BACKGROUND

The invention relates to a method, a computer program product and a dispensing device for dispensing discrete medicaments such as pharmaceuticals, medicaments, pills, tablets or capsules for medical use.

US 2014/0366489 Al discloses a device for dispensing solid substances for medical use. The device is provided with a great number of feeder units, also known as ‘canisters’, distributed in a radial grid about a rotation axis. Each feeder unit holds an amount of solid substances specific to that respective feeder unit. Hence, together, the feeder units can dispense a wide variety of solid substances.

The device is further provided with a collection frame that is rotatable about the rotation axis below the array of feeder positions. The collection frame is provided with a series of collection trays for collecting solid substances dispensed from any of the feeder units in the array of feeder positions.

The device further comprises a packing unit arranged in a stationary position below the collection frame for packing the solid substances received from the collection trays. The collection frame is rotated about the rotation axis such that each collection tray passes along each of the feeder units in the array of feeder positions before arriving at the packing unit.

SUMMARY OF THE INVENTION

The device known from US 2014/0366489 Al is great at continuously dispensing, collecting and packing solid substances as long as the feeder units are reliably dispensing said solid substances. However, when one of the feeder units is unexpectedly unable to dispense solid substances, for example because the solid substances held in said respective feeder unit have been depleted, when the remaining solid substances are not easily dispensed for some reason or when the remaining solid substances are past their expiry date, the dispensing is interrupted. Automated checks or actions, such as repeated dispensing attempts and/or shaking, may be performed to make sure that the respective feeder unit is actually empty. Depending on the outcome of the checks, the human operator is informed to take appropriate action, e.g. to provide a full feeder unit to replace the empty feeder unit. The checks and the human intervention consume valuable time in which the dispensing operation of the device is interrupted. Moreover, there may be several feeder units that have to be replaced at the same time, causing even more downtime.

Further, when planning and running production jobs, it is assumed that the medicaments (e.g., feeder units filled with the proper medicaments) are always available. The control system within a dispenser typically watches a certain time period ahead of the current production order (e.g., 1 hour) to determine how much of each medicament will be additionally needed to complete the production job. If it is short, a request for additional medicaments is typically provided to the human operator, for example, in a task list. However, particularly for high turnover medicaments, the constant availability of filled feeder units is important to avoid interruption of the production job. Therefore, fast refilling can be a necessity. Furthermore, it is crucial to address unforeseen events that may arise after production plans have been made. These events could include issues like feeding unit failures or changes in the production order. To maintain a smooth production process and prevent interruptions, the task list may need to be adaptable and capable of accommodating changes in real-time. It is an object of the present invention to provide a method, a computer program product and a dispensing device for dispensing discrete medicaments, wherein the continuity of the dispensing operation can be improved.

A first aspect provides a method for predicting when a feeder unit will become depleted, and determining a refill strategy for the feeder unit based on the medicaments in the feeder unit,, providing this information early and in some embodiments to external operators and/or systems, thereby ensuring that production jobs do not have to be interrupted for feeder unit refilling. A further aspect provides a method for dispensing discrete medicaments with a dispensing device, wherein the dispensing device comprises a dispensing section, a collection section and a packaging section, wherein the dispensing section defines an array of feeder positions distributed circumferentially along an endless collection path for holding a plurality of feeder units, wherein the collection section comprises a first collection unit that is movable with respect to the array of feeder positions in a collection direction along the endless collection path between a start position downstream of a first packing position in the collection direction and an end position at or near the first packing position, wherein the method comprises the steps of: positioning a first feeder unit of the plurality of feeder units at a first feeder position of the array of feeder positions; and prior to removing the first feeder unit from the first feeder position, positioning a second feeder unit of the plurality of feeder units at a second feeder position of the array of feeder positions, downstream from the first feeder position in the collection direction, wherein the first feeder unit and the second feeder unit hold medicaments of the same first composition.

The first feeder unit may be empty earlier than expected, e.g. because of inaccurate filling, or unable to dispense any remaining medicaments. To prevent interruption of the dispensing operation when such a situation occurs, the second feeder unit can be on ‘hot standby’ for the first feeder unit, dispensing the medicaments of the first composition that were originally intended to be dispensed by the first feeder unit. In other words, the second feeder unit is ready to take over the dispensing operation from the first feeder unit when said first feeder unit no longer dispenses the required medicaments of the first composition. Because of the relative positioning of said second feeder unit downstream from the first feeder unit, the first collection unit does not have to wait or be moved backwards. Instead, the first collection unit can still receive the missing medicaments of the first composition from the second feeder unit while continuing the movement in the collection direction. More importantly, the first collection unit can do so prior to reaching the first packing position. Hence, the dispensing operation and subsequent packing operation can remain substantially uninterrupted and/or without delay.

In particular, the aforementioned method further includes, when the first feeder unit is empty or unable to dispense the medicaments at the first feeder position into the first collection unit, the step of: moving said first collection unit in the collection direction and dispensing the medicaments from the second feeder unit at the second feeder position into the first collection unit. In another embodiment, prior to positioning of the first feeder unit at the first feeder position the first feeder unit was positioned at a prior feeder position of the array of feeder positions downstream from said first feeder position, wherein the method further comprises the steps of: removing the first feeder unit from the prior feeder position; and moving said first feeder unit from the prior feeder position towards the first feeder position.

The ‘hot standby’ feeder units are placed in downstream feeder positions to allow for the aforementioned taking over of the dispensing operation of an empty feeder unit that is located in a more upstream feeder position. Over time, the feeder units that were on ‘hot standby’ will be emptied out themselves. Such almost empty feeder units occupy downstream feeder positions that should be occupied by full feeder units. To make space, the almost empty feeder units may be repositioned towards more upstream feeder positions so that a failure to dispense may be identified early, allowing for a new cycle of the method. The current embodiment describes the process of such repositioning for the first feeder unit, e.g. when the amount of medicaments remaining in the first feeder unit drops below a predetermined threshold.

In an embodiment thereof, the method further comprises the step of: dispensing the medicaments from the second feeder unit at the second feeder position into the first collection unit during the moving of the first feeder unit from the prior feeder position towards the first feeder position.

The second feeder unit can therefore temporarily take over the dispensing from the first feeder unit as said first feeder unit is being repositioned. Once repositioned, the first feeder unit can resume the dispensing and the second feeder unit remains on ‘hot standby’ for the first feeder unit when it finally runs out of the medicaments or experiences a failure to dispense.

In another embodiment first collection unit is movable along the endless collection path over a collection range that starts at the start position and that ends at the end position

The first feeder position is located in a first half of the first collection range considered from the start position. With the first feeder position located in the first half of the first collection range, there are still many downstream positions to choose from when selecting the second feeder position.

The second feeder position can be located in a second half of the collection range considered from the start position. When the first feeder unit fails to dispense the medicaments in said first half of the collection range, there is sufficient time for the dispensing device to adjust its dispensing strategy based on the second feeder unit, before reaching the second half of the collection range. While the term “half’ is used here (and elsewhere in the description and claims), it does not necessarily have to be an evenly split collection range, and could instead just be in a first portion and a second portion which do not have to be equal in size.

In another embodiment, the first feeder position and the second feeder position are spaced apart in the collection direction over a spacing angle of at least five degrees, preferably at least ten degrees. When the first feeder unit fails to dispense the medicaments in said first half of the collection range, the dispensing device can adjust its dispensing strategy during the movement of the first collection unit along the spacing angle.

In another embodiment the dispensing device comprises a robotic manipulator and positioning and/or removing of the first feeder unit and the second feeder unit are performed with use of the robotic manipulator. The positioning, removing and/or repositioning of feeder units can thus be automated to quickly and/or efficiently obtain the best distribution of feeder units over the feeder positions, considering the respective amounts of medicaments remaining in said feeder units.

A second aspect provides a computer program product comprising a non- transitory computer-readable medium holding instructions that, when executed by a processor, cause a dispensing device to perform the steps of the method according to the first aspect.

The computer program product can be provided separately from the dispensing device to configure, upgrade and/or install the aforementioned functionality in said dispensing device, resulting in the previously discussed technical advantages.

A third aspect provides a dispensing device for dispensing discrete medicaments, the dispensing device comprising: a dispensing section defining an array of feeder positions distributed along an endless collection path for holding a plurality of feeder units, the array of feeder positions comprising at least a first feeder position and a second feeder position, a collection section comprising a first collection unit that is movable with respect to the array of feeder positions in a collection direction along the endless collection path, a packaging section for packaging the medicaments received from the collection section, and a robotic manipulator and a control unit for controlling the robotic manipulator to: position a first feeder unit at the first feeder position; and prior to removing the first feeder unit from the first feeder position, positioning a second feeder unit at the second feeder position, the second feeder position located downstream from the first feeder position in the collection direction, wherein the first feeder unit and the second feeder unit hold medicaments of the same first composition.

In one embodiment the packaging section comprises a first packaging unit at or connecting to a first packing position.

In one embodiment the first collection unit is movable between a start position downstream of a first packing position in the collection direction and an end position at or near the first packing position.

In one embodiment the first collection unit comprises a hopper.

In one embodiment the endless collection path is circular.

In one embodiment the array of feeder positions is distributed circumferentially about a rotation axis and wherein the first collection unit is rotatable about said rotation axis along the endless collection path.

Alternatively, the endless collection path is non-circular. The aforementioned dispensing device is adapted, configured and/or programmed to perform the steps of the related method and thus has the same technical advantages as the method and its respective embodiments.

A fourth aspect provides a method of continuously dispensing, collecting and packaging discrete medicaments with a dispensing device comprising a dispensing section, a collection section, and a packaging section, wherein the dispensing section comprises an array of feeder positions distributed along an endless collection path for holding a plurality of feeder units, and the collection section comprises a first collection unit that is movable with respect to the array of holding positions in a collection direction along the endless collection path to align with a plurality of the array of feeder positions, the method comprising: placing a first feeder unit at a first feeder position in the array of feeder positions, placing a second feeder unit at a second feeder position in the array of feeder positions, the second holding position located downstream from the first holding position; dispensing the medicaments from the first feeder unit into the first collection unit; moving the first collection unit in the collection direction to align with the second feeder unit when the first feeder unit is empty or no longer dispenses the medicament; and dispensing the medicaments from the second feeder unit into the first collection unit, wherein the first feeder unit and the second feeder unit contain medicaments of the same first composition.

In one embodiment the steps of placing the first and second feeders are done using a robot.

One embodiment further comprises transferring the medicament from the first collection unit to a first packaging unit for packaging.

In one embodiment the method further comprises removing and/or replacing the first feeder unit.

A fifth aspect provides a method for dispensing discrete medicaments with a dispensing device, wherein the dispensing device comprises a dispensing section for dispensing the medicaments, wherein the dispensing section defines an array of feeder positions for holding a plurality of feeder units, wherein each feeder unit of the plurality of feeder units comprises a container for holding medicaments with a composition specific to said respective feeder unit, an outlet for dispensing the medicaments and a dispensing mechanism between the container and the outlet for controlled feeding of the medicaments from the container into the outlet, wherein the method comprises the steps of: predicting a depletion time in the future when the medicaments in the container of a first feeder unit of the plurality of feeder units will be depleted; providing a notification ahead of said depletion time that a second feeder unit holding medicaments with the same composition as the first feeder unit needs to presented to the dispensing device, together with a due time for presenting said second feeder unit to the dispensing device; determining a refill strategy for the first feeder unit based on determining a category of a plurality of refill categories based on the medicaments in first feeder unit, provide a refill notification based on the refill strategy; and continuing the dispensing of the medicaments from the first feeder unit at least until the due time.

In some embodiments, the refill strategy could include a determination to keep the feeder unit inside the dispensing device until a certain time after depletion before ejecting from the dispensing device. This could be related to a time when refill medications are available and/or delivered (e.g., to the dispensing device or a refill station), or simply for a later moment when the operator does not need to prepare something urgently. The ejection could be prompted manually, for example, an operator indicating that the feeder unit should be ejected (e.g., when the operator has time to retrieve the feeder unit and implement a refill strategy). In some embodiments, the ejection is performed automatically, for example, the dispensing device is instructed to eject the feeder unit at a time just before another system is scheduled to deliver refill medication. Keeping the feeder unit inside the dispensing device after depletion until a later time can result in more convenience for the operator and help to ensure that empty feeder units are not ejected until needed (and thus need to have a place for storage). The feeder units can simply be kept inside the dispensing device until the time they are to have a refill strategy (e.g., refill, put away, clean) implemented with respect to them. This eliminates the need to find additional storage space, particularly around the dispensing device for each empty feeder unit as soon as it is depleted.

In some embodiments, notifications related to being past the expiry date can also be provided. As used herein, the term “past their expiry date” can either mean past the expiry date of the medicaments or that an administration date for the medicaments would be past the expiry date of the medicaments if used in that particular package or order. The administration date refers to the date on which a user is scheduled to take the medicament(s), which is typically a few weeks to a few months in the future from the date on which the medicaments are dispensed and packaged. If the expiry date falls before the administration date in such a situation, the method would provide the notification that a second feeder unit holding medicaments should be presented at a particular due time to ensure that medicaments which do not expire before the administration date are packaged for use.

In some embodiments, the notification and/or the refill notification is provided to a human operator and/or a system external to the dispensing device. The other system(s) could be, for example, systems external to the dispensing device such as a (re)fill station/system, a stock management and/or inventory system, a storage system, a transport system, or any other related systems which would store medicaments/feeder units and/or (re)fill and/or transfer feeder units to the dispensing device. By providing the notification, the human operator and/or other system(s) can be alerted ahead of the due time that a feeder unit will be depleted and a second feeder unit with the same medicaments is required. By providing a due time or a time window, the human operator and/or external system(s) can prioritize and/or plan ahead and prepare one or more feeder units prior to the respective due times. Meanwhile, the dispensing device may continue to dispense the remaining medicaments without interruption. In some embodiment, this due time or time window can be dynamically updated through production and/or planning. When depleted or past the expiry date, the affected feeder units can be efficiently supplemented or replaced prior to, at or shortly after the due time while dispensing continues. Optionally, the method can include instructions of where to retrieve the second feeder unit and/or send notifications to other systems to automatically deliver the second feeder unit at or before the due time.

The refill strategy, and in some cases the determination of when to eject the feeder unit, can be determined based on the refill category. The refill categories may include one or more of high volume medicaments, medium volume medicaments, low volume medicaments and short allowable open air time medicaments. For example, a high volume medicament can include a refill strategy to immediately (or relatively quickly) refill the first feeder unit with medicaments with the same composition and present the refilled first feeder unit back to the dispensing device as soon as it is refilled. This is useful for high volume medicaments which need to be replaced relatively quickly to continue dispensing. In the high volume medicaments refill category, it can be useful to keep the feeder unit inside the dispensing device until a time when the refill medicaments are available. For example, if the feeder unit will be refilled at or near the dispensing device, a determination can be made that the ejection of the feeder unit should only happen when the medicaments are delivered to the refill location for refilling the dispensing device. This can be prompted manually by an operator (e.g., pressing a button stating the refill medicaments are available and then the dispensing device will eject the empty feeder unit) or can be automatic (e.g., the delivery system informs the dispensing device when the refill medicaments will be available and the dispensing device schedules and performs the ejection of the empty feeder unit only at that time). Thus, there would be no need to handle and/or take up space with the empty feeder unit until it is able to be directly refilled and put back into the dispensing device for use. In such a category, optionally, the feeder unit can be linked to one specific dispensing device.

When the refill category is determined to be medium volume medicaments, the refill strategy can comprise providing a notification to refill the first feeder unit with medicaments with the same composition and place in a holding or storage location. This is useful for commonly used medicaments, but that don’t need to be immediately replaced in the dispensing device. Thus, the refilled unit is ready for placement in the dispensing device when needed but does not need to take up space directly at the dispensing device or refill station. Optionally, for this category, the feeder unit could be used with multiple dispensing devices and is ready to be presented to the dispensing device which needs a feeder unit with that medicament first.

When the refill category is determined to be low volume medicaments, the refill strategy can comprise providing a notification not to refill immediately and return the empty feeder unit to a holding or storage location. This could optionally include a later notification to refill the feeder unit and return to the dispensing device. This strategy is typically for medicaments which are not used often, which are expensive and/or have a short shelf life. Thus, the feeder unit is empty, only to be refilled when needed for a specific medicament, and optionally can be used with multiple different dispensing devices.

When a medicament is determined to be a short allowable open air time medicament, the refill strategy can comprise determining a feeder unit refill time based on a medicament need time and allowable open air time. The medicament need time is when (e.g., date and time) the medicaments are needed for dispensing (which can often be close to or the same as the due time), and the feeder unit refill time is the time at which the feeder unit should be refilled. The open air time is the time between when the medicament is removed from its original package and is resealed in a pouch or other package by the dispensing device, and the allowable open air time is the maximum open air time (tested or set, e.g., by the manufacturer) for a specific medicament. Thus, for short allowable open air time medicaments, the refilling of the feeder unit should happen as close to dispensing as possible to ensure they can be used without exceeding the allowable open air time. The refill strategy there can then include a notification to proceed with the feeder unit refill close to or at the determined feeder unit refill time and returning to the dispending device immediately. Such a refill strategy can help to ensure more efficient dispensing by allowing for feeder unit use even with medicaments with a very short allowable open air time and ensure that the allowable open air time is not wasted on medicaments sitting in a feeder unit for a long period prior to dispensing.

The refill strategy can be determined and then optionally communicated to the dispensing device (e.g., control unit and user interface) and/or other systems for execution, either manually or automatically (e.g., sending a notification to automatically deliver a refilled feeder unit at a due time). While the determination and keeping of a feeder unit inside the dispensing device until a later time instead of ejecting immediately upon the determination of depletion or other circumstance for not continuing to dispense out of the feeder unit is discussed in detail in relation to the high volume medicament category, it could be applicable to any category. The keeping of a feeder unit inside the dispensing device until a later time can help with the organization and logistics of feeder units as well as space and storage constraints outside the dispensing device. This can also help with more efficient refill strategies, only needing to handle the feeder unit once and keeping inside the dispensing device until it needs to be handled for refill, storage, maintenance, etc.

Optionally, the depletion time is predicted based on a recorded amount of the medicaments in the container of the first feeder unit at a start time and a count of the medicaments dispensed from the outlet of the first feeder unit since said start time. The depletion time is thus calculated theoretically. Its accuracy is dependent on a correctness of the recorded amount at the start time and a correct count and the accuracy of the calculated average dispensing rate.

Alternatively, the depletion time is predicted based on the actual amount of medicaments remaining in the container of the first feeder unit. For example, the weight may be used as an indication of the actual amount of medicaments. Alternatively, the actual amount may be visually determined, e.g., with image recognition or one or more sensors, based on the level of the medicaments in the container.

Such depletion times, in some embodiments, can be dynamically updated periodically or throughout the production process. This can help to ensure more accurate predictions, for example, taking new information into account regarding depleted resources or reordered production jobs.

In another embodiment the due time is equal to the depletion time. Hence, the second feeder unit may be provided just-in-time for supplementing or replacing the first feeder unit.

Alternatively, the due time is ahead of the depletion time. The remaining time before the due time and the depletion time can be used as a buffer, for example in the event that the first feeder unit is empty earlier than predicted or when the dispensing device still requires time to process the second feeder unit prior to placing it in the array of feeder positions.

In some embodiments, the due time could be after the depletion time, for example, for an infrequently used medicament or a medicament with a short allowable open air time. Then the second feeder is only presented to the dispensing device when it is needed to dispense such a medicament, thereby minimizing the open air time and not rushing a refill if not needed.

In another embodiment the method further comprises the steps of: receiving the second feeder unit at the dispensing device; and placing the second feeder unit in one of the feeder positions of the array of feeder positions before the depletion time.

Hence, the dispensing device still has time to receive, check and/or position the second feeder unit prior to the due time. The second feeder unit can for example be positioned to be on ‘hot standby’, as described in the first aspect.

Optionally, the second feeder unit replaces the first feeder unit. The first feeder unit and the second feeder unit may be exchanged in a single feeder position.

A sixth aspect provides a computer program product comprising a non- transitory computer-readable medium holding instructions that, when executed by a processor, cause a dispensing device to perform the steps of the method according to the fifth aspect.

The computer program product can be provided separately from the dispensing device to configure, upgrade and/or install the aforementioned functionality in said dispensing device, resulting in the previously discussed technical advantages.

A seventh aspect provides a dispensing device for dispensing discrete medicaments, wherein the dispensing device comprises a dispensing section for dispensing the medicaments, wherein the dispensing section defines an array of feeder positions for holding a plurality of feeder units, wherein each feeder unit of the plurality of feeder units comprises a container for holding medicaments with a composition specific to said respective feeder unit, an outlet for dispensing the medicaments and a dispensing mechanism between the container and the outlet for controlled feeding of the medicaments from the container into the outlet, wherein the dispensing device further comprises a graphical user interface and a control unit for controlling the graphical user interface and the plurality of feeder units, wherein the control unit comprises a processor and a non-transitory computer- readable medium holding instructions that, when executed by the processor, cause the control unit to predict a depletion time, provide a notification of said depletion time on the graphical user interface and control the plurality of feeder units to continue dispensing in accordance with the steps of the method according to the fifth aspect.

The aforementioned dispensing device is adapted, configured and/or programmed to perform the steps of the related method and thus has the same technical advantages as the method and its respective embodiments.

A further aspect includes a method for dispensing discrete medicaments with a dispensing device comprising a dispensing section with an array of feeder positions, each for holding a feeder unit for dispensing medicaments, with the method comprising predicting a depletion time when the medicaments in the container of a first feeder unit of the plurality of feeder units will be depleted; providing a refill strategy for the first feeder unit before or after the first feeder unit is depleted; and dispensing medicaments from the first feeder unit. Such a refill strategy can be based on determining a category from a plurality of refill categories based on the medicaments, as detailed above. Determining a refill strategy based on the medicaments in the cannister allows for an overall more efficient process, ensuring that the refilled feeder units will be available when needed for dispensing but that not all are refilled right away which would lead to a large number of feeder units sitting around simply waiting to go back into the dispensing device (therefore taking up a lot of space unnecessarily) and may lead to some medicaments being unusable, e.g., due to exceeded allowable open air time from a refill too early.

An eighth aspect provides a method for dispensing discrete medicaments with a dispensing device, wherein the dispensing device comprises: a dispensing section to dispense medicaments and defining an array of feeder positions distributed along an endless collection path for holding a plurality of feeder units, and manual loading positions for receiving a plurality of medicine transport plates, a collection section for collecting the medicaments from the dispensing section, and, a packaging section for packaging the medicaments received from the collection section, wherein the method comprises the steps of:

- predicting an initial depletion time in the future of one or more dispensing resources used by the dispensing device to dispense the discrete medicaments;

- providing initial instructions ahead of said initial depletion time to present one or more of the dispensing resources, together with an initial due time for presenting one or more of the dispensing resources;

- predicting an updated depletion time of one or more dispensing resources during the dispensing of discrete medicaments;

- providing updated instructions and/or an updated due time; and

- continuing the dispensing of medicaments at least until the updated due time of the one or more dispensing resources.

By providing initial instructions, a human operator and/or other system(s) can be alerted ahead of the due time that a dispensing resource will be depleted and an action may be required. By providing an initial due time or a time window, the human operator and/or external system(s) can prepare one or more dispensing resources prior to the respective initial due times, and efficiently supplement it or replace it prior to, at or shortly after the initial due time. Meanwhile, the dispensing device may continue to dispense the remaining medicaments without interruption.

Predicting an updated depletion time enables the dispensing device to periodically or continuously verify the initial due time and capture any changes that may have occurred in the production order or the resources. By updating the instructions based on the updated depletion time, the method dynamically ensures that potential issues, such as feeder unit failures or changes in production, can be promptly identified and approached before the dispensing resources are depleted, thereby preventing any interruption in the dispensing. This allows for better response to unexpected events, ensuring smooth and continuous dispensing.

Optionally, the steps of predicting an updated depletion time of one or more dispensing resources during the dispensing of discrete medicaments; and providing updated instructions and/or an updated due time can be repeated one or more times. This allows for dynamically adjusting the depletion time, due time and/or instructions as more information becomes available to more accurately predict each. The updates can be periodic, for example, every few minutes, or triggered upon the receiving of new information. Updating and providing updated instructions allows for more accurate predictions and instructions, making for an overall more efficient system with less down-time.

During production, the method may regularly update the due time of one or more of the dispensing resources and provides updated information if needed. In this manner, the method involves a guided human-machine and/or a machine-machine interaction process, in which the dispensing device continuously communicates to external operators and/or systems to ensure that production orders do not have to be interrupted for resource shortage or unforeseen events.

The initial depletion time may be predicted based on the actual amount of medicaments remaining in the container of the first feeder unit. For example, the weight may be used as an indication of the actual amount of medicaments. Alternatively, the actual amount may be visually determined, e.g., with image recognition and/or one or more sensors at the container of the first feeder unit. Optionally, the initial depletion time may be predicted at a start time of the production order based on a recorded amount of the medicaments in the container of the first feeder unit . The initial depletion time may be also predicted at a restart time of a production order started in the past, (e.g., one or more days before) based on the recorded amount of the medicaments in the container of the first feeder unit. The initial depletion time predicted at the (re)start time is thus calculated theoretically and its accuracy is dependent on a correctness of the recorded amount at the (re)start time, and a time remaining to finish the production order.

The updated depletion time may be predicted based on a count of the medicaments dispensed from the outlet of the first feeder unit since the start time and an average dispensing rate or based on the actual amount of medicaments remaining in the container of the first feeder unit, as explained above.

During dispensing, the updated instructions and/or an updated due time may be provided directly after predicting the updated depletion time. Alternatively, the updated instructions and/or an updated due time may be provided only if the updated depletion time is different from the initial depletion time, or varies by a certain threshold (e.g., 1 minute or more).

Typically, dispensing resources are materials that are used during production and that may need to be supplemented relatively often. In some embodiments, the dispensing resources can be feeder units, packaging material (e.g., foil, ribbon), or any other resource that the dispensing device might need to dispense medicaments. The initial and/or updated instructions and due time can be provided in a task list, which can be prioritized based on the depletion time of one or more dispensing resources. The task list may provide updated information in a prioritized manner to enable the human operator and/or external system(s) to easily react on time and ensure timely supplementing of dispensing resources if there are changes in the order or the dispensing device after the start time. The task list can offer a guide to the operator and/or external systems that minimizes the risk of errors and contributes to an interrupted dispensing operation.

When multiple resources or multiple items of the same resource (e.g., multiple feeder units) will require replacement within a short timeframe, the task list may provide staggered instructions with even earlier updated due times to the external operator and/or systems to prepare (e.g., (re)fill and/or retrieve feeder units), spreading the workload evenly. This prevents overload on the operator and/or external systems, optimizing their efficiency and reducing the potential for errors or failures. In such cases, the number of operators and/or available external systems can be taken into account when updating and presenting instructions/due times.

When the task list provided to the human operator, it may include filling instructions to fill or re-fill a feeder unit and/or a medicine transport plate, and/or retrieving instructions related to where and/or when to retrieve the material(s) needed. The retrieving instructions reduce the time required for the operator to locate and retrieve the dispensing resource(s), resulting in more efficient work. This is also advantageous for operators to quickly become familiar with the dispensing device and its operation. The filling instructions may include an amount and/or composition of medicaments specific to the feeder units and medicine transport plates, ensuring that they are refilled correctly and minimizing the risk of cross-contamination and/or the chance of human errors or misinterpretations during refilling and/or retrieving.

In some embodiments, the initial and/or updated instructions and due times are provided to a human operator and include operating instructions to operate one or more systems external to the dispensing device to present one or more of the dispensing resources. The task list ensures proper coordination between the dispensing device and the external systems, facilitated by the human operator. This coordination minimizes delays and ensures seamless integration of external systems in combination with the human operator, leading to a more robust and overall effective dispensing process.

In some embodiments, a refill strategy and/or initial or updated instructions could relate to a feeder unit being kept inside the dispensing device for a certain amount of time despite being empty. This could be until a certain event occurs, for example, new medications have arrived for refilling the feeder unit. Only at this time, the feeder unit is ejected from the dispensing device for refilling. This could be prompted manually (e.g., operator informs the system via a user interface that the feeder unit should be ejected) or could happen automatically if, for example, a transport system informs the dispensing device of the time at which the refill medications will be there and the dispensing device uses that information to eject the feeder unit shortly before or after the medications are due to arrive.

Optionally or additionally, the initial and/or updated instructions and due time are adapted as machine operating commands and are provided to one or more systems external to the dispensing device presenting one or more of the dispensing resources. Adapting the instructions into operating instructions for external systems, facilitates a seamless and automated filling and/or transport of feeder units, eliminating the need for manual intervention and ensuring timely delivery of dispensing resources.

The task list can guide and instruct the human operator and/or external system to effectively supplement resources of the dispensing device. In this manner, a state of the resources related to the functioning of the dispensing device, may dynamically be detected, and notified. This allows the human operator and/or external systems to efficiently manage the availability of all resources, not just medicament feeder units, and enhance the overall reliability of the dispensing device to minimize or eliminate interruptions in production. In situations where the external operator and/or systems are unable to re-fill and/or provide the second feeder unit before or at the due time, the dispensing device may implement adaptive measures to minimize downtime or delays in the dispensing process. These adaptive measures may involve adjusting a sequence (e.g., of job orders) in the dispensing process to allow the external operator and/or systems sufficient time to supplement the second feeder unit or other resource while other parts of the production order are being taken care of. For instance, the dispensing device may prioritize the dispensing of medicaments from feeder units that have more readily available medicaments. By doing so, it ensures that the production order progresses without interruptions even if one or more feeder units have insufficient medicaments or become depleted. Adaptive measures due to feeder units or medicine transport plates containing insufficient readily available medicaments and/or due to not being supplemented on time may be implemented in methods according to embodiments described here after. Optionally, the updated due time may be replaced with a longer due time to provide the external operator and/or systems with enough time to present the dispensing resource needed during the dispensing process.

The other system(s) external to the dispensing device may be, for example, systems external to the dispensing device such as a (re)fill station/system, a stock management and/or inventory system, a storage system, a transport system, or any other related systems which would store medicaments/feeder units and/or (re)fill and/or transfer feeder units to the dispensing device. In particular, the transport system may be one or more of: conveyor, robots, pallet, or other transport device able to deliver the second feeder unit to the dispensing device.

In some embodiments of the method for dispensing discrete medicaments with a dispensing device, the method further comprises the steps of: receiving a first set of dispensing instructions requiring a first selection and a first amount of medicaments to be dispensed from the plurality of feeder units; receiving one or more further sets of dispensing instructions to be executed after the first set of dispensing instructions, wherein at least one set of the one or more further sets of dispensing instructions requires a selection different from the first selection or an amount different from the first amount;

- determine a sequence of dispensing instructions based on the first set of dispensing instructions and the one or more further sets of dispensing instructions; and prior to executing the first set of dispensing instructions, determining if the plurality of feeder units and/or medicine transport plates contain sufficient readily available medicaments to complete the dispensing of the first selection and the first amount of medicaments in accordance with the first set of dispensing instructions; wherein, if the plurality of feeder units or medicine transport plates were not presented before or at the due time and/or contain insufficient readily available medicaments to complete the dispensing of the first selection and the first amount of medicaments in accordance with the first set of dispensing instructions, the method further comprises the step of: updating the sequence of dispensing instructions to execute one or more sets of the one or more further sets of dispensing instructions prior to executing said first set of dispensing instructions.

The feeder units and medicine transport plates may end up with insufficient readily available medicaments for several reasons. The reasons include but are not limited to a normal dispensing process in which feeder units will need to ultimately be supplemented but also unpredictable or high workload situations in which the feeder units and/or medicine transport plates are unable to dispense any medicaments due to sudden failure and/or not being supplemented on time by external operators and/or systems.

To ensure a continuation of the dispensing process under all situations, the one or more sets of dispensing instructions may be prioritized over the first set of dispensing instructions to allow for supplementing of the missing amount of medicaments. The dispensing of the first selection and the first amount of medicaments can be commenced as soon as possible after the prioritized sets of dispensing instructions have been completed. Changing the sequence of the sets of instructions provides an adaptive measure that can prevent at least a part of the downtime that would be caused when the dispensing device would have processed the sets of instructions in their original sequence under unforeseen and/or high-workload situations.

Preferably, an action is taken during the executing of the one or more sets of the one more further sets of dispensing instructions to ensure that the plurality of feeder units contain sufficient readily available medicaments to complete the dispensing of the first selection and the first amount of medicaments in accordance with the first set of dispensing instructions. By taking the appropriate action during the execution of the one or more further sets of dispensing instructions, at least some of the time required to take the appropriate action can be used to continue the dispensing operation.

The action may include presenting one or more feeder units to the dispensing device for supplementing or replacing one or more feeder units of the plurality of feeder units that contain insufficient readily available medicaments to complete the dispensing of the first selection and the first amount of medicaments in accordance with the first set of dispensing instructions. One or more feeder units may for example be placed on ‘hot standby’ for feeder units that are almost empty, in accordance with the first aspect, so that the dispensing can be resumed without interruption.

It will be understood that the one or more feeder units supplementing one or more feeder units containing insufficient readily available medicaments may include feeder units presented on-time or out-of-time (i.e., after due time). In another embodiment the first set of dispensing instructions and the one or more further sets of dispensing instructions share a logistical parameter that link the first set of dispensing instructions and the one or more further sets of dispensing instructions to a common batch. Preferably, the logistical parameter is a delivery address. By keeping the sets of dispensing instructions of a common batch together, changing the sequence in which the sets of dispensing instructions are processed has less impact on the further logistics of said common batch. For example, it does not matter if the sequence of the sets of dispensing instructions is changed if the medicaments that are dispensed as a result of said dispensing instruction all have to be delivered to the same delivery address.

When the task list is implemented, both the due time and the instructions in the task list are adjusted according to the sequence of the sets of dispensing instructions. For example, during the dispensing process, while the dispensing device is dispensing medicaments from a second feeder unit that has more readily available medicaments than a first feeder unit that was not presented on time, the task list may dynamically adjust the updated instructions and due time related to the second feeder unit before giving instructions related to the first feeder unit. This adaptive measure helps to prevent interruptions or delays in the dispensing process in situations where the external operator and/or systems were unable to re-fill and/or provide the first feeder unit, or other resource on time.

A ninth aspect provides a dispensing device for dispensing discrete medicaments, wherein the dispensing device for dispensing discrete medicaments, wherein the dispensing device comprises: a dispensing section for dispensing the medicaments, and defining an array of feeder positions distributed along a collection path for holding a plurality of feeder units, and manual loading positions for receiving a plurality of medicine transport plates; a collection section for collecting the medicaments from the dispensing section; a packaging section for packaging the medicaments received from the collection section, and a control unit for receiving a state of dispensing resources used by the dispensing device to dispense the discrete medicaments.

The dispensing device may further comprise a graphical user interface controlled by the control unit and wherein instructions and due times for presenting one or more of the dispensing resources are provided on the graphical user interface to a human operator,

The control unit may comprise a processor and a non-transitory computer- readable medium holding instructions that, when executed by the processor, cause the control unit to predict a depletion time, provide instructions and due times on the graphical user interface and control the dispensing device to continue dispensing in accordance with the steps of the method according to the method of the eighth aspect.

The aforementioned dispensing device is adapted, configured and/or programmed to perform the steps of the related method and thus has the same technical advantages as the method and its respective embodiments.

A tenth aspect provides a computer program product comprising a non- transitory computer-readable medium holding instructions that, when executed by a processor, cause a dispensing device to perform the steps of the method according to the eighth aspect.

The computer program product can be provided separately from the dispensing device to configure, upgrade and/or install the aforementioned functionality in said dispensing device, resulting in the previously discussed technical advantages.

An eleventh aspect provides a dispensing device for dispensing discrete medicaments, wherein the dispensing device comprises a dispensing section for dispensing the medicaments, wherein the dispensing section defines an array of feeder positions for holding a plurality of feeder units, wherein each feeder unit of the plurality of feeder units comprises a container for holding medicaments with a composition specific to said respective feeder unit, an outlet for dispensing the medicaments and a dispensing mechanism between the container and the outlet for controlled feeding of the medicaments from the container into the outlet, wherein the dispensing device further comprises a control unit, wherein the control unit comprises a processor and a non-transitory computer-readable medium holding instructions that, when executed by the processor, cause the control unit to execute the steps of the method according to the eighth aspect.

The aforementioned dispensing device is adapted, configured and/or programmed to perform the steps of the related method and thus has the same technical advantages as the method and its respective embodiments.

A twelfth aspect provides a method for dispensing discrete medicaments with a first feeder unit, wherein the first feeder unit comprises a container for holding medicaments of a first composition, an outlet for dispensing the medicaments and a dispensing mechanism between the container and the outlet for controlled feeding of the medicaments from the container into the outlet, wherein the method comprises the steps of: determining a remaining value indicative of the amount of the medicaments remaining in the container; comparing said remaining value to a threshold value; making a selection between a complete empty detection mode when said remaining value is above the threshold value and a shortened empty detection mode when the remaining value is below the threshold value; executing the selected one of the complete empty detection mode and the shortened empty detection mode when no medicament is fed from the container towards the outlet after controlling the dispensing mechanism.

The method above is based on the assumption that if the first feeder unit is expected to be almost empty, it is not necessary to do elaborate checks on the emptiness of said first feeder unit. If there are any medicaments remaining, the remaining amount will be very little and the risk of unnecessarily removing the first feeder unit is relatively small. Hence, only a limited number of attempts or a limited number of actions is performed to check that the first feeder unit is empty. In contrast, when the remaining amount is still above the threshold value, it assumed that there are sufficient readily available medicaments remaining to successfully dispense and that there is a different reason for any failure to dispense. In other words, by making a selection between the two modes, a reliable empty detection for both an almost empty first feeder unit and a relatively full first feeder unit. The shortened empty detection mode can save considerable time, e.g. in the range of ten to twenty seconds, compared to the complete empty detection mode. Hence, downtime of the dispensing device as a result of empty detection checks can be reduced considerably.

Preferably, the complete empty detection mode comprises the step of performing a first action a first number of instances, wherein the shortened empty detection mode comprises the step of performing the first action for a second number of instances less than the first number of instances. Reducing the number of instances of the first action can considerably save time of the empty detection check between the modes.

More preferably, the first action is controlling the dispensing mechanism. The controlling of the dispensing mechanism should result in a dispense of the solid substance. Repeatedly attempts at controlling the dispensing mechanism, e.g. by moving it in multiple steps, could allow medicaments to stabilize and find their way into the dispensing mechanism.

Alternatively, the complete empty detection mode comprises the steps of performing a first action and a second action different from the first action, wherein the shortened empty detection mode comprises only one of the first action and the second action. The second action may trigger a different dispensing result than the first action. The second action may for example be shaking of the first feeder unit, e.g. with a robotic manipulator. The first or the second action may be left out of the shortened empty detection mode to save time between the modes.

In a further embodiment the complete empty detection mode has a first duration, wherein the shortened empty detection mode has a second duration shorter than the first duration. As already mentioned, the shortened empty detection mode may involve less actions or less types of actions, thus resulting in a shorter timespan for completing the empty detection in said mode. Alternatively, the shortened empty detection mode may be limited in time, or the actions may be performed quicker to save time.

In a further embodiment the remaining value is predicted based on a recorded amount of the medicaments in the container of the first feeder unit at a start time and a count of the medicaments dispensed from the outlet of the first feeder unit since said start time. The depletion time is thus calculated theoretically. Its accuracy is dependent on a correctness of the recorded amount at the start time, a correct count and a time remaining to finish the production order.

Alternatively, the remaining value is determined based on the actual amount of medicaments remaining in the container of the first feeder unit. For example, the weight may be used as an indication of the actual amount of medicaments. Alternatively, the actual amount may be visually determined, e.g. with image recognition or one or more sensors, based on the level of the medicaments in the container.

A thirteenth aspect provides a computer program product comprising a non- transitory computer-readable medium holding instructions that, when executed by a processor, cause a dispensing device with a first feeder unit to perform the steps of the method according to the eleventh aspect.

The computer program product can be provided separately from the dispensing device to configure, upgrade and/or install the aforementioned functionality in said dispensing device, resulting in the previously discussed technical advantages.

A fourteenth aspect provides a dispensing device for dispensing discrete medicaments, wherein the dispensing device is provided with a first feeder unit that comprises a container for holding medicaments of a first composition, an outlet for dispensing the medicaments and a dispensing mechanism between the container and the outlet for controlled feeding of the medicaments from the container into the outlet, wherein the dispensing device further comprises a control unit, wherein the control unit comprises a processor and a non-transitory computer-readable medium holding instructions that, when executed by the processor, cause the control unit to execute the steps of the method according to the eleventh aspect.

The aforementioned dispensing device is adapted, configured and/or programmed to perform the steps of the related method and thus has the same technical advantages as the method and its respective embodiments.

While the terms “depleted” and “depletion time” are used herein, this can mean that the medications (or other resources) in the feeder unit or other systems are fully used (e.g., the feeder unit or foil roll is empty), though could also mean that the feeder unit/other resource still has some medicaments, partial medicaments or resources, but any medicaments/resources left should not be used or dispensed. This can be due to being past their expiry date, past their allowable open air time, having only partial (broken) medicaments left, being damaged, medicaments being unlikely to be used for future orders and the dispenser need to accommodate other feeder units with needed medicaments, or for any other reason where it is deemed the medicaments/resources cannot or should not be used. The use of the terms depleted also does not inherently mean that the feeder units/other resources must be refilled, and sometimes the feeder units/other resources can simply be put away for storage or kept at the machine until a later time.

The various aspects and features described and shown in the specification can be applied, individually, wherever possible. These individual aspects, in particular the aspects and features described in the attached dependent claims, can be made subject of divisional patent applications.

BRIEF DESCRIPTION OF THE DRAWINGS

The invention will be elucidated on the basis of an embodiment shown in the attached schematic drawings, in which: figure 1 shows an isometric view of the dispensing device with a dispensing section, a collection section and a packaging section according to a first embodiment; figure 2A show a top view of the dispensing device according to figure 1; figure 2B shows a front view of a first feeder unit at a prior feeder position of the dispensing section, as indicated by the arrow connecting figure 2B with figure 2A; figure 2C shows a front view of a second feeder unit at a loading drawer position of the dispensing section, as indicated by the arrow connecting figure 2C with figure 2A; figures 3 A, 3B and 3C show views corresponding to figures 2A, 2B and 2C, respectively, with the second feeder unit being moved from the loading drawer position to a second feeder position of the dispensing section; figures 4 A, 4B and 4C show views corresponding to figures 3 A, 3B and 3C, respectively, with the first feeder unit being moved from the prior feeder position to a first feeder position of the dispensing section; figures 5A, 5B and 5C show views corresponding to figures 4A, 4B and 4C, respectively, in which the first feeder unit has been removed from the dispensing device; figure 6A shows a first screen of a graphical user interface providing a task list and a timeline for replacing or supplementing feeder units in the dispensing section of the dispensing device according to figure 1; figure 6B shows a second screen of the graphical user interface providing a prioritized task list for replacing or supplementing feeder units and other resources of the dispensing device according to figure 1 figure 7 shows a schematic diagram for determining a refill strategy and the refill strategy based on the determination; figure 8A shows a schematically shows a common batch with three sets of dispensing instructions for dispensing different selections and amounts of medicaments in the dispensing device according to figure 1; figure 8B shows a diagram of the steps of a method for prioritizing one or more of the sets of dispensing instructions according to figure 8 A for execution by the dispensing device; figure 8C schematically shows the common batch of figure 8A after reordering the three sets of dispensing instructions as a result of the prioritization in the method according to figure 8B; figures 9A and 9B show two parts of a diagram of the steps of a method for selecting between a complete empty detection mode and a shortened empty detection mode, to detect if the feeder units in the dispensing device according to figure 1 are empty; figure 10A shows a top view of an alternative dispensing device with a dispensing section, a collection section and a packaging section according to a second embodiment figure 10B shows a front view of a first feeder unit at a prior feeder position of the dispensing section, as indicated by the arrow connecting figure 10B with figure 10 A; and figure 10C shows a front view of a second feeder unit at a loading drawer position of the dispensing section, as indicated by the arrow connecting figure 10C with figure 10 A.

DETAILED DESCRIPTION OF THE INVENTION

Figure 1 shows a dispensing device 1 according to a first embodiment for dispensing discrete medicaments, discrete solid medicaments, pharmaceuticals or solid items, articles or substances 90 for medical use, e.g. pills, tablets, capsules or the like. The medicaments are ‘discrete’ in the sense that they can be dispensed one-by-one, individually, separately or in dose units.

The dispensing device 1 comprises a dispensing section 2 for dispensing the medicaments 90, a collection section 3 for collecting the medicaments 90 from the dispensing section 2 and a packaging section 6 for packing the medicaments 90. The collection section 3 is located below or vertically below the dispensing section 2. The packaging section 6 is located below or vertically below the collection section 3. The dispensing device 1 further comprises a housing 10 for shielding the aforementioned sections 2, 3, 6 from unauthorized access.

The dispensing section 2 defines an array of feeder positions 20 for receiving or holding a plurality of canisters, tablet cases or feeder units 40. Each feeder position comprises a docking member for mating with or receiving a respective one of the feeder units 40, with an appropriate aperture or channel to allow passage of dispensed medicaments 90 through the feeder position 20 into the collection section 3 underneath. The array of feeder positions 20 is distributed along a collection path Z1. In this example, the collection path Z1 is endless and circular or substantially circular and the array of feeder positions 20 is distributed circumferentially about a rotation axis X. More in particular, the array of feeder positions 20 is distributed circumferentially or according to a radial grid, e.g. in a plurality of radially extending rows arranged side-by-side or adjacent in a circumferential direction about the rotation axis X. Preferably, the housing 10 extends cylindrically around the array of feeder positions 20. In this example, the circumferential walls of the housing 10 are provided with a plurality of stock positions 12 for holding temporarily unused or auxiliary feeder units 40.

The dispensing device 1 is further provided with a robotic manipulator 11, e.g., which can include a robot arm, for automatic, automated or autonomous handling, positioning, removing and/or repositioning the feeder units 40 with respect to the array of feeder positions 20. The robotic manipulator 11 is provided with a gripper head to pick-and- place the feeder units 40. In this embodiment, the robotic manipulator 11 is located at the center of the array of feeder positions 20, e.g. close to, at or near the rotation axis X. In said position, all feeder positions 20 and stock positions 10 are conveniently within reach of the robotic manipulator 11.

Figure 2B show a feeder unit 40 of the plurality of feeder units 40 in more detail. The description of the feeder unit 40 hereafter is representative for all feeder units 40 of the plurality of feeder units 40.

As shown in figure 2B, each feeder unit 40 comprises a container 50 for holding an amount of the medicaments 90 with a composition 91 specific to said respective feeder unit 40. The term ‘composition’ is to be interpreted as the chemical or pharmaceutical composition of the medicament 90, e.g. the combination of active ingredients, that could include slight variations. Each feeder unit 40 typically only holds a medicaments 90 of a single composition. The container 50 has a volume that may hold several hundreds or more (or less) of the medicaments 90, depending on their size and shape.

Each feeder unit 40 further comprises an outlet 51, e.g. a fall pipe, for dispensing the medicaments 90 towards the collection section 3 and a dispensing mechanism 52 between the container 50 and the outlet 51 for controlled feeding of the medicaments 90 from the container 50 into the outlet 51. In this embodiment, the dispensing mechanism 52 comprises a wheel that acts as a revolving door to singulate and feed the medicaments 90 one by one towards the outlet 51. It will be apparent to one skilled in the art that alternative dispensing mechanisms may be provided which can singulate the medicaments 90.

Each feeder unit 40 may further be provided with one or more sensors 53, 54, e.g. a vision camera, a photosensor, a laser sensor, a level sensor, a weight sensor or the like, for verifying the type, composition and/or integrity of the medicaments 90, and for counting the amount of medicaments 90 that have been dispensed.

As best seen in figure 1, the dispensing section 2 further comprises a feeder loading member 24 with a plurality of feeder loading positions 25 for receiving new feeder units 40 into the dispensing device 1 and/or for removing feeder units 40 from the dispensing device 1. In this example, the feeder loading member 24 is formed as a drawer. Alternatively, a door or the like may be used. The dispensing section 2 may optionally comprise a manual loading position 26 for receiving a manual loading member (not shown), e.g. a medicine transport plate, that is manually loaded with medicaments 90 which are unsuitable to be dispensed automatically with the aforementioned feeder units 40.

As further shown in figure 1, the collection section 3 comprises a plurality of collection units, in particular collection hoppers 30, which are open at a side facing the dispensing section 2 to receive selectively dispensed medicaments 90 from one or more of the feeder units 40. In this example, each collection hopper 30 extends underneath a plurality of feeder units 40 at the same time to receive the medicaments 90 from any of those feeder units 40. Each collection hopper 30 tapers towards the bottom and is provided, at said bottom, with a valve (not shown) that can be operated to drop the collected medicaments 90 into the packaging section 6.

In this embodiment, the plurality of collection hoppers 30 are distributed circumferentially about the rotation axis X. More in particular, the plurality of collection hoppers 30 are held in a collection frame 32 that is movable along the collection path Zl, e.g. by rotating about said rotation axis X to move the plurality of collection hoppers 30 relative to the array of feeder positions 20 in the dispensing section 2. The rotation may be a stepped rotation, wherein each step aligns the plurality of collection hoppers 30 with a next group of feeder units 40 in the array of feeder positions 20. Each collection hopper 30 extends radially along a row of radially arranged feeder positions 20.

In normal operation, the collection frame 32 is rotated one-way in a collection direction C along the collection path Zl so that each collection hopper 30 can make a full revolution of three-hundred-and-sixty degrees, about the rotation axis X and visit all feeder positions 20 of the array of feeder positions 20, though in some embodiments the rotational movement could be more limited.

The packaging section 6 comprises a first packaging unit 61 at a first packing position or a first angular packing position Pl about the rotation axis X. Optionally, the packaging section 6 may comprise a second packaging unit 62 at a second packing position or a second angular packing position P2 to increase the packing efficiency of the dispensing device 1. The valves of the collection hoppers 30 are operated when a respective one of the collection hoppers 30 is in a position overhead or directly above a selected one of the packaging units 61, 62 to drop the collected medicaments 90 into the respective packaging unit 61, 62. Each packaging unit 61, 62 comprises a stock member for holding the packaging material, in this example a foil, a printer for printing information about the medicaments 90 on the foil, a filling member for positioning the foil to receive the medicaments 90, a seal member for forming a pouch around the received medicaments 90, a perforation member for providing the foil with perforations between subsequently formed pouches and an output member for outputting the packaged medicaments F from the dispensing device 1. The packaging unit 62, 62 may be equipped with one or more sensors to measure a state (e.g., amount left, failure, etc.) of the packaging material before and/or during the dispensing process and to provide said state to the control unit.

Alternatively, one of the packaging units 61, 62 or both may be arranged for packaging the medicaments 90 in a storage material other than a foil, e.g. in vials, bottles or cards.

The first packing position Pl and/or the second packing position P2 can be fixed relative to the rotation axis X, at least during the dispensing operation.

As shown in figure 1, the dispensing device 1 is further provided with a control unit 7 that is operationally and/or electronically connected with the robotic manipulator 11, the feeder units 40, the packaging units 61, 62 and other electronic equipment such as drives, sensors and the like, to control the operation of the dispensing device 1. The control unit 7 comprises a special purpose processor 71 and a computer- readable medium 72 holding computer-readable code or instructions that, when executed by the processor 71, cause the dispensing device 1 to operate according to the methods described in more detail hereafter. The computer-readable medium 72 is non-transitory or tangible, e.g. a physical data carrier such as a hard-drive, a USB-drive, a RAM memory or the like.

The dispensing device 1 may further be provided with a graphical user interface 8 (fig. 6A and 6B), for example a screen, to provide a human operator with information about the internal state of the dispensing, collection and packing operation.

Methods of operating the dispensing device 1 will be described hereafter with reference to a first feeder unit 41 and a second feeder unit 42 of the plurality of feeder units 40, a first collection hopper 31 of the plurality of collection hoppers 30 and the first packaging unit 61 of the two packaging units 61, 62 only. It will however be clear to one skilled in the art that the dispensing device 1 can be operated in substantially the same way for any other selection of the feeder units 40, the collection hoppers 30 and/or the packaging units 61, 62 to ensure a flexible and substantially uninterrupted or continuous dispensing, collection and packing process.

As shown in figures 2A, the first collection hopper 31 is rotatable with respect to the array of feeder positions 20 in a collection direction C about the rotation axis X between a start position or an angular start position A downstream from the first packing position Pl in the collection direction C and an end position or an angular end position B at or near, in this case, above the first packing position Pl. In other words, the first collection hopper 31 is rotatable about the rotation axis X over a collection range R that starts at the angular start position A and that ends at the angular end position B. In this example, the collection range R is five degrees short of three-hundred-and-sixty degrees, almost a full revolution.

The control unit 7 receives a set of dispensing instructions of a selection and amount of the medicaments 90 from the feeder units 40 according to a production order. After receiving the dispensing instructions, the control unit 7 determines which feeder units 40 to use, based on the current or remaining amount of medicaments 90 in said feeder units 40. The control unit 7 may be configured to store on the computer-readable medium 72 the amount of medicaments 90 in the feeder units 40 at a start time of a new production order or a restart time of an already started production order, and monitor the dispensing of said medicaments 90, e.g. with the use of a sensor 54 for counting, to calculate or predict the remaining amount of medicaments 90 in each feeder unit 40. When one of the feeder units 40 is close to being empty, the control unit 7 can be configured to control the robotic manipulator 11 to already position another feeder unit 40 with the same medicaments 90, medicaments 90 of the same type, the same brand, the same producer and/or the same composition 91 as the feeder unit 40 that is close to being empty on ‘hot standby’ to take over the dispensing from the feeder unit 40 that is getting empty as soon as it is actually empty. In other words, the medicaments 90 in the aforementioned pair of feeder units 40 has the same active ingredient(s) and/or is pharmaceutically similar or identical. The other feeder unit 40 may come from one of the stock positions 12 within the dispensing section 2. Alternatively, the control unit 7 may notify the human operator and/or an external system to present a new feeder unit 40 to the dispensing device 1 at the feeder loading member 24. Examples of external systems include one or more of (re)fill station/system, a stock management and/or inventory system, a storage system, a transport system, or any other systems which would store medicaments/feeder units and/or (re)fill and/or transfer feeder units to the dispensing device, depicted schematically by box 75 in Fig. 1. In an embodiment depicted in Fig. 2A, the control unit 7 may notify refill station 75 and conveyor 76 to fill and transport the feeder unit 40 to be delivered to feeder loading member 24.

While the first and second feeder units 41, 42 would typically have the same type of medicaments 90, in some embodiments, the medicaments 90 may not be exactly identical but could act as replacements for each other, e.g., when no identical medicament 90 is available, however typically only upon approval by the human operator.

Figures 2A-2C, 3A-3C, 4A-4C and 5A-5C show the process of the first feeder unit 41 becoming empty and positioning a second feeder unit 42 on ‘hot standby’.

In particular, figure 2 A shows the situation in which the first feeder unit 41, as shown in figure 2B, is in a prior feeder position 23 of the array feeder positions 20. As shown in figure 2B, the first feeder unit 41 is actively dispensing. The prior feeder position 23 is ‘prior’ in the sense that the first feeder unit 41 was positioned there during a previous cycle of the method, when it was still full or relatively full with medicaments 90 of a first composition 91. Now, the first feeder unit 41 is becoming empty, for example there is less than fifty percent of the original amount left, and in some embodiments less than thirty percent of the original amount. In this example, the prior feeder position 23 is in the second half of the collection range R, considered in collection direction C from the start position A. The method according to the present invention is aimed at placing feeder units 40 that are become empty upstream in the collection range R relative to the collection direction C, e.g. in the first half of said collection range R, considered in the collection direction C from the start position A. As shown in figure 4A, the first feeder unit 41 is moved towards a first feeder position 21 of the array of feeder positions 20 in the first half of the collection range R, upstream of the prior feeder position 23 of figure 2A.

Before moving the first feeder unit 41 from the prior feeder position 23 towards the first feeder position 21, the second feeder unit 42 can already be present in the dispensing device 1 at one of the feeder loading positions 25 in the feeder loading member 24, ready for insertion into the dispensing device 1 and pick-up by the robotic manipulator 11, as shown in figure 2 A. Alternatively, the second feeder unit 42 may be one of the feeder units 40 that is already in the collection section 2, e.g. in one of the stock positions 12, as shown in figure 1. The second feeder unit 42 is typically filled with medicaments 90 of the same first composition 91 as the first feeder unit 41.

Figure 3 A shows the second feeder unit 42 after it has been picked up by the robotic manipulator 11 from the feeder loading position 25 and positioned in the feeder position 22 of the array of feeder positions 20. In this example, the second feeder position 22 is downstream from the prior feeder position 23 in the collection direction C, although - at this stage - this is not strictly necessary. Alternatively, the prior feeder position 23 may be downstream from the second feeder position 22 in the collection direction C. As shown in figure 3C, the second feeder unit 42 can temporarily take over dispensing from the first feeder unit 41, if needed, during the relocation of said first feeder unit 41 between figures 2 A and 4 A, to ensure continuity of the dispensing of the medicaments 90 of the first composition 91.

Figure 4A shows the situation in which the first feeder unit 41 has been removed from the prior feeder position 23 by the robotic manipulator 11 and has been positioned in the first feeder position 21. The first feeder unit 41 can now resume dispensing, as shown in figure 4B, until the medicaments 90 of the first composition 91 run out or the first feeder unit 41 is no longer able to dispense the remaining medicaments 90. The second feeder unit 42, as shown in figure 4C, is now on ‘hot standby’ to take over dispensing from the first feeder unit 41 if the first feeder unit 41 fails to dispense the medicaments 90.

Figure 5 A shows the situation in which the first feeder unit 41, as shown in figure 5B, is empty or has failed to dispense the medicaments 90. Consequently, the first collection hopper 31 has failed to collect the required medicaments 90 of the first composition 91 from the first feeder unit 41. The first collection hopper 31 does not have to wait for the first feeder unit 41 to be replaced. Instead, the first collection hopper 31 can be moved or rotated further in the collection direction C along the collection path Z1 until it is underneath or directly underneath the second feeder unit 42 in the second feeder position 22. In the meantime, the controller 7 has adapted its dispensing strategy taking into account the failure to dispense the medicaments 90 of the first composition 91 from the first feeder unit 41 and assigns the second feeder unit 42, as shown in figure 5C, to take over the dispensing from said first feeder unit 41. In other words, the second feeder unit 42 can dispense the missing medicaments 90 of the first composition 91. The first feeder position 21 and the second feeder position 22 are typically spaced apart in the collection direction over a spacing angle H of at least five degrees, preferably at least ten degrees or at least one radial row of the array of feeder positions 20, to allow for sufficient time for the control unit 7 and/or the human operator to adjust the dispensing strategy, e.g. within the normal time it would take the first collection hopper 31 to travel, without interruption, from the first feeder position 21 to the second feeder position 22.

The empty first feeder unit 41 can be picked up by the robotic manipulator 11 and moved to one of the feeder loading positions 25 at the feeder loading member 24 to remove or unload said empty first feeder unit 41 from the dispensing device 1. Optionally, a refill strategy can be determined, communicated and/or executed, an example of which will be discussed in detail in relation to Fig. 7.

Figure 6A shows the graphical user interface 8 of the aforementioned dispensing device 1 in more detail. The graphical user interface 8 is generated by the control unit 7 as shown in figure 1. As shown in figure 6 A, the graphical user interface 8 presents the human operator with an optional timeline 80 and one or more notifications 81, in the form of a task list 85, regarding depletion times 82 of one or more feeder units 40 or other resources as later described in relation to figure 6B. The notifications 81 may be provided on the timeline 80 and/or separately from said timeline 80. The timeline 80 has a time axis t from left (current time) to right (future). The depletion times 82 are predicted or calculated by the control unit 7. The depletion times 82 of the feeder units 40 may be predicted or calculated based on recorded amounts of the medicaments 90 in the containers 50 of the respective feeder units 40 at a (re)start time and a count of the medicaments 90 dispensed from the outlets 51 of the respective feeder units 40 since said (re)start time, e.g. based on the count sensor 54 shown in figure 2B. The depletion times 82 of the feeder units 40, and other dispensing resources can be predicted, once or multiple times, during the dispensing process based on sensor data from the sensors 53, 54, as shown in figure 2B, indicative of the actual amount of medicaments 90 remaining in the containers 50 of the respective feeder units 40, e.g. based on data from a vision camera, level sensors and/or a weight sensor. In this manner two depletion times may be predicted: initial depletion times may be predicted or calculated at a (re)start time of the production order, and updated depletion times may be continuously or intermittently predicted during the dispensing process to capture any changes that may have occurred in the production order and/or the feeder units 40. In certain embodiments, the terms 'initial depletion time' and 'updated depletion time' may be collectively referred to as 'depletion time' herein, when there is no significant difference or contextual need to distinguish between these terms. The use of the term 'depletion time' without specific qualification shall encompass both the initial depletion time and any subsequently updated depletion time.

Each notification 81 is provided in the task list 85 ahead of the predicted depletion time 82 together with a due time 83 for supplementing the medicaments 90 that will be missing at the respective depletion time 82. The due time 83 may be continuously or intermittently provided and/or updated (e.g. dynamically) if the updated depletion time 82 has changed during the dispensing process (i.e., it is different than the initial depletion time). The notification 81 may simply indicate how much more of the medicaments 90 of a specific composition 91 are required, or it may provide instructions indicating or requesting a specific feeder unit 40 holding medicaments 90 of the same composition 91 to replace or supplement the feeder unit 40 that is almost empty, as shown in figure 6A.

In some embodiments, the depletion/due times can be sent to one or more external systems, for example, an inventory management and/or storage system or a refill station, depicted schematically by box 75 in Fig. 1. This information can alert the other system(s) that certain types of medicaments will run out, and when a replacement feeder unit with that medicament is needed (e.g., the due time). In some embodiments, this could include a refill strategy for refilling the depleted feeder unit in accordance with method 700 of Fig. 7. The other system(s) could then prepare the replacement feeder unit (e.g., automatically or by providing instructions to an operator), and have it ready to either be retrieved for the dispensing device 1 or could deliver it to the dispensing device 1 directly, which could include the use of conveyors and/or robots. Such preparation and/or delivery could be done manually after an operator receives the information, or the system(s) could perform parts or all of the refill and deliver operation automatically. In some cases, this may involve consulting an inventory of already filled feeder units and simply providing the operator and/or system instructions of where to retrieve the needed (filled) feeder unit and when it should be presented to the dispensing device 1. In the meantime, the dispensing of the medicaments 90 from the feeder unit 40 is continued at least until the due time 83. Hence, the dispensing operation can remain uninterrupted. Communicating to external systems can allow external systems to be more accurate in meeting due times, and therefore avoiding needing to delay, interrupt or stop a production job for replenishment. Because the dispensing device may change a dispensing sequence in the production order; for example, to start dispensing another medicament composition that does not require manual plate filling while the feeder unit is in the process of being manually filled; it is a challenge for external systems to accurately predict when feeder units of certain medicaments will be depleted, and when a supplementing feeder unit is needed. Thus, by determining when medicaments will run out (i.e., depletion time, whether determined once or dynamically updated with changes) and determining when a replacement feeder unit is needed (i.e., due time); and then communicating this information to external systems, the overall system can run more efficiently with fewer interruptions or delays, e.g., while waiting to replace depleted feeder units and/or delivering replacement feeder units too early. This can ensure there is always a replacement feeder unit ready when needed.

The due time 83 is preferably chosen to be ahead of the depletion time 82 with some safety margin, e.g., at least one minute, at least three minutes or at least five minutes, to allow the human operator to retrieve and/or prepare the required feeder unit 40; or the other system(s) to prepare and/or deliver the required feeder unit 40. The human operator may choose to combine retrieving one or more required feeder units 40 at the same time. Alternatively, the due time 83 may be set to be equal to the depletion time 82, thus requiring a more timely or strict approach by the human operator. In some embodiments, the due time 83 could even be after the depletion time 82 if additional feeder units with the same type of medication are already in the dispensing device 1 and/or the medicaments are only needed later in the production order.

The one or more required feeder units 40 can be picked-up and placed by the robotic manipulator 11 in respective feeder positions 20 before the respective depletion times 82, thus preventing downtime of the dispensing device 1. The process may for example be similar to the method described earlier in relation to the first feeder unit 41 and the second feeder unit 42. Alternatively, the second feeder unit 42 may replace the first feeder unit 41 in a single feeder position 20 as soon as the first feeder unit 41 has been depleted or the medicaments 90 contained therein are past their expiry date (either already past their expiry date or would have an administration date which is past the expiry date). The notification of depletion time can, in some embodiments, also include determining a refill strategy for the feeder unit based on the medicaments inside the feeder unit. The refill strategy can be communicated to the human operator, for example as part of the task list 85 in the graphical user interface 8 shown in Fig. 6A and 6B (e.g., buttons R 84 related to refill strategy which take you to a page notifying of the refill strategy based on the determination of refill strategy detailed in relation to Fig. 7). In some embodiments, the refill strategy could also or only be communicated to external systems/stations, such as an inventory management or refill station where the feeder unit will be refilled, either automatically or manually. In some embodiments, the button related to refill could automatically indicate what refill strategy is needed, for example, indicated by the color of the button.

The determination of a refill strategy can be seen in the schematic flowchart of Fig. 7. As can be seen, the refill strategy can be based on having a plurality of refill categories such as high volume medicament (box 704), medium volume medicament (box 706), low volume medicament (box 708), and short allowable open air time medicament (709), though these are example categories and more could be included. By first categorizing based on the medicament in the feeder unit, an efficient refill strategy can be determined, communicated and/or executed.

As shown in Fig. 7, the refill strategy for a high volume medicament includes refilling the feeder unit immediately (710) and returning to the dispensing device as soon as it is refilled (712). This is for very high volume medications of which the dispensing device dispenses many in a production order. Thus, an immediate refill and return of the feeder unit with the medicament ensures that there is always high volume medicaments available, preventing the need to pause a job waiting for such medicaments.

If a medicament is determined to be medium volume, the refill strategy includes refilling the feeder unit with the medicament (714) (though the refill may not be done as urgently as with the high volume medicaments). However, with medium volume medicaments, the feeder unit is not immediately returned to the dispensing device and instead is placed in a holding or storage location (716). Such a holding or storage location can be, for example, a storage room, a holding location at or near the refill station or the dispensing device or a location in a network of devices or robots for transferring the feeder units (e.g., on a pallet which moves from a refill station to the dispensing device). This ensures that the refilled feeder unit is ready for when needed, but does not take a valuable space around the dispensing device when it may not be needed for a while.

If a medicament is determined to be low volume, the refill strategy includes a notification not to refill the feeder unit (718), and return to a storage location (720). Such a low volume medicament may not be needed for a long while, and therefore available space for refilled (ready to be used) feeder units can be saved for those of high volume and medium volume medicaments while the refilling of the low volume medicament feeder unit can be delayed until closer to the needed (e.g., due time). This strategy can also include an optional notification at a later time to refill the feeder unit with the low volume medicaments (722), for example, when the due time is approaching, and return to the dispensing unit (724).

A further category is for medicaments with short allowable open air times (709). Open air time is the time from when the medicaments are removed from their original packaging and when they are resealed into a pouch (or other holder) by the dispensing device. Allowable open air time is typically either based on past testing to determine when the medicaments start to degrade or on policies/regulations for untested medicaments. If a medicament has not been tested for allowable open air time, the allowable open air time is typically set to be quite short, for example, 24 or 48 hours. Thus, when the method determines that a medicament falls into the category of short allowable open air time, a feeder unit refill time is determined based on the medicament need time (e.g., due time) and the allowable open air time (728). Then, a notification is sent at or shortly in advance of the feeder unit refill time to proceed with refilling the feeder unit with medicaments (730), and immediately return to the dispensing device (732). The feeder unit refill time is typically in the future (though not always if the medicaments are medium or high volume) so that the short open air time is not wasted on a refilled feeder unit sitting in a storage or holding location, or even in the dispensing unit long before it is needed to be dispensed. Thus, the short allowable open air time medicaments are only refilled when they are coming close to being needed in the production job, helping to minimize the risk that the allowable open air time runs out before the medicaments are dispensed by the dispensing device.

Determining the refill strategy based on a plurality of refill categories, such as those shown in Fig. 7 allow for a more efficient overall process, ensuring that feeder units with the proper medicaments are available when needed, but not too far in advance to not take up valuable space in or around the dispensing device (or other refill/ storage area). Such a strategy can also be especially useful when there are multiple dispensing devices and the refilled feeder units could be used with (and directed to be fed to) a different dispensing device that has a need for the particular medicaments sooner than the device from which the feeder unit came. Additionally, this can be useful in configurations which have different systems working together, for example, a refill station separate from the dispensing device. The dispensing device is then able to inform the refill station not only that a medicament will run out soon, but of a refill strategy directed toward the most efficient strategy for refilling and replacing the feeder unit which will be depleted. This allows the external system to be more accurate in providing replacement or replenished feeder units.

In some embodiments, as exemplified in figure 6B, the notifications 81 in the task list may be enhanced by providing filling instructions 86 to re-fill specific feeder units 40, and retrieving instructions 87 related to where or when an already filled feeder unit 40 and/or a medicine transport plate can be retrieved. In some embodiments, these instructions maybe generated based on the refill strategy. The instructions are preferably provided ahead of the depletion time, and taking into account unforeseen events as described before (e.g., defect or failure, change of production order, etc.) and the depletion time of other feeder units, packaging material, and/or other resources used by the dispensing device during production. The control unit 7, for example, may predict that the amount of work required for the human operator and/or external systems will increase at some point during production. Consequently, the control unit can add or re-prioritize tasks from the task list, directing the preparation or retrieval of specific resources before they are actually needed. For instance, the task list may include notifications and/or instructions for the timely retrieval of a new roll of packaging foil before it needs to be replaced, or in the case of a feeder unit failure, the task list would be re-prioritized and promptly notify that a new feeder unit needed to be prepared and transported to the area where it is needed.

Providing and dynamically updating the task list of figure 6B provides several advantages to the human operator and/or external devices. Firstly, the task list eases the burden on the human operator by eliminating the need for manual planning or prioritizing of tasks to meet all due times (which also may be subject to dynamic adjustment), and ensures that their workload remains reasonably constant even though multiple resources may be needed within a short period. Secondly, the enhanced task list 85 takes into account the reaction time of the human operator and/or external systems responsible for supplementing resources. By predicting the increased workload and the timing for resource supplementation, the task list 85 ensures that the human operator and/or external systems receive timely instructions to prepare and deliver the necessary resources even as orders and requirements may change, e.g., due to re-prioritization and/or available resources. This enables seamless integration between the dispensing device and the external systems, avoiding delays and minimizing or preventing any potential interruptions in the production process due to resource shortages, even as priorities and/or job orders change. In this manner, the human operator and/extemal systems not only receive notifications on the depletion/due time but also proactive tasks or actions that minimize the risk of production delays or interruptions.

In some embodiments, the task list 85 provides instructions to the human operator to control one or more of the external systems. For example, the task list 85 may include the instruction for the human operator to initiate (re)filling of one or more feeder units by the refill station with medicaments of a specific composition or to transport specific feeder units with the conveyor 76, or the instruction to unlock a door of a storage system to retrieve stored medicaments. In this manner, the task list enables the human operator to control one or more external systems dynamically and properly according to the demands of resources.

In some embodiments, the instructions of the task list 85 are adapted as operating instructions to be directly provided to one or more of the external systems. Thus, the control unit 71 directly communicates with the other system(s) through the task list. In this manner the one or more external systems can take action before certain types of medicaments run out, and replace a feeder unit (or other resource) on time (e.g., before or at the due time). The implementation of the task list as operating instructions advantageously enables external systems to respond proactively when production is going as predicted and promptly when unforeseen events occur. As mentioned before, unforeseen events could include critical situations such as the failure in a part of the dispensing device or changes in the production order. By providing the task list to the external systems, the control unit establishes a dynamic and proactive communication with them, enabling automatic coordination and resource allocation, reducing the risk of production disruptions, and enhancing overall productivity. Figures 8A, 8B and 8C are related to a method for dispensing the medicaments 90 with the use of the aforementioned dispensing device 1, including steps for changing the sequence in which a sets of dispensing instructions Gl, G2, G3 are executed by the processor 71 of the control unit 7, as shown in figure 1.

In particular, figure 8A shows a first set of dispensing instructions Gl requiring forty-five times a medicament 90 of a composition A, fifty times a medicament 90 of composition B, ten times a medicament 90 of composition C and fifteen times a medicament 90 of composition D. Similarly, a second set of dispensing instructions G2 and a third set of dispensing instructions G3 are provided which require a different amount of medicaments 90 of similar compositions C, D or different compositions E, F. It is originally intended that the processor 71 executes the sets of dispensing instructions Gl, G2, G3 in the sequence as shown, from left (current time) to right (future) along a time axis t.

Figure 8B shows a diagram of the steps of a method, to be performed by the processor 71, for determining an alternative sequence for executing the sets of dispensing instructions Gl, G2, G3 when the first set of dispensing instructions Gl cannot be completed with the medicaments 90 remaining in the plurality of feeder units 40.

In particular, the method comprises the steps of receiving the sets of dispensing instructions Gl, G2, G3 (step SI) and prior to executing the first set of dispensing instructions Gl, having the control unit 7 determine if the plurality of feeder units 40 contain sufficient readily available medicaments 90 to complete the dispensing of the first selection and the first amount of medicaments 90 in accordance with the first set of dispensing instructions Gl (step S2). The medicaments 90 are ‘readily available’ if there sufficient medicaments 90 left in the plurality of feeder units 40 which are cleared to be dispensed. Said clearance may be revoked when the medicaments 90, at the time of dispensing or administration, would be beyond the expiry date registered in the system. In the affirmative, the control unit 7 may proceed to execute the first set of dispensing instructions (step S3) and repeat the determination for each subsequent set of dispensing instructions (step S4).

However, if the plurality of feeder units 40 contain insufficient readily available medicaments 90 to complete the dispensing of the first selection and the first amount of medicaments 90 in accordance with the first set of dispensing instructions Gl, the control unit 7 switches to executing one or more sets of the one or more further sets of dispensing instructions G2, G3 (step S6), optionally preceded by a determination if the feeder units 40 contain sufficient readily available medicaments 90 to complete the dispensing of the selection and amount of medicaments 90 associated with each subsequent further set of dispensing instructions G2, G3 (step S5). Hence, the sequence in which the sets of dispensing instructions Gl, G2, G3 are executed can be changed, as shown in figure 8C. The feeder units may end up with insufficient readily available medicaments due to a normal dispensing process in which feeder units will naturally need to be supplemented, and also unpredictable situations in which the feeder units are unable to dispense any remaining medicaments (e.g., failure or errors). It is also possible that the plurality of feeder units 40 containing insufficient readily available medicaments 90 were previously not replaced or supplemented on time by the human operator or external systems due to other reasons (e.g., high workload, failure in other systems). For instance, the human operator did not meet the due time of the second feeder unit.

During the executing of the one or more further sets of dispensing instructions G2, G3, an action can be taken to ensure that the plurality of feeder units 40 contain sufficient readily available medicaments 90 to complete the dispensing of the first selection and the first amount of medicaments 90 in accordance with the first set of dispensing instructions Gl . The human operator or an external system may be notified again with an updated due time to replace or supplement the affected feeder units 40, for example in accordance with the method as shown in figures 2A-2C, 3A-3C, 4A-4C and 5A-5C. Alternatively, the control unit 7 may proceed to execute the one or more further sets of dispensing instructions G2, G3 in another sequence order. For instance, the set of dispensing instructions G3 may be executed before the set G2, such that the human operator or an external system has more time to present or refill the feeder unit(s) with medicaments of composition C.

As shown in figures 8A and 8C, the first set of dispensing instructions Gl and the one or more further sets of dispensing instructions G2, G3 preferably share a logistical parameter L that link the first set of dispensing instructions Gl and the one or more further sets of dispensing instructions G2, G3 to a common batch. The control unit 7 is restricted to changing the sequence of the sets of dispensing instructions G1-G3 within the common batch only. The logistical parameter L may be a delivery address, a patient order, a client name or the like. In the event that there are insufficient readily available medicaments 90 to complete dispensing according to any one of the sets of dispensing instructions Gl, G2, G3, the control unit 7 will return to the determination of step S2 and wait for the medicaments 90 to be supplemented. Alternatively, the control unit 7 may shift to another common batch (L) in order to continue the production.

In embodiments implementing a task list 85, the instructions in the task list may be adjusted according to the sequence of the sets of dispensing instructions Gl, G2, G3. For example, when the first set of dispensing instructions Gl cannot be completed with the medicaments 90 remaining in the plurality of feeder units 40, the task list reprioritizes the tasks related to the feeder units used for the one or more further sets of dispensing instructions G2, G3. For example, if the sequence has been changed as illustrated in figure 8C because the plurality of feeder units 40 have insufficient medicaments of composition A and B, the task list 85 may provide instructions to the human operator and/or external systems to first supplement feeder units containing medicaments of composition A, which are used in the third set of dispensing instructions G3.

Figures 9 A and 9B show a diagram of method for dispensing of the medicaments 90 from one of the feeder units 40, including steps for empty detection of said feeder units 40.

As shown in figure 9A, the method may be initiated when no dispense is detected at one of the feeder units 40, e.g. when no medicament 90 is fed from the container 50 towards the outlet 51 and/or detected at said outlet 51 when the dispensing mechanism 52 is operated (step SI 01). The processor 71 of the control unit 7, as shown in figure 1, starts a mode selection program (SI 02). The program involves a determination of a remaining value indicative of the amount of the medicaments 90 remaining in the container 50 of the feeder unit 40 that has experienced the dispensing failure (step SI 03).

The remaining value can be determined in a similar way to the determination of the depletion time 82 in figure 6, e.g. by a prediction and/or calculation based on a count since a start time or by detecting the actual amount with the one or more sensors 53, 54 at the feeder unit 40, as shown in figure 2A.

As further shown in figure 9 A, the processor 71 compares the remaining value with a threshold value (step SI 04). The threshold value can be predetermined. The threshold value may be the same for every feeder unit 40, or it may be specific to each feeder unit 40. The threshold value may be expressed as a percentage of the volume of the container 50, a level within said container 50 or as an amount of the medicaments 90. The threshold value may for example be fifty percent of the original amount of the medicaments 90.

When the remaining value is greater than or above the threshold value, the processor 71 will select and/or start a complete empty detection mode Ml (step S105). The complete empty detection mode Ml includes performing a first action a first number of times or instances (step SI 06). The first action may for example be repeatedly controlling the dispensing mechanism 52. The first action may for example be performed ten times.

After each instance of the first action, or at the end of performing the first action for the given number of times or instances, a check is performed if a dispense is or has been detected (step SI 07). In the affirmative, normal dispensing may be continued or resumed (step S108). When still no dispense is detected, the complete empty detection mode Ml may further include the step of performing a second action a number of times or instances (S109). The second action may for example be a different way of dispensing, reversing the dispensing mechanism 52 or shaking of the feeder unit 40 with the use of the robotic manipulator 11.

Again, after each instance of the second action or at the end of performing the second action for the given number of times or instances, a check is performed if a dispense is or has been detected (step SI 10). Alternatively, depending on the type of the second action, the complete detection mode Ml may first include a repeat of steps SI 06 and S107, for example when the second action in itself is not a dispensing action (e.g. the shaking with the robotic manipulator).

When a dispense is detected after performing the second action, and optionally repeating the first action, the dispensing may be continued or resumed (step Si l l or SI 08). When still no dispense is detected, it is assumed that the feeder unit 40 is empty (step SI 12) and appropriate action may be taken to supplement or replace the feeder unit 40, e.g. in accordance with any of the aforementioned methods.

From start (step S105) to the determination that the feeder unit 40 is empty (step SI 12), the complete empty detection mode Ml may take a relatively long time, represented by a first duration DI in figure 8 A. The first duration DI may be more than fifteen seconds, more than twenty seconds or even more than thirty seconds. During this time, the first collection hopper 31 has to remain stationary below the feeder unit 40 that is being tested, to catch any medicaments 90 that are successfully dispensed during the complete empty detection mode Ml. Hence, the complete empty detection mode Ml of a single feeder unit 40 is creating downtime in the dispensing operation of the entire dispensing device 1.

Hence, the processor 71 is configured or programmed to switch to or select a shortened empty detection mode M2 when the remaining value, as determined in step S103, is less than or below the threshold value (step S201).

The shortened empty detection mode M2 is shown in more detail in figure 9B. After selecting the shortened empty detection mode M2 (step S201), the processor 71 starts said shortened empty detection mode M2 (step S202).

The shortened empty detection mode M2 involves either performing the first action and the second action of the complete empty detection mode Ml for a second number of times or instances, less than the number of times or instances set for those actions in the complete empty detection mode Ml, or performing only one of the first action or the second action for the same number of times or instances or a lesser number of times or instances (step S203). Step S203 may for example only involve operating the dispensing mechanism 52 of the affected feeder unit 40 for half the number of times or instances compared to step S106 in the complete empty detection mode Ml. Also, the second action may be left out completely from the shortened empty detection mode M2 to save valuable time.

After each action in step S203, or after completing the action(s) of step S203 for the given number of times or instances, a check is performed to see if a medicament 90 is or has been dispensed (step S204). In the affirmative, the normal dispensing can be resumed or continued (step S205). If still no dispense is detected, it is assumed that the feeder unit 40 is empty (step S206) and appropriate action, similar to end of the complete empty detection mode, may be taken.

From start (step S202) to the determination that the feeder unit 40 is empty (step S206), the shortened empty detection mode M2 takes a relatively short time, represented by a second duration D2 in figure 8B. The second duration D2 may for example be less than half of the first duration DI, and preferably less than a quarter of the first duration DI. Figures 10A-10C show an alternative dispensing device 101 according to a second embodiment of the invention, which differs from the aforementioned dispensing device 1 in that the collection section 102 comprises an array of feeder positions 120 which are distributed along an alternative, non-circular collection path Z2. The collection path Z2 is endless, similar to the circular collection path Z1 of the first embodiment of the invention. The alternative collection path Z2 may comprises one or more circular and non-circular segments. In this example, the alternative collection path Z2 comprises two straight or linear segments and two semi-circular segments connecting the two straight or linear segments to endlessly connect the segments.

Similarly, the collection section 103 comprises a plurality of collection hoppers 31 configured to travel along the alternative collection path Z2 in the collection direction C between a start position A and an end position B, thereby visiting each feeder position 120 of the plurality of feeder positions 120 and collecting the required medicaments 90 from the feeder units 40 held in said plurality of feeder positions 120. The plurality of collection hoppers 31 may for example be arranged on an endless drive belt, chain 132 or the like driving the plurality of hoppers 31 in the collection direction C along the alternative collection path Z2.

The alternative dispensing device 101 further includes a packaging section 106 having a first packaging unit 61 positioned in a first packaging position Pl along the alternative collection path Z2.

Figure 10A shows the first feeder unit 41 (see Fig. 10B) in a first feeder position 121 and the second feeder unit 42 (see Fig. 10C) in a second feeder position 122 downstream from the first feeder position 121 in the collection direction C, in the same way as the relative positioning of the feeder units 41 , 42 in the previously discussed embodiment.

A robotic manipulator 11 similar to the one shown in the previously discussed embodiment may be arranged at a center position within the alternative collection path Z2.

It will be clear that the dispensing operation and methods described in relation to the dispensing device 1 according to the first embodiment of the invention can be applied, mutatis mutandis, to the alternative dispensing device 101 according to the second embodiment of the invention. While the description refers to medicaments, tablets, etc., the devices and methods could be used for dispensing other types of solid discrete items for separation and packaging.

It is to be understood that the above description is included to illustrate the operation of the embodiments and is not meant to limit the scope of the invention. From the above discussion, many variations will be apparent to one skilled in the art that would yet be encompassed by the spirit and scope of the present invention.

LIST OF REFERENCE NUMERALS

1 dispensing device

10 housing

11 robotic manipulator

12 stock position

2 dispensing section

20 array of feeder positions

21 first feeder position

22 second feeder position

23 prior feeder position

24 feeder loading member

25 feeder loading position

26 manual loading position

3 collection section

30 plurality of collection hoppers

31 first collection hopper

32 collection frame

40 plurality of feeder units

41 first feeder unit

42 second feeder unit

50 container

51 outlet

52 dispensing mechanism

53 verification sensor

54 count sensor

6 packaging section

61 first packaging unit

62 second packaging unit

7 control unit

71 processor

72 computer-readable medium 75 other system

76 conveyor

8 graphical user interface

80 timeline

81 notification

82 depletion time

83 due time

84 refill strategy button

85 task list

86 filling instruction

87 retrieving instruction

90 medicaments

91 medicaments of a first composition

101 alternative dispensing device

102 dispensing section

120 array of feeder positions

121 first feeder position

122 second feeder position

103 collection section

132 drive chain

106 packaging section

A start position

B end position

C collection direction

DI first duration

D2 second duration

F packaged medicaments

G1 first set of dispensing instructions

G2 second set of dispensing instructions

G3 third set of dispensing instructions

H spacing angle L logistical parameter

Ml complete empty detection mode

M2 shortened empty detection mode

Pl first packing position

P2 first packing position

R collection range

S 1 -S6 steps of a prioritization method

S101-S112 steps of a method for empty detection

S201 -S206 further steps of the method for empty detection t time

X rotation axis

Z1 endless collection path

Z2 alternative endless collection path