Prescription filling apparatus implementing a pick and place method

An automated apparatus for filling vials, comprising:

• a shelving unit defining an array of storage locations;
• a plurality of storage cassettes, each removably carried by one of said storage locations;
• a counter and dispenser;
• a source of vials;
• a label printer and applier;
• an output device for outputting filled vials;
• a computer controlled engagement device, said engagement device having a first stage for engaging said storage cassettes and a second stage for engaging said vials;
• a computer controlled system for carrying said engagement device and for moving said engagement device among said plurality of storage locations, said counter and dispenser, said source of vials, said label printer and applier, and said output device, wherein said first stage is configured to move independently of said second stage and wherein said second stage is configured to move independently of said first stage.

An automated apparatus for filling vials, comprising:

• a shelving unit defining an array of storage locations;
• a plurality of storage cassettes, each removably carried by one of said storage locations;
• a counter and dispenser;
• a source of vials;
• a label printer and applier;
• an output device for outputting filled vials;
• a computer controlled engagement device, said engagement device having a first stage for engaging said storage cassettes and a second stage for engaging said vials;
• a computer controlled system for carrying said engagement device and for moving said engagement device among said plurality of storage locations, said counter and dispenser, said source of vials, said label printer and applier, and said output device, wherein said shelving unit comprises a left carousel, said apparatus additionally comprising a second shelving unit comprising a right carousel, and wherein said first stage of said engagement device rotates between approximately +90 degrees and −60 degrees as measured from an insertion position for said counter and dispenser to retrieve cassettes from said left carousel and said right carousel, respectively.