Transcript Slide 1

Automated Medication
Dispensing Device
RERC on Accessible Medical Instrumentation Competition 2005-2006
Team 6:
Eva Marie Suarez
Kevin Villani
Jacquelyn Masse
Automated Medication Dispensing Device
Objectives
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Client Needs
Existing devices and Patents
Device features
Design
Timeline
Budget
Automated Medication Dispensing Device
Client Needs
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Large number of
medications
Poor eyesight
Lack of fine motor
control
Limited mobility
Segmentation
Automated Medication Dispensing Device
Products Currently Available
Product
Name
Image
PRO
CON
MedTime
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Timer with alarm
- Portable
- $232.95
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Difficult loading
- No cutting device
- No security feature
MD2
- Timer with alarm
- Gives medication
instructions
- Calls caretaker if
medication not dispensed or
refill is needed
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CompuMed
- Timer with alarm
- Gives medication
instructions
- Minimal security
- Tracks number of missed
doses
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Dispenses in small container
- No cutting device
- No security feature
- $919.95 plus $38.95 per month
Pills deposited into drawer
- Only dispenses up to 4 times per
day
- Medicine cassette needs to be
changed weekly
- No cutting device
- $1045.00
Automated Medication Dispensing Device
Patents
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Medication Dispenser for Dispensing Flat Dosage
Forms (6,527,138)
Tamper Resistant Programmable Medicine Dispenser
(6,163,736)
Timed Medicine Dispenser (4,207,992)
Medicine Dispenser (5,947,329)
Medicine Dispensing Device (5,454,793)
Gravity Feeding Pill Medicine Dispenser (4,638,923)
Automated Medication Dispensing Device
General Themes
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Pills must be pre-separated (time consuming loading
process)
Accuracy is not verified frequently
No cutting device
Difficult to extract dispensed medication from
apparatus
Costly
Automated Medication Dispensing Device
Device features
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Automatically Cuts Pills
No Hard-To-Read Labels
Keeps Pills Organized
Alarm Reminder
Automatically Dispenses Dosage
Automated Medication Dispensing Device
Operation
Basic overview
Automated Medication Dispensing Device
Basic Elements
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Device components
 Case
 Robotic arm with vacuum assembly
 Cutter assembly
 Storage assembly
 Data flow
 User input
Automated Medication Dispensing Device
Case
PDA
Loading funnel
Dispensing Door
Keyboard storage
Automated Medication Dispensing Device
Case (inside)
Automated Medication Dispensing Device
Layout of All
Components
Air Control Valve (6012)
Servo motor
Arm
Rotating plate (retrieves
cut pieces)
110°
95.5°
Cutter Assembly
Base
Arm travel arc
Vertically translating
vacuum port
Dispensing tray/Funnel
Retrieval location
Storage
Sliding plate(removed
during loading)
Funnel
Automated Medication Dispensing Device
Robotic Arm
Arm
External view
Base
Vacuum servo
Arm servo
Vacuum control
valve
Vacuum supply
Vacuum pick up
tube
Internal components
Automated Medication Dispensing Device
Robotic Arm Action
Action in horizontal
direction
Top view
Axis
Vacuum assembly
Arm
Vacuum action
Side view
Retrieval angle
axis
45.0°
arm
Medication storage
90.0°
(vacuum supply not
included for simplicity)
Swing angle
Base
Automated Medication Dispensing Device
Cutter Assembly –
Swing Arm Action
Automated Medication Dispensing Device
Cutter Assembly –
Blade Action
Servo
Blade
Tablet
Swing arm
Secondary stage
Tracks
Automated Medication Dispensing Device
Storage Assembly
Reference slot(blue)
Stepper motor
Axis
Funnel
Storage reel cover
Reference slot(blue)
Storage reel
Storage
Assembly
Retrieval location
Fill cover (user operated)
Fill location
Funnel
Funnel
Automated Medication Dispensing Device
System Setup
Data Flow
AC
power
PDA Cradle
Barcode reader
DC
PDA
Robotic Arm
USB
HUB
Servo
(HS-422)
Servo
(HS-422)
AC
DC
Power
supply
Out to
steppers
servos
DAQ
analog
digital
Cutter Assembly
Servo
(HS-475)
Solenoid
Buffers
Stepper
Stepper
controller
(A3967SLB)
Rotating Base
(sub-unit cutter)
Pump
Vacuum
Servo
(HS-645)
Storage Reel
Stepper
Stepper controller
(A3967SLB)
(lynx B pan and tilt)
Automated Medication Dispensing Device
User Input
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User interface
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PDA
Keyboard
Barcode Scanner
Functions
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Add pills
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Compartment #
# of pills
Expiration date
Set dosage
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# pills per dose
Times to take
Automated Medication Dispensing Device
Timeline
Automated Medication Dispensing Device
Budget
Automated Medication Dispensing Device
Back-Up Slides
Automated Medication Dispensing Device
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MedTime: The Medtime product is essentially a rotating disk that contains several compartments in which the pills are separated
into to create the appropriate dosage. The MedTime device also contains a timer and an alarm which can be programmed to
sound when the medication must be taken. Once this alarm goes off, the disk rotates to reveal the next dosage to be taken. The
client then turns the product over so the pills fall into his/her hand. If a dosage is missed then the disk will continue to rotate so
that the next dosage becomes available. The advantage of this device is that it is portable, so it can be taken with the client at all
times. This product is also one of the least expensive medication dispensing devices at $232.95. The disadvantages of this product
are its time consuming loading requirement, the lack of a cutting device, and minimal security. To load the device all the dosages
must be pre-separated which will require the effort of a caretaker in most cases. The dispensing mechanism of the device is also
inadequate for many elderly, since it requires one to tip the device over to expel the dosage. Not only is the method of dispensing
not safe if there are children present since it is accessible to anyone, but it also provides the opportunity for the medication to fall
on the ground easily. Those in a wheelchair would not be able to pick up the medication if it fell on the ground as well as those
with poor vision.
MD2: The MD2 is a more sophisticated medication dispensing device than the MedTime. This product contains the same feature
of a timed dispensing mechanism with an alarm to alert the client. The dosage is expelled in a small plastic container once the
release button is pushed by the user which also turns off the alarm. When a dosage is released any medication instructions that
was programmed into the device is then given orally, such as ‘take with food’. If a dosage is missed the device can call up to four
individuals to alert them that a dose was not taken. The advantages of this device is that it alerts another individual of a missed
dose rather than moving onto the next one, so the probability of a dosage not being taken is relatively small. Clients that forget to
take their medication are also likely to forget the instructions or each medication, an error in consumption of the pills is prevented
with this device via the oral instructions. The disadvantage of this product is mainly its cost. The dispenser costs $919.95 plus an
additional $38.95 per month for the calling feature. The product also does not have a cutter and has minimal security since the
dispensing of the medication is controlled by the push of a button, which can be done by any individual in the household
including small children. Dispensing the dosage in a small container also requires the assistance of a caretaker to prepare. Opening
this container once dispensed may also prove difficult for some individuals with limited mobility and poor vision.
CompuMed: The CompuMed shares some similarities with both the MedTime and the MD2. This device alerts the user that a
dosage needs to be taken via an alarm. The dosage is deposited into a small drawer located on the front of the device. If a dosage
is missed the drawer is withdrawn and the dosage is sent to another compartment. The machine keeps track of how many doses
were missed but does not alert any caretaker as the MD2 does. It will also provide the medication instructions on the LCD screen
when a dosage is dispensed as the MD2. The CompuMed has a higher level of security than the other two devices. Although the
dosage is deposited into a drawer where others can access it, the rest of the medication stored in the product is locked inside with
a key. This key is also needed to change the programming of the device and thus prevents any tampering that may otherwise
occur. The main advantages of this device are its enhanced security, and lower cost when compared to the MD2. The CompuMed
costs approximately $1045.00, but does not have any additional monthly fees. The disadvantage of this product is that the
medication is loaded into cartridges which is a time consuming process and limits the amount of medication that can dispensed.
The cartridges need to be changed weekly and are only capable of dispensing up to four dosages per day. This device also lacks a
cutting mechanism and dispenses the medication into a drawer which may be difficult to extract from the small drawer for some
individuals.
Automated Medication Dispensing Device
Patents
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Medication Dispenser for Dispensing Flat Dosage Forms (6,527,138): This device is designed
specifically for flat mediations that come on a roll similar to that of a stamp roll. The device then
advances the roll when the next medication needs to be taken. The dispensing mechanism can be
either manual activated, mechanical or automated. The machine also has the capability to record
the number of doses dispensed.
Tamper Resistant Programmable Medicine Dispenser (6,163,736): This device prevents
unauthorized movement of the indexing assembler to prevent untimely access to medications. It
is a small and portable product, but requires the medications to be separated into the appropriate
dosages beforehand.
Medicine Dispenser (5,947,329): This product also provides a security feature against
unauthorized access to the medication by storing the medication in sealed containers that require
deliberate steps to get the medication dispensed. This device is completely mechanical and
includes a counter to track the dosages dispensed.
Timed Medicine Dispenser (4,207,992): As the title suggests, this a timed dispenser which alerts
the patient when the medication needs to be taken. The pills need to be pre-separated into the
correct dosages as with several of the other devices.
Medicine Dispensing Device (5,454,793): This device is made specifically for liquid medications.
It dispenses metered quantities from an ampoule and can easily return to its original state.
Gravity Feeding Pill Medicine Dispenser (4,638,923): This is the only device that dispenses the
medication from the container provided by the pharmacy. It uses gravity to release the pills from
the container. It is economical and easy to use, but does not contain a system to verify that the
pills were extracted from the container correctly.
Automated Medication Dispensing Device
Design One
Battery pack
Vacuum fan
Top view
Cutter assembly
Top view
Storing Modules
Lateral view
Vacuum fan
Scale
Dispenser
Automated Medication Dispensing Device
Design One Cutter
Cutter blade
Flexible template
1/2 cut
¼ cut
Automated Medication Dispensing Device
Design One Rejection Assembly
1.3"
Platform 1
Belt
1"
1.5"
R 0.003"
Stepper Motor
R 0.03"
Frame
Platform 2
0.02"
Load Cell
0.03"
1"
Figure 18 – Weight Verification System
0.37"
Automated Medication Dispensing Device
Design Two
batteries
electronics
LCD
Cutter
keypad
Robotic
Arm
Medication storage area
Medication acceptance
door
Rejection assembly
Automated Medication Dispensing Device
Design Two – Robotic Arm
Gripper
Assembly
Slide track
gripper
Screw coupling
servo
Piezo electric pressure
sensor
SHUT
Screw coupling
Sensor arm
gripper
Slide track
Vacuum pickup arm
8"
servo
Piezo electric pressure
sensor
OPEN
Automated Medication Dispensing Device
Design Three – Robotic Arm
Robotic Arm
component
breakdown
Top view
Counter weight
Vacuum supply line
Side View
Stepper motor
Servo
Coupling
Pill pick up area
Automated Medication Dispensing Device
Vacuum Fan Requirements
P = F/A
F =mg
A= πr2
Therefore,
P= mg/ πr2
(Equations)
System operating curve
Pump characteristic and system operating curves
Automated Medication Dispensing Device
Secondary Stage
Guide pin channel
Secondary Stage Motion
(View from below)
Change in distance of
secondary stage
Secondary stage motion
Guide pin
Main stage motion
Automated Medication Dispensing Device
Secondary Stage
For larger pill
For Smaller Pill
Change is center equal to
change in edge
Change is center equal to
change in edge
Automated Medication Dispensing Device
User inputs
number of pills
added and
expiration date
Pills poured into
container
Pill needs to be cut
(indicated by data stored
in spreadsheet)
No
Storage assembly
rotates to correct
storage module
Yes
Blade cuts pill into
halves
Feeler places the
blade in the center as
indicated by the swing
arm
Secondary stage moves
so pills fall into turntable
Pill needs to be cut into
quarters
Pills released one at a
time onto secondary
stage of cutting device
by robotic arm
Swing arm forces pill
into center
Turntable makes
another rotatation
Yes
Pills remain in storage
container
Cutting process
repeated
No
Cut pills moved back
to storage container by
robotic arm
Robotic arm moves over
to the storage container
assembly
Storage container
assembly rotates so the
correct storage module
is accessible to robotic
arm
Vacuum pump is turned
on
Alarm sounds when
indicated by the timer
that a medication
needs to be dispensed
The alarm turns off
Security code entered
by client
Correct
Security code compared
to stored code in
microprocessor
Change in current
sensed by vacuum
Vacuum lowered into
prescription container
Incorrect
Pathway of
Pill
Barcode
scanned
Alarm will continue to
sound
No
Continues suction
Trap door pushed open
by an actuator
Client removes dosage and
closes trap door
Process repeated until
the full dosage is
completed
Ye
s
Vacuum lifts from
storage module with pill
Pill released into
dispenser container
Automated Medication Dispensing Device
Specifications
Electrical Parameters
Environmental Parameters
Power Sources
Main
PDA
Display
Number of Characters
Height
Width
Illumination
Motors
Stepper motors
Quantity
Voltage
Servo motors
Quantity
Voltage
AC-DC converter
Voltage splitter (resistive network)
rechargeable lithium battery
320x320
~4.5 in.
~3.1 in.
Transflective TFT color display (65,000 colors)
Touch screen
Bright display for elderly and vision impaired
High contrast
2
12V
4
9V
Operating temperatures
Storage temperature
Storage humidity
Light level
Hardware and Software Parameters
PDA
Processor
Operating system
Required program
Programming
Memory
Barcode reader
file
roll up keyboard, possibly w/brail
¼ tablet – 100%
Mechanical Parameters
Material
Weight
Vibration
Size
Anchoring/Mounting System
Gears
Blade
Size
Material
Security
Plastic
Compatible with chemical composition of
Medications used
<20 lbs
minimal
easily transportable to a home or clinical setting
strap or screw plate
screw and simple
1” razor blade
metal with low reactivity, possibly stainless steel
Case screwed shut
Medication door with child safety
Intel 200MHz Xscale
Palm 0S garnet (v5.4) required for LabView
Microsoft Excel
Programmed in LabView
32MB (26 MB actual storage)
Plug n Play type, output to Excel spreadsheet
Input Parameters
Alarm silence
Barcode data
User interface
Accuracy
0-100° C
dependant on medication (will research)
airtight
low
Medication reload
PDA front panel
Medication name
Dose
Interval
Expiration dates
Warning
User operated
Output Parameters
Alarm condition
Error condition
Dose/Interval
Time stamp dose
Medication
User input required for medication dispensing
Medication jam
Change confirmation
Record dose and time
Near empty warning (reload)
Automated Medication Dispensing Device
References
e-pill Medication Reminders, Wellesley, MA, 2005.
http://www.epill.com
Lynxmotion LLC., Pekin, IL, 2004.
http://www.lynxmotion.com
National Instruments Corporation, Austin, TX, 2005.
http://www.ni.com
Parallax Inc., Rocklin, California, 2002-2004.
http://www.parallax.com