automated medication dispensing device team 6: eva marie suarez kevin villani jacquelyn masse rerc...
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Automated Medication Automated Medication Dispensing DeviceDispensing Device
Team 6:Team 6:Eva Marie SuarezEva Marie Suarez
Kevin VillaniKevin VillaniJacquelyn MasseJacquelyn Masse
RERC on Accessible Medical Instrumentation Competition 2005-2006
Automated Medication Dispensing Automated Medication Dispensing DeviceDevice
Client NeedsClient Needs Existing devices and PatentsExisting devices and Patents Device featuresDevice features DesignDesign TimelineTimeline BudgetBudget
ObjectivesObjectives
Automated Medication Dispensing Automated Medication Dispensing DeviceDevice
Client NeedsClient Needs Large number Large number
of medicationsof medications Poor eyesightPoor eyesight Lack of fine Lack of fine
motor controlmotor control Limited Limited
mobilitymobility SegmentationSegmentation
Automated Medication Dispensing Automated Medication Dispensing DeviceDevice
Product Product NameName ImageImage PROPRO CONCON
MedTimeMedTime - Timer with alarmTimer with alarm- PortablePortable- $232.95$232.95
- Difficult loadingDifficult loading- No cutting deviceNo cutting device- No security featureNo security feature
MD2MD2 - - Timer with alarmTimer with alarm- Gives medication Gives medication instructionsinstructions- Calls caretaker if Calls caretaker if medication not medication not dispensed or refill is dispensed or refill is neededneeded
- Dispenses in small Dispenses in small containercontainer- No cutting deviceNo cutting device- No security featureNo security feature- $919.95 plus $38.95 per $919.95 plus $38.95 per monthmonth
CompuMCompuMeded
- - Timer with alarmTimer with alarm
- - Gives medication Gives medication instructionsinstructions
-- Minimal security Minimal security
- - Tracks number of Tracks number of missed dosesmissed doses
- Pills deposited into drawerPills deposited into drawer- Only dispenses up to 4 Only dispenses up to 4 times per daytimes per day- Medicine cassette needs Medicine cassette needs to be changed weeklyto be changed weekly- No cutting deviceNo cutting device- $1045.00$1045.00
Products Currently Products Currently AvailableAvailable
Automated Medication Dispensing Automated Medication Dispensing DeviceDevice
PatentPatentss
Medication Dispenser for Dispensing Flat Medication Dispenser for Dispensing Flat Dosage Forms (6,527,138)Dosage Forms (6,527,138)
Tamper Resistant Programmable Tamper Resistant Programmable Medicine Dispenser (6,163,736)Medicine Dispenser (6,163,736)
Timed Medicine Dispenser (4,207,992)Timed Medicine Dispenser (4,207,992) Medicine Dispenser (5,947,329)Medicine Dispenser (5,947,329) Medicine Dispensing Device (5,454,793)Medicine Dispensing Device (5,454,793) Gravity Feeding Pill Medicine Dispenser Gravity Feeding Pill Medicine Dispenser
(4,638,923)(4,638,923)
Automated Medication Dispensing Automated Medication Dispensing DeviceDevice
General ThemesGeneral Themes
Pills must be pre-separated (time Pills must be pre-separated (time consuming loading process)consuming loading process)
Accuracy is not verified frequentlyAccuracy is not verified frequently No cutting deviceNo cutting device Difficult to extract dispensed medication Difficult to extract dispensed medication
from apparatusfrom apparatus CostlyCostly
Automated Medication Dispensing Automated Medication Dispensing DeviceDevice
Device Device featuresfeatures Automatically Cuts PillsAutomatically Cuts Pills
No Hard-To-Read LabelsNo Hard-To-Read Labels Keeps Pills OrganizedKeeps Pills Organized Alarm ReminderAlarm Reminder Automatically Dispenses DosageAutomatically Dispenses Dosage
Automated Medication Dispensing Automated Medication Dispensing DeviceDevice
OperationOperationBasic overview Basic overview
Automated Medication Dispensing Automated Medication Dispensing DeviceDevice
Basic ElementsBasic Elements
Device componentsDevice components CaseCase Robotic arm with vacuum assemblyRobotic arm with vacuum assembly Cutter assemblyCutter assembly Storage assembly Storage assembly Data flowData flow User inputUser input
Automated Medication Dispensing Automated Medication Dispensing DeviceDevice
CaseCase
Loading funnel
Dispensing Door Keyboard storage
PDA
Automated Medication Dispensing Automated Medication Dispensing DeviceDevice
Case Case (inside)(inside)
Automated Medication Dispensing Automated Medication Dispensing DeviceDevice
Retrieval location
Arm travel arc
Servo motor
Arm
Vertically translating vacuum port
Rotating plate (retrieves cut pieces)
Cutter Assembly
Storage
Sliding plate(removed during loading)
Air Control Valve (6012)
110°
Dispensing tray/Funnel
Funnel
95.5°
Base
LayoutLayout of of All All
ComponentsComponents
Automated Medication Dispensing Automated Medication Dispensing DeviceDevice
Arm servo
Vacuum servo
Arm
Vacuum supply
Vacuum control valve
Vacuum pick up tube
Base
External view
Internal components
RoboticRobotic ArmArm
Automated Medication Dispensing Automated Medication Dispensing DeviceDevice
Action in horizontal direction Vacuum action
(vacuum supply not included for simplicity)
45.0°
Base
arm
Medication storage
Retrieval angle
Swing angle
Arm
axisAxis
90.0°
Vacuum assembly
Top view Side view
RoboticRobotic Arm Arm ActionAction
Automated Medication Dispensing Automated Medication Dispensing DeviceDevice
Cutter Cutter Assembly – Assembly – Swing Arm Swing Arm
ActionAction
Automated Medication Dispensing Automated Medication Dispensing DeviceDevice
Swing arm
Tablet
Secondary stage
Servo
Blade
Tracks
Cutter Cutter Assembly – Assembly – Blade ActionBlade Action
Automated Medication Dispensing Automated Medication Dispensing DeviceDevice
Fill location
Retrieval locationReference slot(blue)
Fill cover (user operated)
Stepper motor
Storage reelStorage reel cover
Axis
Reference slot(blue)
Storage Assembly
Funnel
Funnel
Funnel
Storage Storage AssemblyAssembly
Automated Medication Dispensing Automated Medication Dispensing DeviceDevice
Robotic Arm
Servo
Cutter Assembly
Servo
Servo
Stepper
Stepper controller
(A3967SLB)
Vacuum
Solenoid
Storage Reel
Rotating Base(sub-unit cutter)
Stepper
Stepper controller(A3967SLB)
PDABarcode reader
DCPowersupply
USBHUB
DAQ
analog digital
Pump
Buffers
DC
(HS-422)
(HS-422)
(lynx B pan and tilt)
Servo
(HS-475)
(HS-645)
PDA Cradlepower
AC
AC
Out to steppersservos
System Setup
Data FlowData Flow
Automated Medication Dispensing Automated Medication Dispensing DeviceDevice
User User InputInput
User interface User interface PDAPDA KeyboardKeyboard Barcode ScannerBarcode Scanner
FunctionsFunctions Add pillsAdd pills
Compartment #Compartment # # of pills# of pills Expiration dateExpiration date
Set dosageSet dosage # pills per dose# pills per dose Times to takeTimes to take
Automated Medication Dispensing Automated Medication Dispensing DeviceDevice
TimelineTimeline
Automated Medication Dispensing Automated Medication Dispensing DeviceDevice
BudgetBudget
Automated Medication Dispensing Automated Medication Dispensing DeviceDevice
Back-Up SlidesBack-Up Slides
Automated Medication Dispensing Automated Medication Dispensing DeviceDevice
MedTime: The Medtime product is essentially a rotating disk that contains several compartments in which the 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 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 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 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 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 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 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 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 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 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 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 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 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. vision.
MD2: The MD2 is a more sophisticated medication dispensing device than the MedTime. This product contains 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 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 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 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 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 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 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 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. 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 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 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 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 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.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 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 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 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 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 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 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 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 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 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 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 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 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 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 mechanism and dispenses the medication into a drawer which may be difficult to extract from the small drawer for some individuals. for some individuals.
Automated Medication Dispensing Automated Medication Dispensing DeviceDevice
Medication Dispenser for Dispensing Flat Dosage Forms (6,527,138): This device is 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 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. 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 The dispensing mechanism can be either manual activated, mechanical or automated. The machine also has the capability to record the number of doses automated. The machine also has the capability to record the number of doses dispensed.dispensed.
Tamper Resistant Programmable Medicine Dispenser (6,163,736): This device Tamper Resistant Programmable Medicine Dispenser (6,163,736): This device prevents unauthorized movement of the indexing assembler to prevent untimely prevents unauthorized movement of the indexing assembler to prevent untimely access to medications. It is a small and portable product, but requires the access to medications. It is a small and portable product, but requires the medications to be separated into the appropriate dosages beforehand. medications to be separated into the appropriate dosages beforehand.
Medicine Dispenser (5,947,329): This product also provides a security feature Medicine Dispenser (5,947,329): This product also provides a security feature against unauthorized access to the medication by storing the medication in sealed against unauthorized access to the medication by storing the medication in sealed containers that require deliberate steps to get the medication dispensed. This device containers that require deliberate steps to get the medication dispensed. This device is completely mechanical and includes a counter to track the dosages dispensed.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 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 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. 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 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 medications. It dispenses metered quantities from an ampoule and can easily return to its original state. to its original state.
Gravity Feeding Pill Medicine Dispenser (4,638,923): This is the only device that 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 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 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 does not contain a system to verify that the pills were extracted from the container correctly. correctly.
PatentsPatents
Automated Medication Dispensing Automated Medication Dispensing DeviceDevice
Design Design OneOne
Vacuum fan
Lateral view
Vacuum fan
Cutter assembly
Top view
Top view
Battery pack
Dispenser
Storing Modules
Scale
Automated Medication Dispensing Automated Medication Dispensing DeviceDevice
Design One CutterDesign One Cutter
¼ cut
1/2 cut
Flexible template
Cutter blade
Automated Medication Dispensing Automated Medication Dispensing DeviceDevice
Design One Rejection AssemblyDesign One Rejection Assembly
Load Cell
1"
0.03"
0.02" 0.37"
R 0.03"
R 0.003"
1.3"
1.5"
1"
Platform 1
Belt
Stepper Motor
Platform 2
Frame
Figure 18 – Weight Verification System
Automated Medication Dispensing Automated Medication Dispensing DeviceDevice
Design TwoDesign Two
electronics
Medication acceptance door
Medication storage area
Rejection assembly
batteries
LCD
keypadkeypad
Robotic Robotic ArmArm
CutterCutter
Automated Medication Dispensing Automated Medication Dispensing DeviceDevice
Design Two – Robotic ArmDesign Two – Robotic Arm
Sensor arm
Vacuum pickup arm
8"
servo
Slide trackgripper
Piezo electric pressure sensor
Slide trackgripper
Piezo electric pressure sensor
SHUT
OPEN
Gripper Assembly
servo
Screw coupling
Screw coupling
Automated Medication Dispensing Automated Medication Dispensing DeviceDevice
Design Three – Robotic ArmDesign Three – Robotic Arm
ServoVacuum supply line
Stepper motor CouplingCounter weightPill pick up area
Top view
Side View
Robotic Arm component breakdown
Automated Medication Dispensing Automated Medication Dispensing DeviceDevice
Vacuum Fan RequirementsVacuum Fan Requirements
P = F/AF =mgA= πr2
Therefore,P= mg/ πr2
(Equations)
System operating curve
Pump characteristic and system operating curves
Automated Medication Dispensing Automated Medication Dispensing DeviceDevice
Secondary StageSecondary Stage
Change in distance of secondary stage
Guide pin
Guide pin channel
Main stage motion
Secondary Stage Motion(View from below)
Secondary stage motion
Automated Medication Dispensing Automated Medication Dispensing DeviceDevice
Secondary StageSecondary StageFor larger pill
Change is center equal to change in edge Change is center equal to
change in edge
For Smaller Pill
Automated Medication Dispensing Automated Medication Dispensing DeviceDevice
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
Inco
rrec
t
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 suctionVacuum 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
Pathway of Pathway of PillPill
Automated Medication Dispensing Automated Medication Dispensing DeviceDevice
SpecificationsSpecificationsElectrical Parameters Power Sources
Main AC-DC converter Voltage splitter (resistive network)
PDA rechargeable lithium battery Display Number of Characters 320x320 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 ¼ tablet – 100% Mechanical Parameters Material Plastic
Compatible with chemical composition of Medications used
Weight <20 lbs Vibration minimal Size easily transportable to a home or clinical setting Anchoring/Mounting System strap or screw plate Gears screw and simple Blade Size 1” razor blade Material metal with low reactivity, possibly stainless steel Security Case screwed shut Medication door with child safety
Environmental Parameters Operating temperatures 0-100° C Storage temperature dependant on medication (will research) Storage humidity airtight Light level low Hardware and Software Parameters PDA Processor Intel 200MHz Xscale Operating system Palm 0S garnet (v5.4) required for LabView Required program Microsoft Excel Programming Programmed in LabView Memory 32MB (26 MB actual storage) Barcode reader Plug n Play type, output to Excel spreadsheet file Input Parameters Alarm silence PDA front panel Barcode data Medication name
Dose Interval Expiration dates Warning
Medication reload User operated Output Parameters Alarm condition User input required for medication dispensing Error condition Medication jam Dose/Interval Change confirmation Time stamp dose Record dose and time Medication Near empty warning (reload)
Automated Medication Dispensing Automated Medication Dispensing DeviceDevice
References References
e-pill Medication Reminders, Wellesley, MA, e-pill Medication Reminders, Wellesley, MA, 2005.2005.http://www.epill.comhttp://www.epill.com
Lynxmotion LLC., Pekin, IL, 2004.Lynxmotion LLC., Pekin, IL, 2004.http://www.lynxmotion.comhttp://www.lynxmotion.com
National Instruments Corporation, Austin, National Instruments Corporation, Austin, TX, 2005.TX, 2005.http://www.ni.comhttp://www.ni.com
Parallax Inc., Rocklin, California, 2002-2004.Parallax Inc., Rocklin, California, 2002-2004.http://www.parallax.comhttp://www.parallax.com
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