Object dispenser having a variable orifice and image identification

Abstract

A method and apparatus for dispensing objects from automated storage and retrieval systems such as medications is disclosed which may also include a singulator to assure singulation (retrieval of singular objects). The singulator may be an imaging system to confirm and/or identify the objects being dispensed and/or a variable orifice dynamically adjustable to a specific object or pill size, and through which only a single object or pill is allowed to pass. The system may further include a flexible probe so as to reduce the size of the system where the movement of the probe relative to or while retrieving objects is accomplished by advancing/retracting a flexible tube. The method and apparatus may further include an imaging system.

What is claimed is: 
     
         1 . A dispensing method that reliably retrieves an object from a group of randomly ordered objects held within bulk storage containers, comprising:
 providing a dispensing system for dispensing at least one of a plurality of randomly ordered objects stored in bulk storage containers therein;   in response to a dispense request, said system extending a probe downward into a selected one of the bulk storage containers and retrieving an object using a probe extended downward into the selected one of the bulk storage containers to collect the object therefrom and transferring the object to a dispense location accessible by a user; and   storing and maintaining an inventory level for each of the objects stored in the bulk storage containers of the dispensing system.   
     
     
         2 . The dispensing method according to  claim 1 , wherein an occurrence of a possible bulk storage container refill operation is detected as a result of a change in the depth of probe downward deployment between sequential accesses of a particular container. 
     
     
         3 . The dispensing method according to  claim 1 , wherein a change in inventory quantity is detected as a result of a change in the level of objects in a particular bulk storage container. 
     
     
         4 . The dispensing method according to  claim 3 , wherein the change is detected as a result of an analysis of at least two images of the bulk storage container acquired at different times. 
     
     
         5 . The dispensing method according to  claim 3 , wherein dimensional features of the object are characterized in response to an image of the object acquired by the dispensing system at at least one location in the system. 
     
     
         6 . The dispensing method according to  claim 1 , further including acquiring at least one image of the bulk storage container, and based, at least in part, upon information obtained from said image, estimating an approximate inventory level for objects in the bulk storage container. 
     
     
         7 . The dispensing method according to  claim 1 , wherein said objects include medicaments and said dispensing system further includes a communication interface, and a separate device in communication with the interface that is capable of acquiring an image of a collection of medicaments to stock or restock a container in the dispensing system, and where the separate device determines and provides at least a medicament count to the dispensing system. 
     
     
         8 . The dispensing method according to  claim 7 , wherein counting of objects further includes: sending a message to the separate device to identify and count objects;
 identifying known and unknown objects within a collection of objects; and locating identification markings or attributes on the objects.   
     
     
         9 . The dispensing method according to  claim 7 , wherein counting is facilitated regardless of whether the objects are spread in a single layer or are piled so as to include multiple layers. 
     
     
         10 . A medicament dispensing method comprising:
 providing a dispensing system for dispensing at least one of a plurality of medicaments stored therein;   said system, in response to a dispense request, retrieving a medicament and transferring the medicament to a dispense location accessible by a user; and   confirming the medicament dosage by obtaining an image of the dispense location before dispensing.   
     
     
         11 . The medicament dispensing method according to  claim 10 , wherein: dispensing of the medicament dosage is confirmed by obtaining an image of the dispense location after dispensing to confirm all medicaments were retrieved. 
     
     
         12 . The medicament dispensing method according to  claim 10 , wherein the dispensing system includes a communication channel and is capable of initiating med-linked reminders. 
     
     
         13 . The medicament dispensing method according to  claim 10 , further including acquiring at least one image of a medicament dispensed by the system and automatically processing the acquired image for display and use by the system and user. 
     
     
         14 . The medicament dispensing method according to  claim 13 , wherein the dispensing system performs an image comparison between the medicament(s) loaded in the dispense location and a medicament database, and in the event of a discrepancy, acquiring an image of the medicament(s) in the dispense location. 
     
     
         15 . The medicament dispensing method according to  claim 10 , further including determining, based upon an image acquired no later than at the dispensing location, information about the medicament to be dispensed that has been stored in the system and further confirming that the expiration date of the medicament has not passed prior to dispensing the medicament. 
     
     
         16 . The medicament dispensing method according to  claim 10 , further including the acquisition of an image of each medicament type during or prior to loading of the medicament into a container for storage in the dispensing system. 
     
     
         17 . A medicament dispensing method comprising:
 providing a dispensing system, including a housing having a rotatable carousel therein with a plurality of removable open-top containers, where the carousel moves under the control of a carousel drive, each container including a repository for objects therein; an access port in the housing through which an object may be removed from the plurality of containers, in seriatim; a pre-dispense port in the housing providing controlled access to one of a plurality of output containers; and a retrieval probe, said probe located within the housing and operatively movable under the control of a horizontal slide drive by a slide motor between the access port and the pre-dispense port, said probe further including a vertical slide retracting and extending the probe and a compliant tip thereon under control of a vertical slide motor, the probe tip releasably engaging an object in one of the plurality of containers via the access port,   placing a different medicament into at least two of the plurality of containers;   in response to a dispense request, a controller operating to move the carousel to place a container having the requested medicament beneath the access port, and moving the horizontal probe slide into a position so that the probe tip is over the access port, wherein the probe is then extended to engage a medicament, and once engaged by the probe tip, the medicament is raised while attached to the probe tip and retrieved from the container via the access port, further including moving said carousel and probe relative to one another to facilitate the probe contacting a medicament;   said controller then engaging the horizontal slide drive to cause the horizontal probe slide to move into a position over the pre-dispense port;   releasing the medicament from the probe tip to deliver the medicament to a pre-dispense receptacle beneath the pre-dispense port; and   moving the pre-dispense receptacle, using a pre-dispense slide motor responsive to the controller, to transfer the medicament from the pre-dispense receptacle to a dispense cup accessible by a user.   
     
     
         18 . The medicament dispensing method according to  claim 17 , further comprising a dithering pattern for moving the probe relative to the container, said pattern intended to locate any medicament remaining in said container. 
     
     
         19 . The medicament dispensing method according to  claim 17 , further comprising moving the probe arcuately relative to the container, said pattern intended to locate any medicament remaining in said container and to move any undetected medicament. 
     
     
         20 . The medicament dispensing method according to  claim 17 , further comprising using an image sensing device (e.g., camera) and obtaining an image of the container in order to determine the location(s) of a medicament and to move the probe relative to the container to target the medicament.