the dispensing section of the pill dispensing robot such that the top pre-fill tray and the bottom pre-fill tray can move independently from one another in an X or Y direction;
- dispensing the plurality of pills from the top pre-fill tray into the bottom pre-fill tray upon completion of alignment between top pre-fill tray and the bottom pre-fill tray;
- aligning the bottom pre-fill tray with a desired pill pack located in the packing plate;
- and verifying the pill pack located in the packing plate to ensure that the plurality of pills dispensed from the storage module match the pill pack that is designated for the specific patient, wherein aligning the hopper system with a top pre-fill tray comprises:
- using a hopper system, wherein the hopper system includes a hopper having a wider opening at its top and narrower opening at its bottom, the hopper's narrower bottom opening is square in shape and includes a plurality of photo sensors, using a pre-fill tray that includes a plurality of slots that are placed in a plurality of rows and columns, wherein a common wall shared between each row of slots includes a plurality of X-direction pointers and a common wall shared between each column of slots includes a plurality of Y-direction pointers;
- wherein the hopper's narrow square shaped opening matches the size and shape of a slot in the top pre-fill tray;
- obtaining the X and Y coordinates of the current location of a desired slot in the top-pre-fill tray;
- measuring the displacement required to align the desired slot in the top-pre-fill tray with the square shaped narrower bottom opening in the hopper;
- displacing the top pre-fill tray such that the desired slot is directly underneath the square shaped narrower bottom opening of the hopper;
- and confirming alignment of the hopper with the desired slot in the top pre-fill tray, wherein confirming alignment includes reading the X and Y direction pointers coordinates of the slot underneath the square shaped narrower bottom opening in the hopper, wherein said reading of the X and Y direction pointers coordinates being performed by the plurality of photo sensors located in the square shaped narrower bottom opening in the hopper.