Method, computer program product and dispensing device for dispensing discrete medicaments
A method, a computer program product and a dispensing device for dispensing discrete medicaments, 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 for holding a plurality of feeder units, wherein the collection section comprises a first collection unit that is movable in a collection direction, wherein the method comprises the steps of: positioning a first feeder unit at a first feeder position; and prior to removing the first feeder unit from the first feeder position, positioning a second feeder unit at a second feeder position, 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.
1. A method for dispensing discrete medicaments ( 90 ) with a dispensing device ( 1 , 101 ) comprising a dispensing section ( 2 , 102 ), a collection section ( 3 , 103 ) and a packaging section ( 6 , 106 ), wherein the dispensing section ( 2 , 102 ) defines an array of feeder positions ( 20 , 120 ) distributed along an endless collection path (Z 1 , Z 2 ) for holding a plurality of feeder units ( 40 ), wherein the collection section ( 3 , 103 ) comprises a first collection unit ( 31 ) that is movable with respect to the array of feeder positions ( 20 , 120 ) in a collection direction (C) along the endless collection path (Z 1 , Z 2 ) between a start position (A) downstream from a first packing position (P 1 ) in the collection direction (C) and an end position (B) at or near the first packing position (P 1 ),
wherein the method comprises the steps of:
positioning a first feeder unit ( 41 ) of the plurality of feeder units ( 40 ) at a first feeder position ( 21 , 121 ) of the array of feeder positions ( 20 , 120 ); and
prior to removing the first feeder unit ( 41 ) from the first feeder position ( 21 , 121 ), positioning a second feeder unit ( 42 ) of the plurality of feeder units ( 40 ) at a second feeder position ( 22 , 122 ) of the array of feeder positions ( 20 , 120 ), downstream from the first feeder position ( 21 , 121 ) in the collection direction (C),
wherein the first feeder unit ( 41 ) and the second feeder unit ( 42 ) hold medicaments ( 90 ) of the same first composition ( 91 ).
2. The method according to claim 1 , wherein, when the first feeder unit ( 41 ) is empty or unable to dispense the medicaments ( 90 ) at the first feeder position ( 21 , 121 ) into the first collection unit ( 31 ), the method further comprises the step of:
moving said first collection unit ( 31 ) in the collection direction (C) and dispensing the medicaments ( 90 ) from the second feeder unit ( 42 ) at the second feeder position ( 22 , 122 ) into the first collection unit ( 31 ).
3. The method according to claim 1 , wherein the method, prior to positioning of the first feeder unit ( 41 ) at the first feeder position ( 21 , 121 ), the first feeder unit ( 41 ) was positioned at a prior feeder position ( 23 ) of the array of feeder positions ( 20 , 120 ) downstream from said first feeder position ( 21 , 121 ), wherein the method further comprises the steps of:
removing the first feeder unit ( 41 ) from the prior feeder position ( 23 ); and
moving said first feeder unit ( 41 ) from the prior feeder position ( 23 ) towards the first feeder position ( 21 , 121 ).
4. The method according to claim 3 , wherein the method further comprises the step of:
dispensing the medicaments ( 90 ) from the second feeder unit ( 42 ) at the second feeder position ( 22 ) into the first collection unit ( 31 ) during the moving of the first feeder unit ( 41 ) from the prior feeder position ( 23 ) towards the first feeder position ( 22 , 122 ).
5. The method according to claim 1 , wherein the first collection unit ( 31 ) is movable along the endless collection path (Z 1 , Z 2 ) over a collection range (R) that starts at the start position (A) and that ends at the end position (B).
6. The method according to claim 5 , wherein the first feeder position ( 21 , 121 ) is located in a first half of the first collection range (R) considered from the start position (A).
7. The method according to claim 5 , wherein the second feeder position ( 22 , 122 ) is located in a second half of the collection range (R) considered from the start position (A).
8. The method according to claim 1 , wherein the first feeder position ( 21 , 121 ) and the second feeder position ( 22 , 122 ) are spaced apart in the collection direction over a spacing angle (H) of at least five degrees.
9. The method according to claim 1 , wherein the dispensing device ( 1 , 101 ) comprises a robotic manipulator ( 11 ) and positioning and/or removing of the first feeder unit ( 41 ) and the second feeder unit ( 42 ) are performed with use of the robotic manipulator ( 11 ).
10. The method according to claim 1 , wherein the endless collection path (Z 1 ) is circular.
11. The method according to claim 10 , wherein the array of feeder positions ( 20 ) is distributed circumferentially about a rotation axis (X) and wherein the first collection unit ( 31 ) is rotatable about said rotation axis (X) along the endless collection path (Z 1 ).
12. The method according to claim 1 , wherein the endless collection path (Z 2 ) is non-circular.
13. A computer program product comprising a non-transitory computer-readable medium ( 72 ) holding instructions that, when executed by a processor ( 71 ), cause a dispensing device ( 1 , 101 ) to perform the steps of the method according to claim 1 .
14. A dispensing device ( 1 , 101 ) for dispensing discrete medicaments ( 90 ),
the dispensing device ( 1 , 101 ) comprising:
a dispensing section ( 2 , 102 ) defining an array of feeder positions ( 20 , 120 ) distributed along an endless collection path (Z 1 , Z 2 ) for holding a plurality of feeder units ( 40 ), the array of feeder positions ( 20 , 120 ) comprising at least a first feeder position ( 21 , 121 ) and a second feeder position ( 22 , 122 ),
a collection section ( 3 , 103 ) comprising a first collection unit ( 31 ) that is movable with respect to the array of feeder positions ( 20 , 120 ) in a collection direction (C) along the endless collection path (Z 1 , Z 2 ),
a packaging section ( 6 , 106 ) for packaging the medicaments ( 90 ) received from the collection section ( 3 , 103 ), and
a robotic manipulator ( 11 ) and a control unit ( 7 ) for controlling the robotic manipulator ( 11 ) to:
position a first feeder unit ( 41 ) at the first feeder position ( 21 , 121 ); and
prior to removing the first feeder unit ( 41 ) from the first feeder position ( 21 , 121 ), positioning a second feeder unit ( 42 ) at the second feeder position ( 22 , 122 ), the second feeder position ( 22 , 122 ) located downstream from the first feeder position ( 21 , 121 ) in the collection direction (C),
wherein the first feeder unit ( 41 ) and the second feeder unit ( 42 ) hold medicaments ( 90 ) of the same first composition ( 91 ).
15. The dispensing device of claim 14 , wherein the packaging section ( 6 ) comprises a first packaging unit ( 61 ) at or connecting to a first packing position (P 1 ).
16. The dispensing device of claim 14 , wherein the first collection unit ( 31 ) is movable between a start position (A) downstream of a first packing position (P 1 ) in the collection direction (C) and an end position (B) at or near the first packing position (P 1 ).
17. The dispensing device of claim 13 , wherein the first collection unit ( 31 ) comprises a hopper.
18. The dispensing device according to claim 13 , wherein the endless collection path (Z 1 ) is circular.
19. The dispensing device according to claim 18 , wherein the array of feeder positions ( 20 ) is distributed circumferentially about a rotation axis (X) and wherein the first collection unit ( 31 ) is rotatable about said rotation axis (X) along the endless collection path (Z 1 ).
20. The method according to claim 13 , wherein the endless collection path (Z 2 ) is non-circular.
21. A method of continuously dispensing, collecting and packaging discrete medicaments ( 90 ) with a dispensing device comprising a dispensing section ( 2 , 102 ), a collection section ( 3 , 103 ), and a packaging section ( 6 , 106 ), wherein the dispensing section ( 2 , 102 ) comprises an array of feeder positions ( 20 , 120 ) distributed along an endless collection path (Z 1 , Z 2 ) for holding a plurality of feeder units ( 40 ), and the collection section ( 3 , 103 ) comprises a first collection unit ( 31 ) that is movable with respect to the array of holding positions ( 20 , 120 ) in a collection direction (C) along the endless collection path (Z 1 , Z 2 ) to align with a plurality of the array of feeder positions ( 120 ), the method comprising:
placing a first feeder unit ( 41 ) at a first feeder position ( 21 , 121 ) in the array of feeder positions ( 20 , 120 ),
placing a second feeder unit ( 42 ) at a second feeder position ( 22 , 122 ) in the array of feeder positions ( 20 , 120 ), the second holding position ( 22 , 122 ) located downstream from the first holding position ( 21 , 121 );
dispensing the medicaments ( 90 ) from the first feeder unit ( 41 ) into the first collection unit ( 31 );
moving the first collection unit ( 31 ) in the collection direction (C) to align with the second feeder unit ( 42 ) when the first feeder unit ( 41 ) is empty or no longer dispenses the medicament ( 90 ); and
dispensing the medicaments ( 90 ) from the second feeder unit ( 42 ) into the first collection unit ( 31 ),
wherein the first feeder unit ( 41 ) and the second feeder unit ( 42 ) contain medicaments ( 90 ) of the same first composition ( 91 ).
22. The method of claim 21 , wherein the steps of placing the first and second feeders ( 41 , 42 ) are done using a robot ( 11 ).
23. The method of claim 21 , and further comprising transferring the medicament ( 90 ) from the first collection unit ( 31 ) to a first packaging unit ( 61 ) for packaging.
24. The method of claim 21 , and further comprising:
removing and/or replacing the first feeder unit ( 41 ).