automated medication dispensing device

Automated Medication Dispensing DeviceTeam 6:Eva Marie SuarezKevin VillaniJacquelyn MasseRERC on Accessible Medical Instrumentation Competition 2005-2006

Automated Medication Dispensing Device

ObjectivesClient NeedsExisting devices and PatentsDevice featuresDesignTimelineBudget


Client NeedsLarge number of medicationsPoor eyesightLack of fine motor controlLimited mobilitySegmentation


Products Currently Available

Product NameImagePROCONMedTime Timer with alarm Portable $232.95 Difficult loading No cutting device No security featureMD2- Timer with alarm Gives medication instructions Calls caretaker if medication not dispensed or refill is needed Dispenses in small container No cutting device No security feature $919.95 plus $38.95 per monthCompuMed- Timer with alarm- Gives medication instructions- Minimal security- Tracks number of missed doses Pills deposited into drawer Only dispenses up to 4 times per day Medicine cassette needs to be changed weekly No cutting device $1045.00


PatentsMedication 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)


General ThemesPills must be pre-separated (time consuming loading process)Accuracy is not verified frequentlyNo cutting deviceDifficult to extract dispensed medication from apparatusCostly


Device featuresAutomatically Cuts PillsNo Hard-To-Read LabelsKeeps Pills OrganizedAlarm ReminderAutomatically Dispenses Dosage


OperationBasic overview


Basic ElementsDevice componentsCaseRobotic arm with vacuum assemblyCutter assemblyStorage assembly Data flowUser input


Case

Loading funnel

Dispensing Door

Keyboard storage

PDA


Case (inside)


Layout of All Components

Arm travel arc

Retrieval location

Dispensing tray/Funnel

Base

Funnel


Robotic Arm

Arm servo

Vacuum servo

Arm

Vacuum supply

Vacuum control valve

Vacuum pick up tube

Base

External view

Internal components


Robotic Arm Action

Base


Cutter Assembly Swing Arm Action


Cutter Assembly Blade Action

Swing arm

Tablet

Secondary stage

Servo

Blade

Tracks


Storage Assembly

Stepper motor

Storage reel

Storage reel cover

Axis

Fill location

Retrieval location

Reference slot(blue)

Fill cover (user operated)

Reference slot(blue)

Storage Assembly

Funnel

Funnel

Funnel


Data Flow

Robotic Arm

Servo

Servo

Cutter Assembly

Servo

Stepper

Stepper controller(A3967SLB)

Vacuum

Solenoid

Pump

Storage Reel

Rotating Base(sub-unit cutter)

(HS-475)

Servo

(HS-645)

Stepper

Stepper controller(A3967SLB)

DAQ

USBHUB

PDA

Barcode reader

DCPowersupply

Buffers

digital

analog

DC

(HS-422)

(HS-422)

(lynx B pan and tilt)

PDA Cradle

power

AC

AC

Out to steppersservos

System Setup


User InputUser interface PDAKeyboardBarcode ScannerFunctionsAdd pillsCompartment ## of pillsExpiration dateSet dosage# pills per doseTimes to take


Timeline


Budget


Back-Up Slides


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.


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. Patents


Design One

Top view

Lateral view

Battery pack

Vacuum fan

Vacuum fan

Top view

Cutter assembly

Dispenser

Storing Modules

Scale


Design One Cutter

Flexible template

Cutter blade

cut

1/2 cut


Design One Rejection Assembly

R

Text

Drag the side handle to change the width of the text block.


Design TwokeypadRobotic ArmCutter

Medication acceptance door

Medication storage area

Rejection assembly

electronics

batteries

LCD


Design Two Robotic Arm

Sensor arm

Vacuum pickup arm

8"

servo

Slide track

gripper

Piezo electric pressure sensor

Slide track

gripper

Piezo electric pressure sensor

SHUT

OPEN

Gripper Assembly

servo

Screw coupling

Screw coupling


Design Three Robotic Arm

Coupling

Vacuum supply line

Servo

Stepper motor

Counter weight

Pill pick up area

Top view

Side View

Robotic Arm component breakdown


Vacuum Fan RequirementsP = F/AF =mgA= r2Therefore,P= mg/ r2(Equations)

System operating curve

Pump characteristic and system operating curves


Secondary Stage

Change in distance of secondary stage

Guide pin

Guide pin channel

Main stage motion

Secondary Stage Motion(View from below)

Secondary stage motion


Secondary Stage

For larger pill

Change is center equal to change in edge

Change is center equal to change in edge

For Smaller Pill


Pathway of Pill

Barcode scanned

Storage assembly rotates to correct storage module

Pills poured into container

User inputs number of pills added and expiration date

Pill needs to be cut (indicated by data stored in spreadsheet)

Yes

Pills released one at a time onto secondary stage of cutting device by robotic arm

Swing arm forces pill into center

Feeler places the blade in the center as indicated by the swing arm

Blade cuts pill into halves

Pill needs to be cut into quarters

Secondary stage moves so pills fall into turntable

Turntable makes another rotatation

Cutting process repeated

Yes

No

Pills remain in storage container

No

Cut pills moved back to storage container by robotic arm

Alarm sounds when indicated by the timer that a medication needs to be dispensed

Security code entered by client

The alarm turns off

Alarm will continue to sound

Correct

Incorrect

Security code compared to stored code in microprocessor

Robotic arm moves over to the storage container assembly

Vacuum pump is turned on

Vacuum lowered into prescription container

Continues suction

Vacuum lifts from storage module with pill

Change in current sensed by vacuum

No

Yes

Storage container assembly rotates so the correct storage module is accessible to robotic arm

Pill released into dispenser container

Process repeated until the full dosage is completed

Trap door pushed open by an actuator

Client removes dosage and closes trap door


Specifications

Electrical Parameters

Power Sources

Main

AC-DC converter

Voltage splitter (resistive network)

PDA

rechargeable lithium battery

Display

Number of Characters320x320

Height

~4.5 in.

Width

~3.1 in.

Illumination

Transflective TFT color display (65,000 colors)

Touch screen

Bright display for elderly and vision impaired

High contrast

Motors

Stepper motors

Quantity

2

Voltage

12V

Servo motors

Quantity

4

Voltage

9V

User interface

roll up keyboard, possibly w/brail

Accuracy

tablet 100%

Mechanical Parameters

Material Plastic

Compatible with chemical composition of Medications used

Weight

automated medication dispensing device

Documents

dispensed medication

cutting device

timed medicine dispenser

pill medicine dispenser

day medicine cassette

security featuremd2

alarm portable

monthcompumed timer