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US 6,006,946 AGranted
Pill dispensing system
AssigneeAutomated Prescriptions System, Inc.
InventorsJeffrey P. Williams, Galina Potepalov, Allan T. Dolores, Michael Bergeron
Life of this patent
Estimating the term…
Abstract
A pill dispensing system includes a shelving unit in array form that holds a number of bulk containers, each holding a bulk amount of a pill to be dispensed. A computer controlled robot removes a selected bulk container and places it on a counter that also dispenses pills. The robot has an arm with a free end portion that can grip a bulk container or a single pill bottle to be filled. The robot is computer controlled to retrieve an empty pill bottle, place it on a label printing and applying unit, then place it next to the counter/dispenser to receive the selected number of selected prescription pills, then place the filled, labeled bottle on a conveyor.
Claims35
An apparatus for filling prescriptions comprising:
- a) a shelving unit defining an array of storage containers, each container having an interior for holding a bulk amount of pills;
- b) each container being removable from the shelving unit;
- c) a computer controlled robotic arm for reaching each container;
- d) the arm having a free end that grips the container upon selection;
- e) a dispensing unit that receives the selected container, the dispensing unit dispensing a number of pills therefrom into a pill bottle;
- and
- f) the free end of the robotic arm having first and second gripping surface portions that are movable relative to one another and that are configured to selectively grip a selected container or a selected bottle respectively so that the robotic arm can maneuver a selected container or a selected bottle to the dispensing unit.
4 more elements
A method of filling a prescription comprising the steps of:
- a) storing a plurality of containers on a shelving unit that includes a plurality of receptacles for holding the respective containers, each container holding a bulk amount of pills to be dispensed;
- b) using a robotic computer controlled arm to grasp a selected of the containers having pills that are the correct pills for the prescription to be filled;
- c) removing the selected container from its receptacle with the robotic arm;
- d) placing the container on a counter;
- e) dispensing the correct number of pills from the container with the counter and into a pill bottle;
- and
- f) using the robotic arm to return the container to its receptacle.
4 more elements
An apparatus for filling prescriptions comprising:
- a) a shelving unit for holding multiple containers, each container having an interior for holding a bulk amount of pills;
- b) each container being removable from the shelving unit;
- c) a computer controlled robotic arm for reaching each container;
- d) the arm having a free end that can grip a selected container upon selection;
- e) a counter that receives the selected container, the counter enabling a counting and dispensing of pills from a container into a bottle;
- and
- f) the free end having a pair of opposed jaws movable relative to one another with first and second shaped gripping surface portions thereon that can selectively grip a selected container or a selected pill bottle respectively.
4 more elements
A method of filling a prescription comprising the steps of:
- a) storing a plurality of containers on a shelving unit that includes a plurality of receptacles for holding the respective containers, each container holding a bulk amount of pills to be dispensed;
- b) using a robotic, computer controlled arm to grasp a selected one of the containers having pills corresponding to the prescription to be filled;
- c) removing the selected container from its receptacle with the robotic arm;
- d) placing the container on a counter;
- e) dispensing the correct number of pills from the container with the counter and into a pill bottle;
- and
- f) using the robotic arm to return the container to its receptacle.
4 more elements
A method of filling a prescription comprising the steps of:
- a) storing a plurality of containers on a shelving unit that includes a plurality of receptacles for holding the respective containers, each container holding a bulk amount of pills to be dispensed;
- b) using a robotic, computer controlled arm to grasp a selected of the containers having pills corresponding to the prescription to be filled;
- c) removing the selected container from its receptacle with the robotic arm of step "b";
- d) placing the container on a pill counter using thee robotic arm;
- e) gripping a pill vial with the robotic arm;
- f) maneuvering the robotic arm to transport the gripped pill vial to a label printer;
- g) applying a printed label with the label printer to the pill vial;
- h) maneuvering the robotic arm to transport the gripped pill vial to the counter;
- i) dispensing the correct number of pills from the container with the counter and into a pill bottle;
- and
- j) using the robotic arm to return the container to its receptacle.
8 more elements
A method of filling a prescription comprising the steps of:
- a) storing a plurality of containers on a shelving unit that includes a plurality of receptacles for holding the respective containers, each container holding a bulk amount of pills to be dispensed;
- b) using a robotic, computer controlled arm to grasp a selected of the containers having pills corresponding to the prescription to be filled;
- c) removing the selected container from its receptacle with the robotic arm of step "b";
- d) placing the container on a pill counter using the robotic arm;
- e) gripping a pill vial with the robotic arm;
- f) maneuvering the robotic arm to transport the gripped pill vial to a label printer;
- g) separating the robotic arm from the pill vial;
- h) applying a printed label with the label printer to the pill vial;
- i) gripping the pill vial with the robotic arm;
- j) maneuvering the robotic arm to transport the gripped pill vial to the counter;
- k) dispensing the correct number of pills from the container with the counter and into a pill bottle;
- and
- li) using the robotic arm to return the container to its receptacle.
10 more elements
A method of filling a prescription comprising the steps of:
- a) storing a plurality of containers on a shelving unit that includes a plurality of receptacles for holding the respective containers, each container holding a bulk amount of pills to be dispensed;
- b) using a robotic, computer controlled arm to grasp a selected of the containers having pills corresponding to the prescription to be filled;
- c) removing the selected container from its receptacle with the robotic arm;
- d) placing the container on a counter;
- e) dispensing the correct number of pills from the container with the counter and into a pill vial;
- f) using the robotic arm to transport the pill vial to a label printer;
- g) transporting the pill vial to a drop off location;
- and
- h) using the robotic arm to return the container to its receptacle.
6 more elements
Dependencies are inferred from the claim text.