Connected medication dispenser
Apparatus and associated software and methods for improving medication adherence. A connected medication dispenser includes a robotic arm adapted to deliver a prescribed medication dose to a patient in their home, and software and sensors that analyze the patient's compliance, communicate with external health sensors to monitor the patient's response to the dose, and communicate with external servers to send the result of providing the medication dose to the patient. In an illustrative example, the patient may be a chronic, acute, or terminal illness patient, and the results may be communicated with physicians, payers, caregivers, a pharmacy, and/or the patient's electronic health record. The flow of information may allow the physician or caregiver to offer real-time adjustments to the medication type, dose, and schedule to provide improved therapeutic outcomes.
1 . A system for dispensing medicine to a patient, the system comprising:
a medicine dispenser having an outer housing comprising:
a processor,
a memory operably coupled with the processor, wherein the memory encodes processor executable program instructions and data to program and configure the processor to control the medicine dispenser,
a network interface configured to provide wired or wireless communication between the processor and a data network,
a carousel supported horizontally on a central shaft that includes a carousel motor to provide 360-degree rotation of the carousel in either direction,
a plurality of bins supported in respective openings in the carousel, wherein the plurality of bins comprise object bins and a dispense bin, wherein the dispense bin comprises a spring mounted door having a follower tab,
a fixed cam located above the carousel at a delivery position, wherein, upon rotation of the carousel to position the dispense bin at the delivery position, the follower tab on the dispense bin interferes with the fixed cam to force the spring mounted door on the dispense bin to open so that medications contained therein may fall into a dispensing chute,
a robotic arm having a suction gripper, wherein the robotic arm is configured to move vertically to extend and retract the suction gripper into one of the object bins to grip a medication via the suction gripper, wherein the carousel is configured to rotate to position the dispense bin below the robotic arm so that the medication can be released from the suction gripper into the dispense bin; and
a software program product configured to communicate via the data network with one or more of a pharmacy server of a pharmacy, a physician server of a prescribing physician of the patient, a caregiver device, patient selected third parties, and a user device of the patient,
wherein the software program product is configured to:
control the medicine dispenser with at least one of the pharmacy server and the physician server to deliver a dose to the patient based on a prescription data,
wherein the dose is delivered upon authentication of an authorized user, wherein the authorized user is selected from the patient or an authorized caregiver.
2 . The system of claim 1 , wherein the medicine dispenser comprises a weighing station positioned below the carousel and configured to weight each of the object bins, wherein the weighing station comprises:
a linear actuator configured for vertical movement, and
a load cell position on a top portion of the linear actuator and communicatively coupled to the processor and the memory,
wherein the weighing station weights each of the object bins by (i) moving the load cell to a position under the object bin by vertical upward movement of the linear actuator so that a full weight of the object bin rests on the load cell, wherein the load cell registers the full weight of the object bin and communicates the full weight of the object bin to the processor, and (ii) moving the load cell to a position beneath the carousel and separated from the object bin by vertical movement downward of the linear actuator.
3 . The system of claim 2 , wherein the weighting station includes a bin platform attached to a top of the load cell, wherein the bin platform is sized and shaped to stably receive the object bin thereon when the linear actuator moves vertically upward to the position under the object bin and lifts the object bin so that at least a top rim of the object bin is separated from and positioned above a bin support frame of the carousel.
4 . The system of claim 3 , wherein the object bins include a recess on opposing sides below a top opening thereof, wherein the recesses are engageable with respective axially extending arms of the bin support frame and are configured to allow vertical movement of the object bin when lifted on the bin support frame without removal of the object bin from the bin support frame.
5 . The system of claim 2 , wherein the medicine dispenser is configured to weigh each of the object bins (i) before loading to provide a tare weight of the object bin, (ii) after loading with medications to provide a total bin starting weight and calculated average medication weight, and (iii) after gripping the medication to provide verification of a successful pick and an updated bin weight, wherein each of the tare weight, total bin starting weight, calculated average medication weight, and updated bin weight are stored to the memory.
6 . The system of claim 5 , wherein, if the updated bin weight of the object bin changes by less than 70% or by more than 130% of the calculated average medication weight from a previously registered weight of the object bin, the medicine dispenser registers a failed pick attempt and is configured to repeat the attempt to grip the medication.
7 . The system of claim 6 , wherein, after one or more failed pick attempts, the robotic arm moves vertically upward and the carousel shakes to rearrange the medications in the object bins, and the robotic arm repeats the attempt to grip the medication.
8 . The system of claim 6 , wherein, after one or more failed pick attempts, the rack and pinion arrangement of the robotic arm moves the spring mounted probe horizontally within the object bin and the robotic arm repeats the attempt to grip the medication.
9 . The system of claim 2 , wherein the robotic arm is positioned above the carousel and vertically coincident with the weighting station positioned below the carousel.
10 . The system of claim 1 , wherein the fixed cam is attached to a distal end of an arm extending radially from the central shaft of the carousel.
11 . The system of claim 1 , wherein, when the dose comprises a plurality of medications, the carousel does not rotate to place the dispense bin at the delivery position until the dispense bin contains the plurality of medications.
12 . The system of claim 1 , wherein the carousel rotates bi-directionally to position a selected object bin containing a medication to be gripped at a start position below the robotic arm, and when the dose comprises a plurality of medications, the carousel does not rotate to place the dispense bin at the delivery position until the dispense bin contains the plurality of medications.
13 . The system of claim 1 , comprising a medication collecting cup positioned below the dispensing chute, wherein the medication collecting cup is positioned on a limit switch to indicate presence or absence of the medication collecting cup, and wherein the carousel will not rotate to position the dispense bin at the delivery location unless the medication collecting cup is present.
14 . The system of claim 1 , wherein the medicine dispenser comprises an absolute encoder configured to measure a degree of rotation of the carousel to ensure positional accuracy of the carousel when rotated to position one of the plurality of bins at a start position below the robotic arm.
15 . The system of claim 1 , wherein the outer housing of the medicine dispenser is conical and includes an angled top surface comprising a display screen, wherein the angle of the top surface is 10°-45° relative to a horizontal plane of a floor surface.
16 . The system of claim 1 , wherein the robotic arm comprises:
a central beam positioned adjacent an outer edge of the carousel,
a spring mounted probe attached to the central beam via a rack and pinion arrangement, wherein the rack and pinion arrangement provides transverse movement of the flexible probe, wherein a top portion of the flexible probe is attached to the rack and pinion arrangement, and
an actuator positioned at a base of the central beam and configured to move the rack and pinion arrangement vertically along the central beam,
wherein the suction gripper is attached to a bottom end of the spring mounted probe.
17 . The system of claim 16 , wherein the suction gripper of the robotic arm is a vacuum suction gripper including a tube-shaped rubber skirt, and wherein the spring mounted probe comprises a spring configured to allow flexible motion of the suction gripper and tube-shaped rubber skirt in the x, y, and z directions.
18 . The system of claim 17 , wherein the medicine dispenser includes a vacuum pump connected via conduit to the suction gripper.
19 . The system of claim 1 , comprising:
an image sensor,
wherein the image sensor is configured to capture images of patient medication consumption activity, wherein the captured images are analyzed by the medicine dispenser to identify images that correlate with image data representative of various patient activity states associated with medication adherence,
wherein the captured images are time stamped based on time of capture to validate timing of medication adherence, and
wherein the software program product is configured to, in response to determining a lack of medication adherence, send a notification of the lack of medication adherence to one or more of the pharmacy server, the physician server, the caregiver device, the user device of the patient, and patient selected third parties.
20 . The system of claim 19 , comprising:
a biometric sensor,
wherein authentication of the authorized user is via the image sensor, the biometric sensor, or both of the image sensor and the biometric sensor.
21 . The system of claim 1 , wherein the software program product is configured to:
communicate with one or more patient sensors operably couplable with the processor to sense and communicate patient data associated with the patient,
transfer the patient data sensed and communicated by the one or more patient sensors to at least one of the pharmacy server and the physician server, and
update the prescription data based on the patient data.
22 . The system of claim 21 , wherein one of the one or more patient sensors is a physiological sensor, and the software program product is configured to determine a patient condition as a function of the patient data acquired from the one or more patient sensor, and wherein the software program product is configurable to initiate audio communication, video communication, or both between the physician server and the user device when the patient data indicates that the patient missed the dose, the patient is experiencing a health crisis, a new dose or dose administration time is recommended, or any combination thereof.
23 . The system of claim 22 , wherein the physiological sensor is a blood-pressure sensor, blood sugar sensor, blood oxygen level sensor, heart rate sensor, temperature sensor, weight sensor, electrocardiogram, or combination thereof.
24 . The system of claim 21 , wherein the software program product is configured to adjust the dose in response to input received from the one or more patient sensors, wherein the dose is adjusted in real-time and delivered to the patient from the medicine dispenser immediately or upon a next schedule dose.
25 . The system of claim 1 , wherein the software program product is configured to;
acquire sensor data associated with the patient using one or more patient sensors operably coupled with the medicine dispenser;
generate predictive analytic output representative of a patient outcome based on the sensor data using an artificial intelligence model;
transmit the predictive analytic output to a healthcare professional; and
adjust the dose in response to input received from the healthcare professional, wherein the adjustment is made by the healthcare professional in response to the predictive analytic output, and wherein the dose is adjusted in real-time and delivered to the patient from the medicine dispenser immediately or upon a next scheduled dose.
26 . The system of claim 1 , wherein the medicine dispenser is linked to an electronic health record of the patient, and medication compliance data collected by the medicine dispenser is shared to the electronic health record of the patient.