US6006946A
Expired / Lapsed
US
⏱️ 0.0 years remaining
Pill dispensing system
Assignee: Parata Systems LLC
•
Filing: 1997-12-05
•
Granted: 1999-12-28
•
Expires: 2017-12-05
Abstract
Abstract A pill dispensing system includes a shelving unit in array form that holds a number of bulk containers, each holding a bulk amount of a pill to be dispensed. A computer controlled robot removes a selected bulk container and places it on a counter that also dispenses pills. The robot has an arm with a free end portion that can grip a bulk container or a single pill bottle to be filled. The robot is computer controlled to retrieve an empty pill bottle, place it on a label printing and applying unit, then place it next to the counter/dispenser to receive the selected number of selected prescription pills, then place the filled, labeled bottle on a conveyor.
Inventors
- 👤 Jeffrey P. Williams
- 👤 Galina Potepalov
- 👤 Allan T. Dolores
- 👤 Michael Bergeron
Bibliographic Details
Application Number
—
Jurisdiction
US
Data Source
google_patents
Last Synchronized
2026-10-25 09:53
CPC Classifications
G; G07; G07F; G07F11/00; G07F11/62; B; B65; B65G; B65G1/00; B65G1/02; B65G1/04; B65G1/045; G07F17/00; G07F17/0092; G16; G16H; G16H20/00; G16H20/10; G16H20/13
Claims Analysis
Total Claims: 42
Claim 1
Independent Claim
138 words
An apparatus for filling prescriptions comprising: a) a shelving unit defining an array of storage containers, each container having an interior for holding a bulk amount of pills; b) each container being removable from the shelving unit; c) a computer controlled robotic arm for reaching each container; d) the arm having a free end that grips the container upon selection; e) a dispensing unit that receives the selected container, the dispensing unit dispensing a number of pills therefrom into a pill bottle; and f) the free end of the robotic arm having first and second gripping surface portions that are movable relative to one another and that are configured to selectively grip a selected container or a selected bottle respectively so that the robotic arm can maneuver a selected container or a selected bottle to the dispensing unit.
Claim 2
Independent Claim
138 words
An apparatus for filling prescriptions comprising: a) a shelving unit defining an array of storage containers, each container having an interior for holding a bulk amount of pills; b) each container being removable from the shelving unit; c) a computer controlled robotic arm for reaching each container; d) the arm having a free end that grips the container upon selection; e) a dispensing unit that receives the selected container, the dispensing unit dispensing a number of pills therefrom into a pill bottle; and f) the free end of the robotic arm having first and second gripping surface portions that are movable relative to one another and that are configured to selectively grip a selected container or a selected bottle respectively so that the robotic arm can maneuver a selected container or a selected bottle to the dispensing unit.
Claim 3
Dependent Claim
33 words
The apparatus for filling prescriptions of claim 1 wherein the containers are arranged on an array that is accessed by the robotic arm when the robotic arm rotates about a center of rotation.
Claim 4
Dependent Claim
24 words
The apparatus for filling prescriptions of claim 1 wherein the robotic arm can move the free end into multiple different elevational and radial positions.
Claim 5
Dependent Claim
30 words
The apparatus for filling prescriptions of claim 1 wherein the free end has a gripping surface portion that includes a pair of opposed curved surfaces for gripping the pill bottle.
Claim 6
Dependent Claim
24 words
The apparatus for filling prescriptions of claim 1 wherein the shelving unit includes a plurality of inclined surfaces upon which the containers are supported.
Claim 7
Dependent Claim
25 words
The apparatus for filling prescriptions of claim 1 further comprising a bottle dispenser for holding a plurality of empty bottles to be filled with prescriptions.
Claim 8
Dependent Claim
26 words
The apparatus for filling prescriptions of claim 1 wherein the free end includes a pair of opposed gripping surfaces that move between open and closed positions.
Claim 9
Dependent Claim
38 words
The apparatus for filling prescriptions of claim 1 wherein the free end includes a pair of opposed jaws that move with respect to each other, wherein the jaws move toward each other to define a closed, gripping position.
Claim 10
Dependent Claim
15 words
The apparatus for filling prescriptions of claim 1 wherein the shelving unit is arc shaped.
Claim 11
Dependent Claim
42 words
The apparatus for filling prescriptions of claim 9 wherein the robotic arm rotates about a center of rotation and the shelving unit has a curved front face that tracks an arc that has the same center as the said center of rotation.
Claim 12
Dependent Claim
27 words
The apparatus for filling prescriptions of claim 1 wherein the shelving unit comprises a plurality of vertical columns, each having a plurality of shelves for holding containers.
Claim 13
Dependent Claim
30 words
The apparatus for filling prescriptions of claim 11 wherein each column has a front face that is perpendicular to a radial line that extends radially from the center of rotation.
Claim 14
Dependent Claim
32 words
The apparatus for filling prescriptions of claim 1 wherein the free end has a gripping surface portion that includes a pair of opposed surfaces that are moveable between gripping and releasing position.
Claim 15
Dependent Claim
30 words
The apparatus for filling prescriptions of claim 13 wherein the free end has a gripping surface portion that includes a pair of opposed curved surfaces for gripping the pill bottle.
Claim 16
Dependent Claim
18 words
The apparatus for filling prescriptions of claim 1 wherein the is spaced circumferentially away from the shelving unit.
Claim 17
Dependent Claim
51 words
The apparatus for filling prescriptions of claim 15 wherein the robotic arm rotates away from the shelving unit to the counter and wherein the robotic arm moves the free end portion along a path that enables a change of elevation and radius for the free end portion and a supported container.
Claim 18
Dependent Claim
43 words
The apparatus for filling prescriptions of claim 1 wherein movement of the robotic arm enables its free end portion to move from a bottle grasping position at the bottle dispenser to a bottle filling position next to the counter with a gripped bottle.
Claim 19
Dependent Claim
22 words
The apparatus for filling prescriptions of claim 17 further comprising a conveyor for receiving bottles that have been filled with a prescription.
Claim 20
Dependent Claim
33 words
The apparatus for filling prescriptions of claim 18 wherein movement of the robotic arm enables its free end portion to move a bottle from a position next to the counter to the conveyor.
Claim 21
Independent Claim
119 words
A method of filling a prescription comprising the steps of: a) storing a plurality of containers on a shelving unit that includes a plurality of receptacles for holding the respective containers, each container holding a bulk amount of pills to be dispensed; b) using a robotic computer controlled arm to grasp a selected of the containers having pills that are the correct pills for the prescription to be filled; c) removing the selected container from its receptacle with the robotic arm; d) placing the container on a counter; e) dispensing the correct number of pills from the container with the counter and into a pill bottle; and f) using the robotic arm to return the container to its receptacle.
Claim 22
Independent Claim
119 words
A method of filling a prescription comprising the steps of: a) storing a plurality of containers on a shelving unit that includes a plurality of receptacles for holding the respective containers, each container holding a bulk amount of pills to be dispensed; b) using a robotic computer controlled arm to grasp a selected of the containers having pills that are the correct pills for the prescription to be filled; c) removing the selected container from its receptacle with the robotic arm; d) placing the container on a counter; e) dispensing the correct number of pills from the container with the counter and into a pill bottle; and f) using the robotic arm to return the container to its receptacle.
Claim 23
Dependent Claim
36 words
The method of filling a prescription in claim 20 wherein in step "a" the receptacles are positioned in an array having a curved front and in step "c" the robotic arm rotates to access the receptacles.
Claim 24
Dependent Claim
20 words
The method of filling a prescription in claim 20 wherein in step "e", the counter is controlled with a computer.
Claim 25
Dependent Claim
28 words
The method of filling a prescription in claim 20 further comprising the step of using a computer to control the robotic arm during movement of the pill bottle.
Claim 26
Dependent Claim
34 words
The method of filling a prescription in claim 23 wherein the pill bottle is moved by the robot from a pill bottle dispenser to a label printer and applier and then to the counter.
Claim 27
Dependent Claim
26 words
The method of filling a prescription in claim 24 further comprising the step of moving the pill bottle to a conveyor after it has been filled.
Claim 28
Independent Claim
121 words
An apparatus for filling prescriptions comprising: a) a shelving unit for holding multiple containers, each container having an interior for holding a bulk amount of pills; b) each container being removable from the shelving unit; c) a computer controlled robotic arm for reaching each container; d) the arm having a free end that can grip a selected container upon selection; e) a counter that receives the selected container, the counter enabling a counting and dispensing of pills from a container into a bottle; and f) the free end having a pair of opposed jaws movable relative to one another with first and second shaped gripping surface portions thereon that can selectively grip a selected container or a selected pill bottle respectively.
Claim 29
Independent Claim
121 words
An apparatus for filling prescriptions comprising: a) a shelving unit for holding multiple containers, each container having an interior for holding a bulk amount of pills; b) each container being removable from the shelving unit; c) a computer controlled robotic arm for reaching each container; d) the arm having a free end that can grip a selected container upon selection; e) a counter that receives the selected container, the counter enabling a counting and dispensing of pills from a container into a bottle; and f) the free end having a pair of opposed jaws movable relative to one another with first and second shaped gripping surface portions thereon that can selectively grip a selected container or a selected pill bottle respectively.
Claim 30
Independent Claim
116 words
A method of filling a prescription comprising the steps of: a) storing a plurality of containers on a shelving unit that includes a plurality of receptacles for holding the respective containers, each container holding a bulk amount of pills to be dispensed; b) using a robotic, computer controlled arm to grasp a selected one of the containers having pills corresponding to the prescription to be filled; c) removing the selected container from its receptacle with the robotic arm; d) placing the container on a counter; e) dispensing the correct number of pills from the container with the counter and into a pill bottle; and f) using the robotic arm to return the container to its receptacle.
Claim 31
Independent Claim
116 words
A method of filling a prescription comprising the steps of: a) storing a plurality of containers on a shelving unit that includes a plurality of receptacles for holding the respective containers, each container holding a bulk amount of pills to be dispensed; b) using a robotic, computer controlled arm to grasp a selected one of the containers having pills corresponding to the prescription to be filled; c) removing the selected container from its receptacle with the robotic arm; d) placing the container on a counter; e) dispensing the correct number of pills from the container with the counter and into a pill bottle; and f) using the robotic arm to return the container to its receptacle.
Claim 32
Dependent Claim
39 words
The method of filling a prescription in claim 27 further comprising the step of using a computer to control the robotic arm during movement of the pill bottle, wherein the robotic arm grips the pill bottle in step "e".
Claim 33
Dependent Claim
36 words
The method of filling a prescription in claim 27 wherein in step "a" the receptacles are positioned in an array having a curved front and in step "c" the robotic arm rotates to access the receptacles.
Claim 34
Dependent Claim
20 words
The method of filling a prescription in claim 27 wherein in step "e", the counter is controlled with a computer.
Claim 35
Dependent Claim
60 words
The method of filling a prescription in claim 27 wherein after step "d" the pill bottle is moved from a pill bottle dispenser to a label printer and applier and then to the counter and further comprising the steps of generating a label at the label printer and applier with selected information thereon and affixing the label to the bottle.
Claim 36
Dependent Claim
30 words
The method of filling a prescription in claim 31 further comprising the step of moving the pill bottle with the robotic arm to a conveyor after it has been filled.
Claim 37
Independent Claim
174 words
A method of filling a prescription comprising the steps of: a) storing a plurality of containers on a shelving unit that includes a plurality of receptacles for holding the respective containers, each container holding a bulk amount of pills to be dispensed; b) using a robotic, computer controlled arm to grasp a selected of the containers having pills corresponding to the prescription to be filled; c) removing the selected container from its receptacle with the robotic arm of step "b"; d) placing the container on a pill counter using thee robotic arm; e) gripping a pill vial with the robotic arm; f) maneuvering the robotic arm to transport the gripped pill vial to a label printer; g) applying a printed label with the label printer to the pill vial; h) maneuvering the robotic arm to transport the gripped pill vial to the counter; i) dispensing the correct number of pills from the container with the counter and into a pill bottle; and j) using the robotic arm to return the container to its receptacle.
Claim 38
Independent Claim
174 words
A method of filling a prescription comprising the steps of: a) storing a plurality of containers on a shelving unit that includes a plurality of receptacles for holding the respective containers, each container holding a bulk amount of pills to be dispensed; b) using a robotic, computer controlled arm to grasp a selected of the containers having pills corresponding to the prescription to be filled; c) removing the selected container from its receptacle with the robotic arm of step "b"; d) placing the container on a pill counter using thee robotic arm; e) gripping a pill vial with the robotic arm; f) maneuvering the robotic arm to transport the gripped pill vial to a label printer; g) applying a printed label with the label printer to the pill vial; h) maneuvering the robotic arm to transport the gripped pill vial to the counter; i) dispensing the correct number of pills from the container with the counter and into a pill bottle; and j) using the robotic arm to return the container to its receptacle.
Claim 39
Independent Claim
192 words
A method of filling a prescription comprising the steps of: a) storing a plurality of containers on a shelving unit that includes a plurality of receptacles for holding the respective containers, each container holding a bulk amount of pills to be dispensed; b) using a robotic, computer controlled arm to grasp a selected of the containers having pills corresponding to the prescription to be filled; c) removing the selected container from its receptacle with the robotic arm of step "b"; d) placing the container on a pill counter using the robotic arm; e) gripping a pill vial with the robotic arm; f) maneuvering the robotic arm to transport the gripped pill vial to a label printer; g) separating the robotic arm from the pill vial; h) applying a printed label with the label printer to the pill vial; i) gripping the pill vial with the robotic arm; j) maneuvering the robotic arm to transport the gripped pill vial to the counter; k) dispensing the correct number of pills from the container with the counter and into a pill bottle; and li) using the robotic arm to return the container to its receptacle.
Claim 40
Independent Claim
192 words
A method of filling a prescription comprising the steps of: a) storing a plurality of containers on a shelving unit that includes a plurality of receptacles for holding the respective containers, each container holding a bulk amount of pills to be dispensed; b) using a robotic, computer controlled arm to grasp a selected of the containers having pills corresponding to the prescription to be filled; c) removing the selected container from its receptacle with the robotic arm of step "b"; d) placing the container on a pill counter using the robotic arm; e) gripping a pill vial with the robotic arm; f) maneuvering the robotic arm to transport the gripped pill vial to a label printer; g) separating the robotic arm from the pill vial; h) applying a printed label with the label printer to the pill vial; i) gripping the pill vial with the robotic arm; j) maneuvering the robotic arm to transport the gripped pill vial to the counter; k) dispensing the correct number of pills from the container with the counter and into a pill bottle; and li) using the robotic arm to return the container to its receptacle.
Claim 41
Independent Claim
139 words
A method of filling a prescription comprising the steps of: a) storing a plurality of containers on a shelving unit that includes a plurality of receptacles for holding the respective containers, each container holding a bulk amount of pills to be dispensed; b) using a robotic, computer controlled arm to grasp a selected of the containers having pills corresponding to the prescription to be filled; c) removing the selected container from its receptacle with the robotic arm; d) placing the container on a counter; e) dispensing the correct number of pills from the container with the counter and into a pill vial; f) using the robotic arm to transport the pill vial to a label printer; g) transporting the pill vial to a drop off location; and h) using the robotic arm to return the container to its receptacle.
Claim 42
Independent Claim
139 words
A method of filling a prescription comprising the steps of: a) storing a plurality of containers on a shelving unit that includes a plurality of receptacles for holding the respective containers, each container holding a bulk amount of pills to be dispensed; b) using a robotic, computer controlled arm to grasp a selected of the containers having pills corresponding to the prescription to be filled; c) removing the selected container from its receptacle with the robotic arm; d) placing the container on a counter; e) dispensing the correct number of pills from the container with the counter and into a pill vial; f) using the robotic arm to transport the pill vial to a label printer; g) transporting the pill vial to a drop off location; and h) using the robotic arm to return the container to its receptacle.
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USPTO Annuity & Maintenance Windows
| Annuity Stage | Window Opens | Payment Deadline | Surcharge Period Until | Estimated Fee | Status |
|---|---|---|---|---|---|
| 3.5 Years (Year 4) | 2002-12-27 | 2003-06-28 | 2003-12-28 | $2000.00 | Window Closed / Lapsed |
| 7.5 Years (Year 8) | 2006-12-27 | 2007-06-28 | 2007-12-28 | $3760.00 | Window Closed / Lapsed |
| 11.5 Years (Year 12) | 2010-12-27 | 2011-06-28 | 2011-12-28 | $7700.00 | Window Closed / Lapsed |