automated medication dispensing device team 6: eva marie suarez kevin villani jacquelyn masse rerc...

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


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


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


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)


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


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


OperationOperationBasic overview Basic overview


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


CaseCase

Loading funnel

Dispensing Door Keyboard storage

PDA


Case Case (inside)(inside)


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


Arm servo

Vacuum servo

Arm

Vacuum supply

Vacuum control valve

Vacuum pick up tube

Base

External view

Internal components

RoboticRobotic ArmArm


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


Cutter Cutter Assembly – Assembly – Swing Arm Swing Arm

ActionAction


Swing arm

Tablet

Secondary stage

Servo

Blade

Tracks

Cutter Cutter Assembly – Assembly – Blade ActionBlade Action


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


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


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


TimelineTimeline


BudgetBudget


Back-Up SlidesBack-Up Slides


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.


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


Design Design OneOne

Vacuum fan

Lateral view

Vacuum fan

Cutter assembly

Top view

Top view

Battery pack

Dispenser

Storing Modules

Scale


Design One CutterDesign One Cutter

¼ cut

1/2 cut

Flexible template

Cutter blade


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


Design TwoDesign Two

electronics

Medication acceptance door

Medication storage area

Rejection assembly

batteries

LCD

keypadkeypad

Robotic Robotic ArmArm

CutterCutter


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


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


Vacuum Fan RequirementsVacuum Fan Requirements

P = F/AF =mgA= πr2

Therefore,P= mg/ πr2

(Equations)

System operating curve

Pump characteristic and system operating curves


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


Secondary StageSecondary StageFor larger pill

Change is center equal to change in edge Change is center equal to

change in edge

For Smaller 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

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


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)


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

automated medication dispensing device team 6: eva marie suarez kevin villani jacquelyn masse rerc...

Documents

medtime device

dosage slide

dispensed medication

expensive medication

cutting device difficult

budget slide

available slide

pills compartment