US011139057B2

( 12) United States Patent ( 10) Patent No .: US 11,139,057 B2

Akdogan et al . (45 ) Date of Patent : Oct. 5 , 2021
(54) DISPENSABLE UNIT RETRIEVAL ( 56 ) References Cited
MECHANISM
U.S. PATENT DOCUMENTS
( 71 ) Applicant: Hero Health, Inc. , New York , NY (US ) 3,224,634 A 12/1965 Semsch
3,998,356 A 12/1976 Christensen et al .
( 72 ) Inventors: Kutadgu Akdogan , New York , NY ( Continued )
(US ) ; Christian Von Heifner,
Brooklyn , NY (US ); Maya Kelley , FOREIGN PATENT DOCUMENTS
Menlo Park , CA (US ) ; Greggory Paul
Hagopian , Brooklyn , NY (US ); Kalyan CN 105407857 3/2016
C. Vepuri, Newtown , PA (US ) DE 102011112953 3/2013
( Continued )
( 73 ) Assignee : Hero Health, Inc. , New York , NY (US )
OTHER PUBLICATIONS
( * ) Notice : Subject to any disclaimer, the term of this
patent is extended or adjusted under 35 EPO , “ EP Application Serial No. 15830466.7 , Communication
U.S.C. 154 (b ) by 13 days. Pursuant to Article 94 ( 3 ) dated Aug. 14 , 2019 " , 8 pages.
( 21 ) Appl. No .: 16 /824,098 ( Continued )
Primary Examiner Saul Rodriguez
( 22 ) Filed : Mar. 19 , 2020 Assistant Examiner Willie Berry , Jr.
( 65 ) Prior Publication Data (74 ) Attorney, Agent, or Firm The Marbury Law
Group, PLLC
US 2020/0216211 A1 Jul . 9 , 2020
( 57 ) ABSTRACT
A system enables management of dispensable units by
Related U.S. Application Data supporting functions such as retrieval, scheduled distribu
( 63 ) Continuation of application No. 16 /137,265, filed on tion , analysis, and notifications. To this end, a dispensable
Sep. 20 , 2018 , now Pat . No. 10,633,135 , which is a retrieval mechanism may be programmed to carry out blind
retrievals of dispensable units using a retrieval strategy with
( Continued ) a predetermined sequence of retrieval attempts ( e.g. , fixed or
varying two - dimensional retrieval patterns), which may be
(51 ) Int. Ci. open loop or closed loop . Techniques may also include the
B65B 35/18 ( 2006.01 ) identification of dispensable units through optical sensors
G16H 20/13 ( 2018.01 ) and weight measurement devices that can detect , e.g. , a
( Continued ) texture , a shape, and a size of dispensable units. Such
( 52 ) U.S. CI . identification can be used to program retrieval attempts by a
CPC G16H 20/13 ( 2018.01 ) ; A61J 770481 retrieval robot and in the formulation of the retrieval pattern.
( 2013.01 ) ; B25J 9/026 (2013.01 ) ; B25J Additionally , networked notification systems for dispens
9/1697 (2013.01 ) ; able units can be used for updating rules or schedules related
(Continued ) to the dispensable units , or alerting users and remote
( 58 ) Field of Classification Search resources of any potential misuse or hazards of the dispens
able units .
CPC B66C 1/02 ; HO1L 21/6838
(Continued ) 18 Claims , 10 Drawing Sheets
100
110 132 134 136
130
124

114

122
126
106
to
-112
128
X

X
-104
170

138
108 102
102

120 118
 US 11,139,057 B2
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Related U.S. Application Data 6,529,801 B1 3/2003 Rosenblum

6,604,019 B2 8/2003 Ahlin et al .
continuation of application No. 14 / 819,054 , filed on 6,662,081 B1 12/2003 Jacober et al .
Aug. 5 , 2015 , now Pat . No. 10,106,283 . 6,685,678 B2 2/2004 Evans et al .
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6,805,259 B2 10/2004 Stevens et al .
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5 , 2014 . 6,948,634 B2 9/2005 Evans et al .
7,006,894 B2 2/2006 De La Huerga et al .
(51 ) Int. Ci. 7,073,685 B1 7/2006 Giraud et al .
7,080,755 B2 7/2006 Laliberte et al .
B65B 35/06 ( 2006.01 ) 7,155,306 B2 12/2006 Haitin et al .
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B65B 57/14 ( 2006.01 ) 7,198,172 B2 4/2007 Lintell et al .
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B25J 9/02 ( 2006.01 ) 7,382,263 B2 6/2008 Danowski et al .
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7,404,500 B2 7/2008 Marteau et al .
B25 ) 19/02 ( 2006.01 ) 7,471,993 B2 12/2008 Rosenblum
B65G 47/91 ( 2006.01 ) 7,587,259 B2 9/2009 Berg et al .
GO7F 11/16 ( 2006.01 ) 7,715,277 B2 5/2010 De La Huerga
GO7F 17/00 ( 2006.01 ) 7,755,478 B2 7/2010 Niemiec et al .
B251 9/16 7,774,097 B2 8/2010 Rosenblum
( 2006.01 ) 7,831,336 B2 11/2010 Gumpert et al .
B65B 57/20 ( 2006.01 ) 7,844,361 B2 11/2010 Jean - Pierre
A61) 7/04 ( 2006.01 ) 7,885,725
7,887,757
B2
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2/2011 Dunn et al .
2/2011 Chan et al .
G05B 15/02 ( 2006.01 ) 7,944,342 B2 5/2011 Sekura
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B65 65/36 ( 2006.01) 8,014,232 B2 9/2011 Niemiec et al .
( 52 ) U.S. Ci. 9,501,887 B2 11/2016 Berg
CPC 2001/0002448 Al 5/2001 Wilson et al .
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( 2013.01 ) ; B25J 19/023 (2013.01 ) ; B65B 5/08 2002/0070227 Al 6/2002 Ferruccio et al.
(2013.01 ) ; B65B 35/06 (2013.01 ) ; B65B 35/18 2002/0147526 A1 10/2002 Siegel et al .
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2002/0169635
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 US 11,139,057 B2
1 2
DISPENSABLE UNIT RETRIEVAL BRIEF DESCRIPTION OF THE DRAWINGS
MECHANISM
The foregoing and other objects, features and advantages
RELATED APPLICATIONS of the devices, systems, and methods described herein will
5 be apparent from the following description of particular
This application is a continuation of U.S. patent applica drawings embodiments thereof, as illustrated in the accompanying
tion Ser. No. 16/ 137,265 , filed on Sep. 20 , 2018 , which is a . The drawings are not necessarily to scale , empha
continuation of U.S. patent application Ser. No. 14/ 819,054 sis instead being placed upon illustrating the principles of
(now U.S. Pat. No. 10,106,283 ) , filed on Aug. 5 , 2015 , theFIG devices, systems , and methods described herein .
. 1 is a cross -sectional view of a retrieval device .
which claims the benefit under 35 U.S.C. $ 119 (e ) of U.S. 10 FIG . 2 is a cross -sectional view of a retrieval arm .
Provisional App. No. 62/ 033,498 , filed on Aug.5 , 2014 , with FIG . 3 is a cross -sectional view of a retrieval arm .
the entire contents of each of these applications hereby FIG . 4 is a flow chart of a method for retrieval of
incorporated herein by reference . dispensable units.
This application is related to : U.S. patent application Ser. 15 FIG . 5 illustrates a two - dimensional retrieval pattern .
No. 14/ 214,737 , filed on Mar. 15 , 2014 , U.S. patent appli FIG . 6 illustrates a two - dimensional retrieval pattern.
cation Ser. No. 14/ 214,779 , filed on Mar. 15 , 2014 , U.S. FIGS . 7-10 show various retrieval system configurations.
patent application Ser. No. 14 /214,797 ( now U.S. Pat . No. FIG . 11 illustrates a system for dispensable unit identifi
9,358,499 ) , filed on Mar. 15 , 2014 , and U.S. patent appli- cation .
cation Ser. No. 14 /214,828 ( now U.S. Pat. No. 9,358,500) , 20 FIG . 12 is a flow chart of a method for dispensable unit
filed on Mar. 15 , 2014 , where the entire content of each is identification .
hereby incorporated by reference . Each of the foregoing FIG . 13 illustrates a system for networked notification for
related applications claims rity to U.S. Provisional App . dispensable units .
No. 61 / 800,973 , filed on Mar. 15 , 2013 , the entire content of FIG . 14 illustrates another system for networked notifi
which is hereby incorporated by reference . 25 cation for dispensable units .
TECHNICAL FIELD DETAILED DESCRIPTION

The present disclosure relates to managing dispensable The embodiments will now be described more fully
units such as health and wellness consumables, and more 30 hereinafter with reference to the accompanying figures , in
particularly to devices , systems , and methods for the which preferred embodiments are shown . The foregoing
retrieval, dispensing , management, and notification of dis- may , however, be embodied in many different forms and
pensables. should not be construed as limited the illustrated embodi
ments set forth herein .
BACKGROUND All documents mentioned herein are hereby incorporated
35
by reference in their entirety . References to items in the
There remains a need for improved techniques for retriev- singular should be understood to include items in the plural,
ing and dispensing units from a mixture of one or more and vice versa , unless explicitly stated otherwise or clear
dispensable units of arbitrary size , orientation, texture , and from the text . Grammatical conjunctions are intended to
weight. There also remains a need for detecting properties of 40 express any and all disjunctive and conjunctive combina
dispensable units in order to facilitate dispensing, and to tions of conjoined clauses , sentences, words , and the like ,
provide various forms of notification relating to dispensable unless otherwise stated or clear from the context. Thus, the
units . term “ or ” should generally be understood to mean “ and/ or ”
and so forth .
SUMMARY 45 Recitation of ranges of values herein are not intended to
be limiting , referring instead individually to any and all
A system enables management of dispensable units by values falling within the range , unless otherwise indicated
supporting functions such as retrieval, scheduled distribu- herein , and each separate value within such a range is
tion, analysis, notifications, and so forth . To this end, a incorporated into the specification as if it were individually
dispensable retrieval mechanism may include a pick - and- 50 recited herein . The words “ about,” “ approximately , ” or the
place retrieval robot that is programmed to carry out blind like, when accompanying a numerical value , are to be
retrievals of dispensable units using a retrieval strategy with construed as indicating a deviation as would be appreciated
a predetermined sequence of retrieval attempts such as a by one of ordinary skill in the art to operate satisfactorily for
fixed or varying two - dimensional retrieval patterns, which an intended purpose. Ranges of values and / or numeric
may be open loop (i.e. , deterministic) or closed loop (i.e. , 55 values are provided herein as examples only, and do not
with various forms of feedback concerning results of each constitute a limitation on the scope of the described embodi
retrieval attempt ). Techniques may also include the identi- ments . The use of any and all examples, or exemplary
fication of dispensable units through optical sensors , weight language (“ e.g.," “ such as , ” or the like ) provided herein , is
measurement devices, and so forth that can detect, e.g. , a intended merely to better illuminate the embodiments and
texture, a shape, and a size of dispensable units. Such 60 does not pose a limitation on the scope of the embodiments .
identification can be used to program retrieval attempts by a No language in the specification should be construed as
retrieval robot and in the formulation of the retrieval pattern . indicating any unclaimed element as essential to the practice
Additionally, networked notification systems for dispens- of the embodiments .
able units can be used for updating rules or schedules related In the following description , it is understood that terms
to the dispensable units , or alerting users and remote 65 such as “ first , ” “ second ,” “ above," " below , ” “ top ,” “ bot
resources of any potential misuse or hazards of the dispens- tom ," and the like, are words of convenience and are not to
able units. be construed as limiting terms.
 US 11,139,057 B2
9

3 4
While the following description provides detailed Aids , gauze , syringes, thermometers, individually packaged
embodiments of methods, systems , and devices for manag- units of antibacterials and the like , as well as other items
ing dispensable units or items , e.g. , consumables , it will be such as hearing aids , contact lenses and so forth that can be
understood that the specific embodiments described herein dispensed in individual units for one time use . This may also
are provided by way of example and not limitation , and that 5 or instead include continuous form items not intended for
various aspects of this disclosure may have additional appli- ingestion including personal care items such as toothpaste,
cations independent from those that are described . For toothpicks, soap , sanitizer, moisturizer, cotton swabs and the
example, the systems and methods described herein may be like, as well as other household items such as glue , batteries,
adapted to any environment where liquids, solids , powders, latex gloves , and so forth . All such disposables may be a
suspensions, and the like are controllably dispensed on any 10 form of consumable as those terms are used herein , and
predetermined or ad hoc schedule such as a chemical , consumables may similarly be a form of dispensable.
pharmaceutical or life sciences laboratory or a packaging It will be understood that while the foregoing terms
facility for custom deliverables . All such variations are ( dispensable, consumable, ingestible, disposable ) may be
intended to fall within the scope of this disclosure . variously used in this disclosure to describe embodiments of
15 the invention , the inventive concept generally applies to any
Definitions and all such dispensables, and any description of one type of
dispensable will be understood to refer to all such dispens
The terms “ item ,” “ unit,” “ dispensable," and related terms ables except where specifically noted to the contrary. Thus
such as “ dispensable unit , ” « dispensable item , ” and the like, for example, a container for consumable items will be
are intended to refer broadly to any item , combination of 20 understood to similarly teach a container for dispensable
items, composition, component, material, compound, object items, a container for ingestible items , and a container for
or the like that can be dispensed in unit or continuous form . disposable items . As another example, a schedule for deliv
While a “ dispensable ” may be any item that can be ery of a medical prescription will be understood to similarly
dispensed , the term " consumable ” or “ consumable unit is teach a schedule for delivery of any dispensable, ingestible,
intended to refer to dispensables that are intended to be 25 consumable , and disposable, with suitable modifications
consumed by a user . Consumables are intended to include a being readily apparent to one of ordinary skill in the art .
wide array of ingestible consumable items and form factors Another term used in the following description is " sched
for same . For example, consumable units may include one or ule .” As used herein , this is intended to refer to any time
more of pills , capsules , tablets , chewables , lozenges, dis- based or event-based regime for using dispensables, or more
solvables , sprinkles, dissolve -in -mouth micro -capsules, 30 generally , any list or other arrangement of times at which
orally disintegrating tablets, chewable tablets ( including possible tasks , events, or actions related to dispensables
jelly beans , gummies, and the like ) , gums, and so forth , as should take place or occur. This may, for example, include
well as continuous form consumables such as liquids or a single /one-off/ad -hoc trigger or time / date, or this may
powders , solutions , pastes , suspensions, and combinations include any number of one time , periodic, and / or recurring
thereof. The consumables may also or instead include items 35 events . Thus, for example , a schedule may specify an event
provided as free powders, powder sachets , liquids, liquid once per day for one week , or three times a day for two
sachets, vials , cups, cases , other storage forms, and so forth . weeks, or twice a day indefinitely. It will also be appreciated
More generally, the consumable units may be any compo- that a schedule may include events defined with respect to
sition for consumption in bulk , individual, individual pre- specific days or times of day, or events that are dependent on
packaged, group pre -packaged and / or mixed item package 40 some other event. Thus for example, a schedulemay indicate
form . For bulk form compositions, the “ consumable unit ” an event that is to occur once a day before breakfast, or three
may be a predetermined portion for dispensing such as a times a day after meals . While dosing regimens for medi
teaspoon of liquid, a number of pills , a milligram of powder cines , nutritional supplements and the like are contemplated
or the like, or a similar predetermined portion for dispensing as schedules, it will be understood that a schedule may be
or mixing into a compound locally created for dispensing 45 provided for any dispensable contemplated herein . In gen
prior to or after dispensing . For bulk form compositions, the eral, a schedule may be a data structure stored in a memory
“ consumable unit ” may be a broken or separated piece of a in any suitable form for use in managing dispensables as
continuous whole (e.g. , chalk ). contemplated herein , and it will be appreciated that user
Similarly, the content of each consumable unit may vary may maintain any number of independent or interrelated
significantly and may include but is not limited to prescrip- 50 schedules, and that a schedule may conversely specify
tion medication , non - prescription or over - the - counter medi- events for any number of users, all without departing from
cation , nutritional supplements, vitamin supplements, min- the scope of this disclosure .
eral supplements, veterinary medications, veterinary It will also be observed that a variety of terms are used to
nutritional supplements, and so forth . Consumable units describe the hierarchical and modular structural components
may also or instead include food and other items such as 55 of a dispensable management system such as containers,
sugar, seeds , candies, snacks , pet treats, or other foods and cartridges, dispensers , clips , and bases . It should be under
the like , as well as any other pharmaceuticals, nutraceuticals, stood that these are terms of convenience only and are not
or other consumable items not identified above . These intended to be limiting . Instead , a wide range of system
consumables that are intended to be ingestible are also architectures are contemplated, including various distribu
referred to herein as “ ingestibles ” or “ ingestible units .” 60 tions of processing circuitry and hardware that perform
While consumables may include items for consumption in various tasks such as scheduling, notification , communica
the conventional sense of ingestion as described above, tions , dispensing, and so forth . Thus, for example, mechani
consumables mayalso or instead include disposable items or cal systems for dispensing dispensables may be integrated
the like that are intended for one time use . Thus, as used into a base , a dispenser, a clip , and / or a container. Similarly,
herein a " disposable” may be any consumable intended for 65 processing for maintaining schedules, monitoring container
a use other than ingestion . This may, for example, include contents and the like may be integrated into a base , a
disposable medical items such as dressings, bandages , Band- dispenser, a clip , and / or a container. More generally , a
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5 6
reference to any component of a dispensing system as software to enable the retrieval or pickup of dispensable
contemplated herein should not be understood to require any units 102. As discussed herein , this may include blind
particular hardware, processing circuitry, or functionality, retrieval in which hardware performs a predetermined
and similarly should not be understood to exclude any sequence of moves according to a retrieval strategy without
particular hardware, processing circuitry, or functionality 5 any use of machine vision or other similar techniques to
except where specifically stated otherwise. locate and target an item for retrieval. The blind retrieval of
In a similar fashion , a dispenser, cartridge, base , or clip the dispensable units 102 may follow a variety of particular
may provide any level of integration with respect to con retrieval patterns as discussed herein . This may for example
taining dispensables, dispensing dispensable, managing
schedules, providing notifications and so forth . At the same 10 include open loop retrieval strategies that execute as a fixed
sequence of retrieval attempts without regard to sensor
time , any particular function related to the managed system feedback or the like . This may also or instead include closed
may be performed by a dispenser, cartridge, clip , or base , or loop retrieval strategies where the patterns can be adapted
be distributed in any useful manner among these modular " on the fly ” using , e.g. , feedback , a machine learning
components of the system . Thus the use of any one of these
terms in the following description should be understood to 15 algorithm , and so on. Feedback data may include, e.g.,
detection of contact with contents of a container where a
contemplate all such devices, except where a specific form
of cooperation between two such components is explicitly retrieval is being attempted, detection of whether a retrieval
described . attempt has been successful, or any other type of feedback .
Without limiting the generality of the foregoing, it is A so - called blind retrieval technique may use a variety of
broadly contemplated that a container may hold dispens- 20 non - optical feedback sources to evaluate and update various
ables in bulk or unit form . A cartridge or dispenser may retrieval strategies. The retrieval patterns as described herein
house a container and provide or support dispensing func- may thus enable the device 100 to have an increased
tions . A base may provide a desktop unit or the like to efficiency over known machine vision systems of the prior
removably and replaceably hold any number of containers , art. For example, in implementations, if the device 100 is
cartridges, or dispensers, and may also provide various 25 unsuccessful in a retrieval attempt, the chances of a suc
degrees of augmentation to management of dispensables. A cessful retrieval can improved on subsequent attempts by
clip may also optionally be employed as an electromechani- intelligently adapting the retrieval pattern on a next attempt.
cal interface between a base on one hand , and any container, The device 100 may allow for the retrieval of dispensable
cartridge, or dispenser on the other. units 102 having any size , shape, color, texture, contour,
A " container, " " cartridge,” or the like , may be a single- 30 weight, orientation, and so on . Additionally, using feedback
dose , single -unit , multi -dose, multi-unit or continuous/burst and machine learning, the device 100 may learn improved
dispensing container, which may be fully disposable, par- parameters for retrieval across different types of dispensable
tially disposable, or fully reusable. The " container," " car- units 02 , or mixtures of dispensable units 102. Also , if the
tridge , ” or the like , may also be a housing, container, storage dispensable units 102 are of a known type or if they have
vessel , or the like for a plurality of units (e.g. , a bulk storage 35 known properties then the techniques described herein can
container ). be used to optimize the retrieval strategy accordingly. Simi
Dispensable Retrieval Mechanism larly, information about containers housing the dispensable
An implementation includes a system having a retrieval units 102 may be used to optimize retrieval. For example ,
device ( which may also be referred to herein as a retrieval the cross - sectional shape of the container through a hori
robot , retrieval mechanism , and the like ) that is a pick -and- 40 zontal plane of the container may help to determine an
place mechanism for consistently picking up , separating, effective pattern for a series of blind retrieval attempts .
and / or breaking apart ( collectively referred to herein as Similarly, if the cross - sectional shape of the container
“ retrieving , ” “ picking up , " and the like ) dispensable units changes along a z - axis , e.g. , as retrievals are attempted
from a mixture of one or more dispensable units of arbitrary deeper within the container, then this may affect retrieval
size , orientation , texture, color, weight, and so forth , whether 45 strategies at each level, and at preceding levels .
disposed in a container or otherwise . In some embodiments, The device 100 may include a container 104 , a tube 106
the retrieval process may be referred to herein as “ plunging " with a nib 108 , a vacuum device 110 , a valve 112 , a
and the like , where a retrieval robot or component thereof is positioner 114 , and a controller 116 .
" plunged " into a dispensable unit mixture. The dispensable The container 104 may be any as described herein or
unit may include any degree or measurement of any physical 50 otherwise known in the art for containing dispensable units
property, including but not limited to flexibility, rigidity, 102 of the same type or of different types. The container 104
malleability, elasticity, and viscosity. The mixture of one or may include one or more contoured surfaces therein . The
more dispensable units may not necessarily include identical contoured surfaces may be designed such that dispensable
units , nor does each dispensable unit need to be identical to units 102 are directed (e.g. , by gravity or another force) to
another dispensable unit of the same type . 55 certain areas/volumes within the container 104 , e.g. , as the
The retrieval device may pick up individual dispensable dispensable units 102 are being picked up by the retrieval
units or multiple dispensable units together simultaneously device 100. For example , in one aspect , the bottom surface
or multiple dispensable units in a chain or sequence , or any 120 of the container 104 includes contours having at least
combination of these . The dispensable units may be in any one sloped portion . In this manner, as dispensable units 102
packaged configuration and the retrieval device may further 60 are retrieved , units that remain in the container 104 may be
unpackage, package , or repackage one or more dispensable guided into a known location within the container 104 for
units in concert with the individual or multiple unit pick- up retrievale.g ., in a vertically aligned container 104 , the
described . Thus, while the retrieval device is described for dispensable units 102 may be funneled down into a known
the pick- up of individual dispensable units, it is configurable location within the bottom of the container 104 through its
to pick up multiple units simultaneously or in a chain . 65 contoured surface ( s ) and the force of gravity acting on the
FIG . 1 is a cross -sectional view of a retrieval device. The dispensable units 102. In other embodiments, another force
device 100 may, in general, include machinery and control may work to manipulate the dispensable units 102 within the
 US 11,139,057 B2
7 8
container 104 , e.g. , a centrifugal force, a force caused by the Because the shape and size of the dispensable units 102
nib 108 or other machinery, an agitation, a shaking or may vary ( i.e. , between the same type of dispensable units
vibration force, and so on . 102 or between a mixture of different types of dispensable
In one aspect , the container 104 is included on a carousel units 102 ) , the predetermined range of dimensions may be a
118. The carousel 118 may include a plurality of containers 5 relatively wide range of dimensions . For example, in an
104 , where the carousel 118 is movable for positioning at aspect , the nib 108 can form a vacuum seal with small units
least one of the plurality of containers 104 relative to another such as less than 5 mm , and larger units such as greater than
component of the device 100 , e.g. , the nib 108 , the tube 106 , 150 mm . In an aspect , the shape and size of the dispensable
the positioner 114 , and so on . For example , in an aspect , the units 102 ( including a range of shapes/ sizes ) is known a
carousel 118 is rotatable so that one of the plurality of 10 priori so that a suitably shaped nib 108 can be provided . In
containers 104 can be rotated into a position for engagement another aspect , the shape and size of the dispensable units
with the nib 108 , which may itself have a limited range of 102 is unknown. In this aspect , the shape and size of the
motion within a horizontal plane. The carousel 118 may dispensable units 102 may be dynamically determined
utilize the positioner 114 for its movement, or it may include through techniques discussed herein .
an independent positioning mechanism . The positioning 15 As stated above , the nib 108 may be formed of a pliable
mechanism of the carousel 118 may include motors/ actua- material, including without limitation, an elastomeric mate
tors for automated movement or manual movement of the rial such as rubber or silicone . Regardless of material, in
carousel 118 may be provided by a user or operator. Where general, a preferred embodiment of the nib 108 is flexible
one or more containers 104 are arranged around an axis of and / or compressible . The nib 108 may also or instead
rotation of a rotatable carousel 118 , the positioner 114 may 20 include adhesive properties to permanently or temporarily
achieve coverage of the entire projected surface of the bind to dispensable units 102 , as a result of ( and not limited
container 104 with a combination of radial movement by the to ) one or more of the following features: pressure -sensitive
nib 108 and rotational movement by the carousel 118. Thus, tape , suction material , a suction cup , bellows , an adhesive
in one aspect , general x -y positioning within a horizontal coating, and so forth .
plane through one of the containers 104 can be affected 25 In an alternate embodiment, the device 100 does not
through a combination of radial and rotational motion . In include a nib 108 , but rather the tube 106 retrieves the
another aspect , the positioner 114 may provide x - y position- dispensable units 102 by drawing one of the dispensable
ing coverage throughout the cross -section of a container units 102 through the body of the tube 106 with a vacuum
104 , and the carousel 118 may be used to rotationally select force toward a desired destination .
from among a number of different available containers 104 30 The vacuum device 110 may include a vacuum source 130
on the carousel 118 . connected in fluid communication with the second end 124
The tube 106 may have a first end 122 and a second end of the tube 106. The vacuum source 130 may include a
124 coupled in fluid communication by a hollow core 126 . vacuum pump or the like , which provides a vacuum pressure
The tube 106 may be flexible , rigid , or any combination in the hollow core 126 of the tube 106 such that the nib 108
thereof. The tube 106 may be made from one or more 35 at the first end 122 of the tube 106 can draw dispensable
materials including without limitation plastic , rubber,metal , units 102 in its immediate environment for engagement via
glass , ceramic, and so on . A flexible tube, e.g. made of the force provide by a pressure difference from inside the
silicone or the like , could confer space -saving advantages by tube 106 to outside the tube 106 .
folding ( e.g. , passive folding /unfolding or active folding In an aspect , the vacuum device 110 is capable of revers
unfolding ). The tube 106 may also or instead be food safe , 40 ing the direction of air flow , e.g. , provided by the vacuum
e.g. , to meet the requirements of a governing /regulating source 130. The direction of the air flow may be reversed , for
body (e.g. , the Food and Drug Administration ), using a instance, using a branching line with one or more solenoid
material such as silicone or the like . The tube 106 may be valves or using a reversible air pump. Reversing the direc
bound flexibly, rigidly, or any combination thereof, to any tion of air flow may allow for the removal of any contami
wires or cables for operation of any electrical or electrome- 45 nants that are present (e.g. , attached to a filter or the like
chanical parts associated with the device 100. The tube 106 within the tube 106 ) in components of the device 100 , or
( and /or the nib 108 ) may be capable of rotating, stretching, otherwise for the removal of objects obstructing air flow in
compressing, or otherwise deforming or transforming to non - reversed operation of the device 100 .
engage dispensable units 102 from different angles/ trajec- The valve 112 may be disposed between the nib 108 and
tories . 50 the vacuum device 110 , where the valve 112 is operable to
The nib 108 may be disposed on the first end 122 of the controllably apply a vacuum force from the vacuum source
tube 106. The nib 108 may include an opening 128 with a 130 through the hollow core 126 to the nib 108. The valve
perimeter and a seal around the perimeter formed of a pliable 112 may provide for a suction state when in a first position
material shaped and sized to engage and form a vacuum seal and a releasing state when in a second position . In the first
with an object having a predetermined range of dimensions, 55 position , the valve 112 may be open , where the vacuum
e.g. , a dispensable unit 102. The nib 108 may include a device 110 maintains a fluid connection with the first end
bellows or the like integrated into the body of the nib 108 or 122 of the tube 106. In the second position , the valve 112
the seal , which may compress and expand in a manner that may be closed , where the valve 112 cuts off fluid commu
imposes a predetermined range of contact forces around the nication of the vacuum device 110 and the first end 122 of
perimeter of the nib 108 when contacting an object. In this 60 the tube 106. Alternatively, the valve 112 may otherwise
manner, the contact force with a target object can be provide for a break in the fluid connection between the
normalized to improve the vacuum seal provided around the vacuum device 110 and the first end 122 of the tube 106 ,
perimeter. In one aspect , the bellows may facilitate an where a break in the fluid connection equalizes pressure
adaptive planar orientation of the opening 128 in order to within the tube 106 and its external environment. To assist
more uniformly engage the surface of target objects, which 65 with the pressure equalization and thus the speed with which
may be in any arbitrary position and orientation within the the connection of a dispensable unit 102 is severed , the
container 104 where the nib 108 is attempting a retrieval. vacuum device 110 may be turned off at the same time as
 US 11,139,057 B2
9 10
switching the valve 112 to its releasing state . Such a valve parts of the tube 106 may move freely in the horizontal plane
112 may be controlled automatically , e.g. , by a signal while travelling vertically (or vice- versa ). Such an embodi
received from the controller, or manually. In an aspect , the ment may be advantageous because it can introduce noise
valve 112 includes a solenoid valve or the like . and randomness to the position of the nib 108 during pickup
The positioner 114 may be coupled to the tube 106 and 5 of a disposable unit 102 , thereby allowing new configura
configured to move the nib 108 with at least two degrees of tions of the nib 108 that can be more successful at pickup.
translational freedom within the container 104. In an aspect , Furthermore , such freedom may enable the first end 122 of
the positioner 114 is able to move the nib 108 with three the tube 106 to better conform to the surface of the dispos
degrees of translational freedom within the container 104 , able unit mixture and the surface of an individual disposable
e.g. , an x - axis and a y - axis for horizontal positioning within 10 unit 102 as the first end 122 of the tube 106 moves toward
the container 104 , and a Z - axis for lowering into the con- this surface or unit, thus forming a tighter coupling and / or
tainer 104 to attempt a retrieval at a particular x -y location . stronger seal.
In another aspect , the positioner 114 may provide two In an aspect , movement of the mixture of disposable units
degrees of translational freedom , e.g. , an x - axis and the 102 relative to the tube 106 is accomplished through move
z - axis , while rotation of the carousel 118 provides a third 15 ment of the container 104 .
degree of freedom for arbitrary positioning of the nib 108 Actuating the tube 106 , via the positioner 114 or other
relative to the container 104. Other arrangements may also wise , may add a significant bulk , height, or width to the
or instead be used . For example, the carousel 118 may be device 100 , regardless of whether the tube 106 is flexible or
vertically movable to provide a translational degree of rigid . To reduce the dimensions , the device 100 or tube 106
freedom along the z - axis, or the positioner 114 may be 20 may have one or more of the following sub -mechanisms: the
movable radially and rotationally on an arm extending from tube 106 may be flexible within a scissor lift that compresses
an axis of the carousel 118. More generally, any arrangement and extends for plunging ; the tube 106 may be rigid but
of positioning mechanisms suitable for arbitrarily position- telescoping , where it extends for plunging; the device 100
ing the nib 108 within the coordinate system of the container may include a flexible rack attached to a flexible tube, where
104 may be suitably employed as the positioner 114 and / or 25 these components bend when in retracted positions ( e.g. , a
carousel 118 as contemplated herein . flexible rack and pinion design ); a chain may be attached to
The positioner 114 may include mechanical elements such a flexible tube, where these components bend in in retracted
as one or more actuators ( e.g. , linear actuators, pneumatic positions ; and so forth . The sub -mechanisms may allow for
actuators , and so on) powered by one or more motors ( e.g. , collapsing/ extension in any spatial dimension or orientation ,
stepper motors , servomotors, brushed /brushless DC motors , 30 including but not limited to vertical, horizontal, and around
and so on ). The positioner 114 may also or instead include a substantially radial or circular path . The sub -mechanisms
any sub -mechanisms for providing movement, such as belts , may dynamically change the path of their collapsing/exten
pulleys , gears , threaded rods , rack and pinion systems, rails, sion depending on the environment and / or enclosure . For
guides , brakes, and so forth . any telescoping embodiments or the like , different sections
The positioner 114 may position one or more of the tube 35 may be included that are relatively tightly connected con
106 , the nib 108 , the container 104 , or another component of centric portions. The sub -mechanisms, or components or
the device 100. The positioner 114 may provide for a full sections thereof, may also or instead be coated with a sealant
range of motion of the component to which it is engaged , or or lubricant, i.e. , in an effort to preserve an airtight seal .
for limited movement, e.g. , movement along one or more The positioner 114 , or other components of the device
axes . In an aspect , the entire tube 106 is movable by the 40 100 , may be powered by alternating current (AC ) power
positioner 114. Additionally or alternatively, certain portions (e.g. , from a grid ) or direct current ( DC ) power (e.g. , from
of the tube 106 may be positionable by the positioner 114 or a battery ). The device 100 may have a battery backup to run
otherwise . For example , portions of the tube 106 may be the device 100 in the event of a power outage or unreliable /
positionable by bending the tube 106 ( e.g. , in an embodi- inconsistent power scenario . The battery may also or instead
ment where the tube 106 is flexible ) or hinging the tube 106 45 restore the device 100 to a safe or a manually overrideable
( e.g. , in an embodiment where the tube 106 is rigid ). Thus, state for reasons related to safety. The battery may be
the tube 106 may include hinges, articulating joints, and the connected to the device 100 via a diode so that power is only
like for positioning in an embodiment. The hinges may be drawn from the battery if a main power line voltage drops
configured to allow the tube 106 to remain airtight, and / or to below a predetermined threshold , e.g. , that of the battery
prevent kinking or closing of the tube 106. Hinging the tube 50 (e.g. , in the case where it is a lower voltage relative to a main
106 in this manner may be advantageous because the tube power line ).
106 can maintain suction while bending. Hinging or flexing The controller 116 may be coupled in a communicating
of the tube 106 in such a manner may change a rotational relationship with one or more mechanical components of the
orientation of the tube 106 or nib 108 . device 100 , e.g. , the vacuum device 110 , the valve 112 , and
In an aspect , the positioner 114 or another component of 55 the positioner 114. The controller 116 may be configured to
the device 100 provides rotational movement of the tube operate the nib 108 to attempt a blind retrieval of a number
106. This may include a radial positioning system . of dispensable units 102 within the container 104 using a
The positioner 114 or another component of the device sequence of retrieval attempts each applying a different
100 may provide for a stabilized and smooth motion of the two - dimensional retrieval pattern within a first horizontal
device 100. This may be done mechanically, e.g. , using 60 plane through the container 104. The controller 116 may also
bearings such as ball bearings, bearing wheels , and the like , provide for the device 100 to attempt other retrieval patterns,
and / or through the use of software, including but not limited e.g. , a one - dimensional retrieval pattern and a three -dimen
to feedback controlled actuators. The positioner 114 or sional retrieval pattern .
another component of the device 100 may also or instead The controller 116 may include any hardware or software
allow a small or moderate amount of freedom or “ wobble ” 65 to provide programming as described herein . Those skilled
in its motion , particularly in the retraction motion when in the art will recognize that a variety of different controllers
retrieving a disposable unit 102. In this manner , one or more 116 may be used in the implementations described herein .
 US 11,139,057 B2
11 12
The controller 116 may be programmable and include a tally) , a speed of horizontal movement of the nib 108 , power
network interface 132 , a processor 134 , a memory 136 , and (or a related property thereof, e.g. , current) supplied to the
any other hardware or software to perform its functions as positioner 114 , power supplied to the vacuum device 110 or
described herein . another component of the device 100 , a pulse width modu
The two - dimensional retrieval pattern used for the 5 lation ( PWM) frequency and duty cycle for a powered
retrieval attempts taken by the device 100 may be deter- component, a property or state of the valve 112 (e.g. , the
mined by the controller 116 , the processor 134 , or another length of time the valve 112 is in a released state or time the
component of the device 100 ( or a component in commu- tube 106 is in an equalized or equalizing pressure state) , a
nication with the device 100 , e.g. , a remote device or server rigidity of the tube 106 , a gear ratio of the positioner 114
connected through the network interface 132 ) . In an aspect , 10 (e.g. , of actuators or motors contained therein ), a shape of
the two -dimensional retrieval pattern is determined based on the tube 106 or a component thereof ( e.g. , a shape of the nib
feedback , e.g. , information related to a previous retrieval 108 , which as discussed herein may be compressible ), a
attempt. This information may include without limitation retrieval angle of the nib 108 (e.g. , a plunge angle relative
whether the retrieval attempt was successful or unsuccess- to a vertical or z -axis ), the size of objects for retrieval, the
ful, the position of the nib 108 at any point in the retrieval 15 weight of objects for retrieval, the shape of objects for
attempt (e.g. , the position within the first horizontal plane, a retrieval, the surface texture of objects for retrieval, the
z - axis position , an x -y - z coordinate, and so on ), a weight of dimensions of the container 104 in which retrieval is being
the dispensable unit 102 retrieved , a size of the dispensable attempted, the shape of the container 104 , supplemental
unit 102 retrieved, a force exerted on the nib 108 or other capabilities of the container 104 (e.g. , self -agitation to level
component of the device 100 , a location relative to the 20 a top surface of the objects, a stirrer to mix/level objects ,
container 104 or a location within the container 104 , and so ability to rotate or move within the horizontal plane , Z - axis
forth . depth , etc. ) , and so on . Any of the above may also or instead
The two - dimensional retrieval pattern used for the be used as dimensions or parameters for individual retrieval
retrieval attempts taken by the device 100 may also or attempts or patterns of retrieval attempts within a particular
instead include offsetting a position of the nib 108 within the 25 plane or from plane to plane . Spatial patterns may also be
first horizontal plane by a distance greater than half of a indexed and selected for use with a pattern parameter. For
cross - sectional width of the nib 108. The offsetting of the example, there may be general patterns such as parallel
position of the nib 108 may first include retracting the nib lines , spirals , concentric circles or other shapes, crisscrosses,
108 relative to the contents of the container 104 , and then random patterns, and so forth , any of which may be specified
offsetting the nib 108 by a distance greater than half of a 30 by a suitable parameter and then adapted to the shape of a
cross -sectional width of the nib 108 away from the previous container 104. Any of the above aspects of a retrieval
retrieval attempt. In this manner, the nib 108 may be strategy may be represented as inputs to the system , i.e. ,
disposed in a location adjacent to its previous retrieval parameters that may be modified by the system for control
attempt by a distance configured to achieve a different result ling the two - dimensional retrieval pattern . Specifically,
and / or place the nib 108 away from the epicenter of a hole 35 these inputs may be modified to optimize the system based
created by a previous retrieval attempt. In other words , on the outputs described below.
horizontally moving the nib 108 less than this distance may The two -dimensional retrieval pattern dimensions may
place the nib 108 within a hole or the like created by a also or instead be determined based on , e.g. , one or more of
previous plunge. The offsetting may also or instead include the following environmental constraints: a horizontal area
an agitating motion , i.e. , moving the nib 108 a distance in the 40 covered by the dispensable unit mixture, a three -dimen
first horizontal plane to displace dispensable units 102 when sional shape of the container 104 in which the dispensable
the nib 108 is plunged into the container 104. Thus, agitation unit mixture is contained , a varying height of the surface of
can be facilitated with small horizontal movements of the the dispensable unit mixture (e.g. , if not flat ), and so forth .
nib 108 ( such as a half width of the nib 108 or tube 106 ) The environmental constraints may be constant, or they may
while inserted into the container 104 . 45 change over time , e.g. , as dispensable units 102 are
The position of the nib 108 for an attempted retrieval retrieved .
within the first horizontal plane may be selected based on a The two - dimensional retrieval pattern used for the
variety of factors . This process of selecting positions may be retrieval attempts taken by the device 100 may also or
parameterized along any number of different dimensions . instead be determined based on one or more of: a rate of
For example, a target position of the nib 108 in the first 50 successful retrieval of dispensable units 102 , a time to
horizontal plane for a retrieval attempt may be selected by retrieve one dispensable unit 102 , a time to retrieve a
the controller 116 based on the number of retrieval attempts predetermined number of dispensable units 102 , a noise
in a two - dimensional retrieval pattern ( e.g. , at a particular level (measured for instance by a microphone or a human ),
height or otherwise ). In general, the larger the number of a rate of unsuccessful retrievals , a vibration (measured for
retrieval attempts that are to be made within a particular 55 instance by a gyroscope ), manual user feedback ( e.g. ,
horizontal plane, the more closely spaced each attempt will according to user preferences ), a pattern category (e.g. , a
be to other attempts. The pattern or strategy may be deter- random step pattern versus a pattern with a determined order
mined according to this and any number of additional of step locations ) , and so forth . The foregoing may represent
parameters for, e.g. , separation distance between sequential outputs to the system , which can be measured and optimized
retrieval attempts, time between sequential retrieval 60 by varying the aforementioned inputs referenced above . For
attempts , a speed of axial movement of the nib 108 ( e.g. , example, if the rate of successful retrieval of dispensable
upwards or downwards), a trajectory of movement of the nib units is low ( e.g. , the measured output is much less than an
108 , a retreat margin of the nib 108 , a speed of retreating of optimal value) , one or more of the inputs may be adjusted in
the nib 108 (e.g. , above the retreat margin as described an attempt to raise this value , e.g. , a separation distance
herein ), a speed of approaching dispensable units 102 from 65 between retrieval attempts may be increased or decreased .
a predetermined distance , an acceleration ( or deceleration ) The determination of pattern dimensions may occur via
while positioning the nib 108 (e.g. , vertically or horizon- one or more of several methods, including but not limited to :
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13 14
a manual trial- and -error of different patterns, a pre -defined , conjunction with the machine learning process , the image
automatic “ testing phase , " a predetermined sequence of recognition may be used to determine the average dispens
patterns or steps in a pattern , a machine learning process, a able unit 102 shape, size , and separation, hence informing
machine vision process, using randomization or random the optimal separation between " plunges ” (i.e. , one of the
values , and so forth . 5 pattern dimensions discussed above ).
In an aspect , if the pattern is determined using a “ testing The device 100 may receive input from an external signal
phase , ” the device 100 can have a set of generic patterns or message , indicating, for example, the following or a
preloaded into digital memory (e.g. , in the memory 136 of combination of the following: the exact pattern (i.e. , pattern
the controller ), where each of the patterns is tested and the dimensions ) to use , the default starting pattern as a begin
resulting metrics after each is observed . Then, a pattern may 10 ning for the machine learning process discussed above, and
be selected for a particular unit mixture if it optimizes the the size of the small increment dd for a particular pattern
pre -defined metrics. dimension in the machine learning process. This input may
In an aspect , if the pattern is determined using a machine be driven by a detection received from some other compo
learning process, the device 100 may start with a default nent related to an environmental constraint, including but
starting pattern, and iteratively construct a pattern with 15 not limited to : the average size , shape, texture, weight, and
globally ( or near -globally ) optimal pattern dimensions ( e.g. , orientation of dispensable units 102 in one or more of the
through one or more of the illustrative pattern dimension nearby mixtures, the ambient temperature, pressure , or
factors provided above) to optimize the pre -defined metrics, humidity , and the like , or other factors or inputs. This input
e.g. , using one or multiple optimization algorithms and may come from a human or a machine , where examples of
techniques ( including but not limited to a simplex algorithm , 20 the latter include but are not limited to a server (via the
Newton's method , finite difference, gradient descent/ hill internet /intranet, Ethernet, ZigBee , WiFi, 3G , 4G , LTE ,
climbing, and simulated annealing ). The device 100 may WiMAX , and so forth ), another processor ( whether onboard
separately use ( independently or in conjunction ) one or more the device 100 or not) , a remote resource , and so forth .
supervised or unsupervised learning algorithms, such as Although the device 100 in the figure is shown as a
nearest neighbor, neural networks, and cluster analysis. An 25 vertically -aligned retrieval device , where the two-dimen
illustrative example of the learning process may have the sional retrieval pattern is discussed as being through a
following steps : ( 1 ) begin at a pre -determined default pattern horizontal plane, one skilled in the art will recognize that
( with default dimensions ) for instance using a winding route other alignments are also or instead possible . For example,
or a spiral route , ( 2 ) run one or many steps of the pattern , (3 ) in another aspect , the device is a horizontally - aligned
measure the pre -defined metrics m , (4 ) modify one of the 30 retrieval device, where the two -dimensional retrieval pattern
dimensions d ( e.g. , a number of steps) by a small increment is through a vertical plane. Other alignments, e.g. , tilted or
dd that is expected to improve the measured metric m;, based angled alignments are also possible . Still more generally,
on the change in m; during the previous step , ( 5 ) repeat steps while an x , y , z coordinate system 170 generally serves as a
2-4 , choosing a new small increment, ( 6 ) repeat steps 2-5 convenient basis for positioning within three dimensions
until this dimension is optimized within a predefined or 35 and are included in some of the discussions regarding
algorithmically determined margin of error $ d for that positioning herein , any other coordinate system or combi
dimension , (7 ) move to another dimension , and optimize via nation of coordinate systems may also or instead be
steps 2-6 , holding the other dimension constant, ( 8 ) repeat employed, such as a positional controller and assembly that
steps 2-7 until optimized in all dimensions . In an aspect , dd operates according to cylindrical or spherical coordinates.
can be a small fraction, e.g. , approximately one percent of 40 Actuation and movement of components of the device
the total range of values that a dimension may take, 100 along any axes or any directions may be controlled or
for instance : ( new_plunge_speed ) = (old_plunge_ restrained by various sensing systems (which may be col
speed + (max_plunge_speedx0.01) ). This fraction may be lectively referred to herein as “ actuation sensor systems ” )
empirically determined for optimality. and mechanical constructs . Such actuation sensor systems
In an aspect , if the pattern is determined using a machine 45 may include but are not limited to optical -interrupter -based
vision process , the device 100 may have one or more optical encoders, rotary encoders, linear encoders , quadrature
sensors or cameras (e.g. , charge -coupled device ( CCD ) , encoders, and the like . The actuation sensor systems may
complementary metal -oxide - semiconductor ( CMOS ) , and include the resolution of encoding for preferred, accurate
the like) on a top surface (or “ ceiling ” surface) or at the motion , along with one or more index or “ home ” positions .
bottom of the tube 106 , i.e. , facing downward towards the 50 Such actuation sensor systems may be used in conjunction
dispensable unit mixture. Based on images generated by with control software to drive the actuation, e.g. , of motors
these sensors , a microprocessor (e.g. , the processor 134 of included in the positioner 114. Mechanical constructs may
the controller 116 ) may perform image recognition to deter- include hard stops (e.g. , a protruding lip ) and the like .
mine where visible dispensable units 102 are located ( e.g. , Actuation may use a combination of actuation sensor sys
by using edge detection algorithms ), and direct the horizon- 55 tems and mechanical constructs.
tal actuation such that the tube 106 is plunged vertically As discussed herein , motion may be relatively smooth to
down to a center of a dispensable unit 102 that appears to ensure relatively fast retrieval of dispensable units 102 , a
have a high success rate for retrieval, which in most opera- relatively high rate of retrieval success , and a durable
tions is the dispensable unit 102 that has the largest surface mechanism . This may be achieved by using ball bearings,
area exposed to the optical sensors . Furthermore, in an 60 ball bearing wheels , smooth metal rods (e.g. , stainless steel
aspect with actuators disposed near the bottom of the tube SS301 , SS303 or SS304 with 9 micron finish or finer ),
106 , the microprocessor may also or instead direct the Kapton tape , or similar. Some embodiments may have less
actuators to bend , hinge, or otherwise direct the bottom of smooth travel on one or more axes relative to another, e.g. ,
the tube 106 towards the center of the dispensable unit 102 for dampening motion .
that appears to have a high success rate for retrieval, and 65 The device 100 may further include an agitator 138
which is also in range of the tube's bending or hinging . engaged with the first end 122 of the tube 106 that converts
Additionally, when using the machine vision process in an axial force created by a vertical movement ( i.e. , plunging )
 US 11,139,057 B2
15 16
of the tube 106 or plunger into a horizontal force parallel to substantially pleated layer of material included on the nib
( or substantially parallel to ) the first horizontal plane for 208 that permits the nib 208 to be compressible. Being
agitation of the dispensable units 102. In other words , when compressible may allow the nib 208 to conform its shape to
the tube 106 is plunged in a direction along the z - axis, the the shape or texture of a dispensable unit, while also or
agitator 138 may displace dispensable units 102 in which it 5 instead permitting the nib 208 to absorb axial forces caused
contacts along one or more of the x - axis and the y - axis , e.g. , by a plunging of the tube 206. At the same time , the bellows
through an x - y plane. The agitator 138 is further described 242 can facilitate reorientation of the seal 243 around the
below. perimeter 244 of the opening 228 so that the plane of the seal
In general , in use , the device 100 may involve the tube 243 can adjust to a range of arbitrary planar orientations of
106 with the nib 108 being plunged ( e.g. , vertically or 10 the surface of objects within the container. In this manner,
substantially vertically, horizontally or substantially hori- the nib 208 can maintain a predetermined range of contact
zontally, or otherwise ) into a mixture of disposable units forces around the perimeter 244 to form a desired vacuum
102. This actuation may occur using the positioner 114 as seal when contacting objects in a range of different positions
described herein . Upon contact between the nib 108 and a and orientations within the container. The bellows 242 may
disposable unit 102 (e.g. , on the surface of the mixture or 15 be formed of the same material that forms the nib 208 or a
near the surface of the mixture ), suction caused by the majority thereof, or the bellows 242 may be formed of a
pressure difference between tube 106 and the external envi- different material . In an embodiment, one or more of the nib
ronment may draw the disposable unit 102 to the nib 108 , 208 and bellows 242 may be formed of an elastomer, such
where the nib 108 forms a sealed connection with the as silicone rubber or the like , although other materials are
disposable unit 102. The disposable unit 102 may thus be 20 also or instead possible . The bellows 242 may permit the
held by the tube 106 due to the force of the vacuum pressure , seal 243 of the nib 208 to move relative to the tube 206 as
which is selected to be sufficiently strong to keep the the positioner moves the tube 206 vertically into the con
disposable unit 102 connected to the nib 106 against the tainer, thereby maintaining a predetermined range of contact
force of the weight of the disposable unit 102 and any forces as the seal 243 of the perimeter 244 of the nib 208
disturbing or resistive forces such as that imposed by other 25 contacts contents of the container. This can allow the nib 208
disposable units 102 nearby, heavy vibrations, movement of to absorb axial forces created through contact of the nib 208
the nib 108 or tube 106 , or otherwise . with contents of the container or other objects /components.
Once the connection with the disposable unit 102 has The bellows 242 may be further configured to normalize an
been made , the positioner 114 may retract the tube 106 from axial force on the nib 208 created by a plunging of the tube
the container 104 , e.g. , pull the tube 106 up along the z - axis 30 206 in order to strengthen the vacuum seal between the nib
in the vertically -aligned device shown in the figure. Due to 208 and a dispensable unit .
the engagement, the disposable unit 102 may travel with the The retrieval arm 200 may further include a biasing
tube 106. Upon a signal, e.g. , from the controller 116 , the element 252 that works in conjunction with an indicating
engagement may be broken , thus releasing the disposable element 250. The biasing element 252 may movably couple
unit 102 , which may fall due to , e.g. , its own weight, an 35 the indicating element 250 to the tube 206 , where the biasing
artificially applied field (e.g. , magnetic field ), or similar. The element 252 biases the indicating element 250 in a direction
engagement between the nib 108 and the disposable unit 102 with a predetermined biasing force. For example, in a
may be broken, e.g. , by turning off the vacuum source 130 , vertically aligned retrieval device , the biasing element 252
by releasing a mechanical grabber, by operation of the valve may bias the indicating element 250 in an axial direction
112 , and the like . 40 ( along a z -axis ), i.e. , perpendicular to a surface formed by
FIG . 2 is a cross - sectional view of a retrieval arm . The contents of a container. The predetermined biasing force
retrieval arm 200 may be part of a retrieval device as may be selected such that a force on the tube 206 that causes
described herein , and may include a tube 206 having a first compression of the biasing element 252 does not damage
end 222 and a second end 224 , a nib 208 , a hollow core 226 , one or more of the tube 206 and the dispensable units . In an
an opening 228 , and an agitator 238. The retrieval arm 200 45 aspect , the indicating element 250 is engaged with the nib
may otherwise be referred to herein as a plunger. 208 such that the indicating element 250 moves relative to
As shown in the figure, the agitator 238 may include one the tube 206 when a contact force applied to the nib 208 is
or more angled surfaces 240 , or otherwise sloped or con- greater than the predetermined biasing force on the indicat
toured surfaces . The angled surface 240 may be configured ing element 250. In one aspect , the nib 208 and the indi
to displace dispensable units when the nib 208 attempts the 50 cating element 250 may be configured such that any vertical
blind retrieval as described herein . Specifically, when the movement of the nib 208 relative to the tube 206 also causes
retrieval arm 200 is plunged into a container of dispensable vertical movement of the indicating element 250. In another
units , the angled surfaces 240 may engage with one or more aspect , the nib 208 and the indicating element 250 may be
of the dispensable units thereby displacing them , e.g. , hori- configured such that the nib 208 can compress a predeter
zontally away from the retrieval arm 200 when the retrieval 55 mined amount before the indicating element 250 will move
arm 200 plunges vertically. In this manner, the agitator 238 relative to the tube 206. This compression may be made
may convert an axial force created by a plunging of the tube possible by the material of the nib 208 as described herein .
206 into a horizontal force within a horizontal plane ( e.g. , The retrieval device or system may further include a con
the first horizontal plane described herein ) for agitation of troller as described herein , where the controller is configured
the dispensable units . 60 to infer contact of the nib 208 with contents of the container
In an aspect , the agitator 238 substantially resembles a upon detecting a movement of the indicating element 250
cone or a truncated cone , which can aid in preventing relative to the tube 206. This inferred contact may indicate
damage to dispensable units by directing the units radially to the retrieval device or system that the nib 208 has
outward from the retrieval arm 200 when it plunges down- contacted a surface formed by the contents of a container,
wards. 65 thereby providing an axial position of this surface to the
As shown in the figure , the nib 208 may include one or controller or other component of the retrieval device or
more bellows 242. The bellows 242 may be formed by a system .
 US 11,139,057 B2
17 18
As shown in the figure , the indicating element 250 may be preceding the filter 260 may also or instead be relatively
disposed on the first end 222 of the tube 206. The biasing small to prevent similar recirculation, but it may be large
element 252 may include a mechanical spring or the like, enough such that any contaminants blocked by the filter 260
and / or the biasing element 252 may include an elastomeric have space to fall or be pulled by a different force away from
material, e.g. , of the indicating element 250 or another 5 the filter 260 , thus preventing air flow through the filter 260
component of the retrieval arm 200 such as the nib 208. The from being blocked . The preceding predetermined volume
biasing element 252 may utilize a mechanical stop 254 may further include a trough section, situated in the direction
provided on the retrieval arm 200 ( e.g. , on the tube 206 ) , of such a " different force ” (which may be gravity , thus the
which can counteract a contact force on the indicating trough may be situated under the filter 260 with respect to
element 250 or nib 208. As discussed above , a predeter- 10 gravity ), which would be disposed in a region in which
mined force that allows for compression of the biasing contaminants could collect without substantially obstructing
element 252 may be selected to coincide with a force exerted an air flow .
on the tube 206 when the first end 222 of the tube 206 FIG . 3 is a cross - sectional view of a retrieval arm . The
contacts a plurality of dispensable units, e.g. , dispensable retrieval arm 300 may be an alternate embodiment of the
units that form a top surface of a dispensable unit mixture in 15 retrieval arm discussed above . In this embodiment, the
the container. indicating element 350 may work in conjunction with a
In an embodiment, the indicating element is the nib itself. sensor 356 and guide rails 358 .
In this embodiment, the biasing element may be the pliable In one aspect , the sensor 356 is configured to detect
material of the nib that allows the nib to be compressible , or movement of the indicating element 350 relative to the tube
the biasing element may be a separate component that 20 306 and to send a signal to a controller when the movement
movably couples the nib and the tube . In another embodi- is detected . Upon receiving the signal that movement of the
ment, the indicating element 250 is coupled to the nib 208 indicating element 350 relative to the tube 306 is detected ,
( as shown in the figure ). In yet another embodiment, the the controller may be configured to halt or reverse axial
indicating element and the agitator are the same component, movement of the nib 308 within the container. This may
where the agitator is movable in an axial direction on the 25 prevent damage to one or more of the dispensable units and
tube . the tube 306 by terminating a downward motion of the tube
In an implementation in which the indicating element 250 306 and nib 308 upon contact with objects within a con
is connected to the nib 208 , the indicating element 250 may tainer, or more specifically, when the contact force between
be minimally separated from the nib 208. In an aspect , the the nib 308 and the objects exceeds a predetermined thresh
indicating element 250 is seamlessly connected to the nib 30 old governed by a spring constant or the like of the biasing
208 or is otherwise a part of the nib 208. For example, the element 352 .
indicating element 250 may be molded onto the nib 208 . The sensor 356 may include an optical -interrupter sensor
Such a connection can ensure that there is no room for or the like . For example, upon compression of the biasing
contaminants or residue to travel up between the nib 208 and element 352 , a light -blocking and / or reflective protrusion or
the indicating element 250 and therefore damage or interfere 35
with mechanics or electronic functionality.
the like may move into a path of the optical-interrupter
sensor, thus triggering a signal that the first end 322 of the
In an aspect , the biasing element 252 may also serve to tube 306 has touched the surface of the dispensable unit
absorb a force caused by contact between the first end 222 mixture. This protrusion may be made of metal ( e.g. , stain
of the tube 206 (which may or may not have a nib 208 ) and less steel ) for optimal interrupting in the environment within
a surface of the dispensable unit mixture (or a surface of the 40 the retrieval device, where such an environment can include
container or the like ). The biasing element 252 may thus air, dust, residue, and other materials or contaminants that
prevent the tube 206 from transferring a relatively strong might be present in the gap between an optical - interrupter.
force to the dispensable unit mixture ( or vice -versa) , which In another aspect , the sensor 356 includes electrical
may prevent damage to one or more of the dispensable units contacts that are separated at rest, e.g. , in the absence of
or the tube 206 . 45 external forces, and that come into contact with one another
The retrieval arm 200 , or another component of the upon compression of the biasing element 352. Such contact
retrieval device or system , may include a filter 260.The filter may complete a circuit, thereby transmitting an analog or
260 may prevent contaminants from entering the vacuum digital signal to a controller, which would thus determine
device through the tube 206. The filter may use active or that the first end 322 of the tube 306 has touched the surface
passive filtration to remove contaminants, and may be 50 of the dispensable unit mixture ( with a predetermined con
powered or unpowered in the active filtration embodiment. tact force sufficient to overcome the biasing force of the
A passive filter may include a filtration material ( e.g. , a biasing element 352 ) . In such an embodiment, the first end
porous cloth or plastic ) and an enclosure around the filtration 322 of the tube 306 may be electrically insulated to prevent
material to create a seal in the line in which it is disposed and a completion of the circuit when at rest (i.e. , when the
ensure that air flows through the filtration material. The 55 biasing element 352 is not compressed ), thus preventing
filtration material may be shaped in several ways, including transmission of an incorrect signal. The biasing element 352
but not limited to a disc, a cone , a cylinder, and so on . and contacts may also or instead reside entirely within a
The filter 260 may be located within the tube 206 or along mechanical switch or the like . Numerous other contact
another portion of the retrieval device or system . Wherever sensors and systems are known in the art, and may be
disposed , the volumes adjacent to the filter 260 may be 60 adapted for use with the retrieval arm 300 contemplated
shaped such that there is a certain predetermined volume herein .
preceding the filter 260 and a certain predetermined volume Information provided by the indicating element 350 or
following the filter 260 (e.g. , relative to the direction of flow another component of the retrieval arm 300 or retrieval
of air in an embodiment including a vacuum device ). The system may be stored, e.g. , in a memory or database that is
volume following the filter 260 may be relatively small , e.g. , 65 coupled in a communicating relationship with the controller
to ensure that there is as little recirculation of air flow as (or disposed in the controller itself ). In an aspect , the
possible (which can lead to energy loss ) . The volume memory may store a position of the nib 308 ( e.g., an axial
 US 11,139,057 B2
19 20
position) where movement of the indicating element 350 The guide rails 358 may provide for movement of the
relative to the tube 306 is detected . This may be a z - axis or indicating element 350 or a component thereof, e.g. , in the
vertical axial position that corresponds to a top surface of the axial direction . The guide rails 358 may also or instead
plurality of dispensable units within the container. This may prevent unwanted movement of the indicating element 350
also or instead include a horizontal or x - y position at which 5 or a component thereof, e.g. , in the horizontal direction.
the contact was detected . The controller may then be con protects The retrieval arm 300 may also include a cover 362 that
figured to position the nib 308 for a retrieval attempt in the components disposed therein . These components
two -dimensional retrieval pattern at a predetermined height. may include , e.g. , the sensor 356 , the biasing element ( e.g. ,
The predetermined height may be disposed above the sur a spring ), the guide rails 358 , and so forth . The cover 362
face of the plurality of dispensable units within the container 10 may be particularly advantageous to prevent build -up of
material from the dispensable unit mixture on an optical
such that the nib 308 will not contact the dispensable units interrupter sensor or the like .
until making a retrieval attempt and will thereby not be Any of the devices and systems described above may also
hindered by the dispensable units . The predetermined height include other advantageous control features , e.g. , provided
may also be disposed relatively close to the surface of the 15 by a processor
plurality of dispensable units, such that the time when a processor maywithin a controller or the like . For example,
estimate the number of dispensable units
retracting the nib 308 (e.g. , after an unsuccessful retrieval remaining in a container, for example using calculations
attempt) is reduced . based on one or more of: ( 1 ) a vertical location of the surface
Thus, in an aspect , in order to compensate for a vertically of the dispensable unit mixture at one or more horizontal
uneven disposable unit mixture , the system may store , 20 coordinates, ( 2 ) a depth of the dispensable unit mixture at
record , extrapolate, or otherwise capture or calculate the one or more horizontal coordinates along the surface of the
depth or “ level” at which it previously encountered a dis- dispensable unit mixture , (3 ) the depth of the container at the
pensable unit, which may be equivalent to the surface level horizontal coordinates where there are no dispensable units
of the mixture at that horizontal coordinate. This information in the container (this may be a known property of the
may be advantageously employed in a number ofways when 25 container ), and (4 ) dispensable unit characteristics (e.g. ,
determining a retrieval pattern or strategy. For example, this based on the pattern dimensions determined as described
information may be used to prevent horizontal movement of herein ), which can allow for the calculation of average
the nib 308 into dispensable units that might damage the density of the dispensable units .
retrieval arm 300. This may also be used to avoid damaging All information , data, calculations and measurements
dispensable units through excessive vertical motion or drag- 30 contemplated herein ( including but not limited to machine
ging across a top surface of the units within a container. In learning data and sensor data ) may be stored in a database ,
another aspect , this information may be used to select a displayed to a user, transmitted locally ( e.g. , to other inte
specific z - axis position where a next retrieval will be grated circuits ) or remotely (e.g. , to a server ), or further
attempted, either within the neighborhood of the contact processed. All data, for instance machine learned pattern
detection or at other locations within the container. Thus, the 35 dimensions , may have local values ( i.e. , within the mecha
system may record a surface level at several horizontal nism) and global values ( e.g. , at a remote, central location ,
coordinates, and may use this information to map or estimate such as a server ). The global values may be communicated
the surface level throughout the container. With such infor- to multiple devices or systems that may or may not be in
mation , the mechanism could retreat to a safe vertical proximity, and then such mechanisms can combine their
position that is a certain distance (i.e. , a “ retreat margin ” ) 40 existing local values with the received global values to
above the surface of the dispensable units at the next pattern calculate a new blended set of local values that could be used
location , and could thus move to that new elevated position for processing or storage in a database , communication to a
without striking dispensable units horizontally. Furthermore, user, or any other data use described herein . In this manner ,
to increase the speed of the entire process, the retrieval arm data for one device may be used to improve operation of
300 may establish a separation margina minimum dis- 45 other, similar devices performing similar dispensing opera
tance between the nib 308 and the expected surface height- tions , and new devices may be quickly optimized according
as a rule to be followed before horizontal movements . Thus, to historical performance of similar devices. This sharing of
the amount of z - axis movement may be reduced or elimi- operational parameters and other information may be auto
nated to save time during and between retrieval attempts. mated through a centralized network resource or a peer-to
The sensor 356 may also or instead work in conjunction 50 peer network among devices , or this sharing may be partially
with , or be replaced by, other sensors or distance -controlled automated such as where information is curated or otherwise
motors , including but not limited to , Hall effect sensors , managed with human oversight before sharing among dif
rotary encoders, linear encoders, linear actuators , stepper ferent machines through a network resource . In another
motors , and so on . In this manner, the retrieval mechanism aspect , users may manually select information or parameters
may be used to inform the controller of the depth distance of 55 from a central repository that is available as a network
the surface of the dispensable unit mixture at the tube's resource .
current horizontal coordinates , depending on the distance All mechanical and sensor subsystems , in conjunction
traveled before the sensor 356 (or otherwise ) was activated . with some or all electronics and processing capabilities in
Further examples of other sensors that may be utilized the software , may together form a control system that
include without limitation optical sensors (e.g. , for com- 60 regulates the mechanism to improve accuracy and reduce or
puter -aided counting of surface and sub - surface dispensable avoid errors . Such a control system may also protect against
units ) , motion sensors (e.g. , for accurate depth readings ), single fault conditions, e.g. , where any single electrome
porosity sensors , acoustic resonator / sensors ( e.g. , for depth chanical or software issue caused externally does not result
and volume readings ), humidity sensors , temperature sen- in unsafe or unacceptable operation, or does not result in an
sors , and so on . Adaptations of these embodiments may 65 error state .
place described sensors anywhere within the described The control system may also or instead include a pressure
device or system , for instance within the containers . sensor, a level indicator (e.g. , as described herein ), a hard
 US 11,139,057 B2
21 22
stop ( e.g. , a protruding lip or the like ) at one or more ends forth . Such a modular design facilitates maintenance and
of the plunger mechanism or tube , and a sensor at an repair, as well as reliable design , and simple extension or
opposite end thereof. The pressure sensor may be able to expansion of the system .
detect whether a dispensable unit has been retrieved , as The mechanisms described herein may be stationary or
retrieving a unit and forming a full seal in the vacuum line 5 handheld /portable. In a portable embodiment, the mecha
would result in a drop of pressure below that of the envi nisms may be bridged to separate actuation mechanisms,
ronment outside the mechanism , i.e. , a drop measurable by e.g. , a car, a helicopter, a drone, and the like , which may
the pressure sensor. The pressure sensor may further be used allow for dispensing of onboard dispensable unit mixtures
(e.g. , drone -delivered medical supplies ) or pickup and dis
to inform depth distance in conjunction with or replacement 10 pensing
of the level indicator described herein . Such a control system mining ).of dispensable units into certain environments ( e.g. ,
may enable the plunger to : plunge vertically downwards FIG . 4 is a flow chart of a method for retrieval of
until the pressure sensor indicates that a dispensable unit has dispensable units .
been retrieved or until the level indicator indicates that the
plunger has collided unsuccessfully with the dispensable 15 positioning a intubestepin 402
As shown , the method 400 may include
unit mixture; and to retreat to a safe distance , but no further cooperation with a container position
a first in an x -y plane for
including a plurality of dis
than a hardstop lip , and no further than indicated by the pensable units . The first position may be any position
sensor on the opposite end of the plunger or tube. Thus, the selected according to a retrieval pattern or retrieval strategy
position may be determined between certain known end as contemplated herein . For example, this may include a
points, and the plunger would be much less likely to damage 20 position determined by a predetermined pattern such as a
or exert excessive force onto the dispensable unit mixture particular geometric pattern , a combination of patterns, a
given this known position . random pattern , or any combination of these . The position
The control systems described herein may employ a state may also or instead be dynamically adjusted according to
machine, such that there are states for normal operation and feedback from sensors concerning, e.g. , surface height,
states for particular or groupings of errors , for example, a 25 retrieval success , container weight, and so forth . The posi
state where actuation has been jammed. The state machine tion may instead be a random position .
may be configured as a directed graph such that a fault As shown in step 404 , the method 400 may include
results in an observable error state and the device does not moving the tube into the container along a z - axis in the first
remain in a normal operation state when in this condition . position such that a first end of the tube contacts one or more
The control system may be activated or manipulated via 30 of thestop plurality of dispensable units. In one aspect, the tube
a user interface on a user device . The user interface may may as soon as contact is detected . In another aspect ,
include a touchscreen . The user device may include any the to
tube may drive into the container with a force selected
displace one or more of the plurality of dispensable units.
known in the art, e.g. , a computing device (e.g. , a smart Thus, the tube
phone , a tablet, a PDA , and so on) , a computer, a watch , and 35 container in orderortonibslightly
may be forcibly directed into the
agitate or mix the dispensable
so on . The user device may also or instead include a units within the container. Thus, the nib or other components
connected or synchronized accessory. of the tube may operate as an agitator to periodically
The mechanisms described herein may be able to detect normalize the distribution of dispensable units within the
when a dispensable unit has been dropped into a drop zone, container. In another aspect , the tube may be moved slightly
retrieval area, or designated chute ( e.g. , via a pressure sensor 40 within a horizontal plane while inserted into the dispensable
that detects when the vacuum line is no longer sealed ). units in order to actively stir the contents .
Further, the mechanisms may be able to detect when a As shown in step 406 , the method 400 may include
dispensable unit has fallen into a desired rest state or actuating an engagement mechanism to create an engage
dispensing vessel , or when such a dispensing vessel has been ment between the first end of the tube and one of the
removed . Such detection may occur using a light emitting 45 dispensable units . The engagement mechanism may include
source (e.g. , an infrared light-emitting diode (LED ) ) on one a vacuum force exerted through an opening in a nib on the
side of such a vessel and a phototransistor on the other side . first end of the tube, a mechanical grabber, and so forth . For
The phototransistor may be able to detect the presence (or example, in one aspect , in addition to or lieu of a vacuum
absence ) of such a vessel based on light passing into the device, the device may use an articulating claw , grasper, or
phototransistor. Improving the accuracy of the reading may 50 other electromechanical device suitable for retrieving dis
be achieved by sending an amplitude -modulated signal from pensable units .
the LED ( at a particular frequency or set of frequencies ) and As shown in step 408 , the method 400 may include
taking a Fast Fourier Transform (FFT) of the response of the determining whether engagement between the first end of
phototransistor — this can make the measurement far less the tube and the dispensable unit is achieved . Determining
susceptible to noise or environmental factors such as direct 55 whether the engagement is achieved may include the use of
sunlight. one or more sensors , e.g. , optical sensors , pressure sensors ,
The mechanisms described herein may also include food weight sensors, force sensors , contact sensors , and so on . If
safe components, and may for instance comply with regu- engagement is achieved the method 400 may move onto step
latory food safety requirements. Illustrative materials suit- 410 , and if not , the method 400 may move onto step 416 or
able for food safe containers include polycarbonate , poly- 60 another step in the method 400 , such as step 418. It will be
propylene, or the like for permanent contact with food- appreciated that engagement may be tested at other times
related substances, or acrylonitrile butadiene styrene (ABS) during the process 400. For example, the retrieval device
or the like for temporary contact with such substances . may be simplified by foregoing any detection sensors or
The mechanisms described herein may be part of, or form , electronics on the tip of the retrieval device, and a retrieval
a modular system . The modular system may include , e.g. , an 65 attempt may be deterministically completed ( e.g. , by mov
operating system , a user interface, containers , retrieval ing to a drop zone and performing a release) without regard
devices, dispensable unit mixtures, chutes , carousels, and so to whether a dispensable unit has been retrieved . The
 US 11,139,057 B2
23 24
success can then be tested at the drop zone in order to tional operations such as attempting a retrieval or moving
suitably update the retrieval pattern . the tube within the x -y plane.
As shown in step 410 , the method 400 may include lifting As shown in step 418 , the method 400 may include
the dispensable unit , e.g. , by moving the tube along the repositioning the tube to a second position different from the
z - axis or otherwise operating the retrieval device to move 5 first position within the x - y plane . In an aspect , the second
the dispensable unit vertically from the mixture . For position is offset from the first position within the x -y plane
example , the tube may be retracted in a direction normal to by a distance greater than half of a cross - sectional width of
the surface of the dispensable unit mixture, or it may be the first end of the tube. The second position may be any
retracted at an angle relative to the surface of the dispensable position included in a retrieval pattern or retrieval strategy as
unit mixture, or the tube may include an actuator or the like 10 contemplated herein .
to raise the nib without moving the tube or other components As shown in step 420 , the method 400 may include
of the retrieval device . plunging the tube into the container along the z - axis in the
As shown in step 412 , the method 400 may include second position . It will be understood that the term “ plung
moving the tube until the dispensable unit is disposed within 15 ing ” as used herein is intended to represent any general
a predetermined drop zone . This may, for example, include vertical motion (or horizontal motion in a horizontally
moving the tube along the x - y plane substantially perpen- aligned device ), and is not intended to imply any particular
dicular to the z - axis until a desired horizontal position is force or velocity of motion . In this step 420 , the tube may be
reached, or moving in any combination of x , y , and z steps lowered a predetermined amount from a starting Z - axis
to navigate the end of the tube to a desired location . For 20 position , or the tube may be lowered while measuring
example, moving the tube may also be accomplished at an contact force with the surface of the contents of the container
angle or other trajectory that includes movement along all in order to avoid over -insertion or under - insertion into the
three axes, or alternatively, the z - axis and at least one of the contents . In one aspect , a low -velocity approach to the
X - axis and y - axis . The drop zone , also referred to herein as surface is preferentially employed in order to avoid damag
a “ release zone , ” “ release area , ” or the like , may be a specific 25 ing the dispensable units .
horizontal region without regard to height, or the drop zone The steps 402 through 420 may be performed any number
for the dispensable unit may more specifically be the hori of times according to a number of dispensable units that are
zontal region at a specific height, or at a range of heights that to be retrieved from a container. This may include a single
bound a volume within which the dispensable unit may be retrieval or a number or retrievals, or a continuous retrieval
released by the retrieval device. The drop zone may also 30 of numerous dispensable units until a stopping condition is
include hardware or the like to receive the released item reached .
and / or direct the released item toward a retrieval location for
an end user. For example the drop zone may include a chute As shown in step 422 , the method 400 may include
or the like, a user's hand, or any other area where a rotating a carousel including a plurality of containers for
dispensable unit is to be released . positioning at least one of the plurality of containers relative
35
As shown in step 414 , the method 400 may include to the tube. In this manner , the retrieval device may be used
releasing the dispensable unit from its engagement with the with a number of different containers so that a variety of
first end of the tube , e.g. , by breaking a bond or connection different dispensable units can be controllably dispensed
between the dispensable unit and the retrieval device . In an from a system in any desired combination or order. The
aspect , the connection between the tube and the dispensable 40 containers may be arranged radially around the retrieval
unit is broken by a wall , surface, or other protrusion, that device in a carousel so that the carousel can be rotated to
mechanically separates the dispensable unit from the tube as move one of the containers into an operating region of the
the tube passes over the wall at a predetermined height. The retrieval device, or the containers may be arranged linearly
wall may be partially or fully constructed of flexible or soft or in any other suitable pattern , along with accompanying
material, including but not limited to a thermoplastic elas- 45 robotics or the like to move one of the containers into a
tomer ( TPE ) , a thermoplastic rubber (TPR) , silicone , and the position where the retrieval device can retrieve dispensable
like in order to avoid damage to the dispensable unit . The units .
wall may further include or work in conjunction with a brush FIG . 5 illustrates a two - dimensional retrieval pattern . In
or the like, as this would enable the end of the tube to be general, the two - dimensional retrieval pattern 500 may
brushed clean of any contaminants ( such as broken pieces of 50 represent the plunges taken by a retrieval device into a
powders of dispensable unit ) , which may be advantageous, container for retrieving dispensable units . By way of
especially when dispensable units include medical sub- example , in a vertically aligned system , the retrieval mecha
stances such as pharmaceutical products. This “ cleaning nism may be moved horizontally before or after a vertical
wall” may additionally include a cleaning substance (includ- plunge actuation , iteratively, to follow a retrieval pattern 500
ing but not limited to ethanol) that can be applied automati- 55 (i.e. , a horizontal pattern ), thus allowing the vertical plung
cally or manually. In another aspect , the wall may provide a ing of a tube of the retrieval mechanism to occur at different
cleaning surface for the retrieval device without serving to horizontal coordinates 502 within the dispensable unit mix
dislodge a dispensable unit from the retrieval device . ture . A horizontal pattern may involve varying one or both
As shown in step 416 , the method 400 may include of the horizontal dimensions , or neither. Further, one skilled
determining a z -axis position where the first end of the tube 60 in the art will recognize that the pattern can be extrapolated
contacts one or more of the plurality of dispensable units . to a fully three - dimensional pattern of locations at which
This information may be useful for a variety of purposes plunge actuations could commence . Thus, retrieval patterns
including , e.g. , deciding whether to attempt a retrieval and discussed herein may also or instead include three - dimen
to update a future retrieval pattern according to information sional patterns. Moreover, although this disclosure discusses
about the surface of the dispensable units within the con- 65 horizontal two - dimensional retrieval patterns 500 in detail,
tainer. In one aspect , the tube may be repositioned at a one of ordinary skill will recognize that this orientation is
predetermined height above this z - axis position before addi- provided by way of example and convenience only, and
 US 11,139,057 B2
25 26
other orientations (e.g. , vertical two - dimensional retrieval dispensable units ' distribution , orientation , and state within
patterns for a horizontal retrieval device configuration ) are the dispensable unit mixture thus making it less likely that
possible . multiple plunges in similar locations to a previously failed
The two - dimensional retrieval pattern 500 may be utilized plunge will result in repeated failure. Such agitation may
because dispensable unit pickup can have a very low relative 5 also (e.g. , due to gravity or some other uniform acceleration,
success rate if the plunging occurs at the same horizontal such as centripetal acceleration ) eliminate holes or recesses
coordinates continually, due to a high probability that the because the dispensable unit mixture level will tend to even
vertical plunge will fail to make contact between the first end out as it is disturbed in such a way ( for instance, it may settle
of the tube and a dispensable unit , thus not allowing for a substantially " flat" ). Thus, implementations may include
subsequent strong connection between a dispensable unit 10 devices that provide or assist in the agitation . These include ,
and the tube , and instead forcing nearby dispensable units but are not limited to , the agitator discussed herein , the
away from the plunging tube . This may create a "hole” or carousel (which may spin , shake, or otherwise move to
recess in the surface of the dispensable unit mixture, i.e. , a provide for agitation in a dispensable unit mixture ), the tube
location where there are no dispensable units . Subsequent (e.g. , moving along a surface of a dispensable unit mixture
plunges at the same horizontal coordinates may continue to 15 in order to agitate the mixture ), and so forth . Where dis
push the tube into this hole or recess , which could make it pensable units are fragile, this type of periodic agitation may
difficult to connect with and pull out a dispensable unit , as be avoided or used more sparingly in order to avoid damage
the dispensable unit may be disposed at a lower vertical to dispensable units .
position than the surface of the dispensable unit mixture, FIG . 6 illustrates a two - dimensional retrieval pattern . In
where retrieving it could require overcoming the weight of 20 order to continually and most effectively avoid any holes or
other dispensable units that are partially or fully above . recesses that are created in the mixture, e.g. , by the agitation
Retrieval rate may thus be increased by moving the tube in described herein or otherwise , the two - dimensional retrieval
the horizontal plane between vertical actuations , i.e. , fol- pattern 600 may be such that it covers an entire horizontal
lowing a two - dimensional retrieval pattern 500 , as this can area of the dispensable unit mixture at roughly an even
avoid any such recesses that have been created by unsuc- 25 spacing . The two - dimensional retrieval pattern 600 may
cessful plunges, while also advantageously avoiding a need include a winding route or the like to ensure that the
to periodically agitate a container to level the contents , minimum distance is traveled by the tube when covering the
which can damage dispensable units . In an aspect , every entire pattern once . The two - dimensional retrieval pattern
iteration of a two - dimensional retrieval pattern 500 (i.e. , 600 may also be such that it maximizes the distance between
every horizontal position in a pattern at which a vertical 30 each step of the pattern , which would move the tube as far
plunge occurs ) may be referred to as a step of that two- as possible from the last recess created from a missed
dimensional retrieval pattern 500 . plunge. This may increase on average the agitation of the
In an aspect , the horizontal separation 504 between whole dispensable unit mixture at each step , as plunging
attempted retrievals may be greater than half the width of the may be more likely to be unsuccessful in a recess or hole
average cross - sectional area of the portion of the retrieval 35 (i.e. , an empty space where physical contact with the dis
device that enters the dispensable unit mixture . This can pensable units is minimal), and as a result may improve
assure that any previously created recesses will be at least elimination of existing recesses or holes . The two- dimen
partly avoided in the next plunge. However, a variety of sional retrieval pattern 600 may also be a hybrid of these
other strategies may be deployed. For example, each routing strategies.
retrieval attempt may be a predetermined , minimum dis- 40 Properties of the patterns discussed herein may include
tance from a prior retrieval attempt. This may be achieved by without limitation any retrieval height calculated or sensed
following a specific pattern , or by selecting a random by the system , or any adjustable property of the device ,
direction and moving a distance greater than the predeter- including but not limited to the speed of plunging and the
mined, minimum distance within a horizontal plane . Other time between steps or plunges.
strategies may also or instead be employed including strat- 45 Control of the patterns discussed herein , automatic deter
egies that attempt to obtain a largest average move size mination of the patterns discussed herein , and multi - axis
without repeating retrieval attempt locations , or strategies actuation of the patterns discussed herein , may be performed
that work toward or away from the perimeter of the con- by, or controlled by, an onboard or offboard microprocessor
tainer. More generally , any technique that distributes loca- and associated memory integrated circuits (ICs ) (e.g. , ran
tions for attempted retrievals throughout a horizontal plane 50 dom - access memory (RAM ) chips , erasable programmable
through the container in a manner intended to maximize the read -only memory (EPROM) chips , H - bridge drivers, and
success rate of sequential retrieval attempts may be usefully the like ). Such control systems may allow the mechanism to
employed in a retrieval strategy as contemplated herein . actuate any number of patterns for different dispensable unit
In plunging , whether the retrieval device picks up a mixtures in proximity to ( and in range of) the mechanism ,
dispensable unit in a particular plunge or not , the device may 55 and to remember and continue the progress along each
contact one or more dispensable units in the mixture, thus pattern separately.
exerting a force on the dispensable units and pushing them FIGS . 7-10 show various retrieval system configurations.
away from the tube, nib , or other part of the device . As As shown in FIG . 7 , the system 700 may include the use
discussed herein , an agitator or the like may be included to of a carousel 718 housing a plurality of containers 704
increase this displacement. However, given the vertically 60 arranged for substantially vertical retrieval of dispensable
downward motion of a plunge , a likely scenario is that units contained therein . Each of the containers 704 may
dispensable units are pushed away from the device in the include distinct and separate dispensable unit mixtures. The
horizontal direction, which can create holes in the dispens- carousel 718 may be arranged substantially in a circle in a
able unit mixture. However, agitation can assist to eliminate horizontal plane . The carousel 718 may rotate as necessary
holes in the dispensable unit mixture . Thus, agitation of the 65 to select different containers 704 and thus different dispens
whole mixture may be useful for increasing the likelihood able unit mixtures. In order to prevent contamination, there
for successful dispensable unit retrieval, as it randomizes the may be a cover for the containers 704, e.g. , that covers all
 US 11,139,057 B2
27 28
containers 704 except for the container 704 selected for and the like . The material of the container may also be
dispensable unit retrieval ( i.e. , the container 704 that the food -safe, waterproof, or water - resistant by certain regula
tube is disposed above) . The cover may be movable , e.g. , tory standards such as 21CFR , NSF51 , and NSF61 . The
rotatable about the containers 704 . container may also or instead be made of multiple materials
As shown in FIG . 8 , the system 800 may include the use 5 with all or subsets of these properties.
of a carousel 818 housing a plurality of containers 804 As shown in the figures above, the horizontal planar cross
arranged for substantially horizontal retrieval of dispensable section of an illustrative container may partly or fully be in
units contained therein . Thus, the carousel 818 may be the shape of a rounded segment to enable a plurality of
arranged substantially on its side with respect to gravita- containers to be arranged in a ring , potentially as part of a
tional pull . Such an embodiment may allow for loading 10 rotating carousel as described herein , while omitting sharp
dispensable unit mixtures from vertically above . As dis- edges to prevent jamming or wasted space ( e.g. , relatively
cussed herein , many other configurations are possible . large dispensable units may not be able to fit in corners of
As shown in FIG . 9 , the system 900 may include con- the containers having sharp edges ) . The vertical cross sec
tainers 904 arranged in an array 902. In any of the arrange- tion may be asymmetrical in one of its perpendicular direc
ments discussed herein , there may be multiple retrieval 15 tions , with one or many sections of the container being
mechanisms 906 within the system 900 , which can actuate deeper vertically than other sections . In this manner, due to
horizontally and vertically either in unison or be controlled gravity and sloping container walls , when there is a rela
independently . In an embodiment including a vacuum pump tively small number of dispensable units in the container
having a vacuum pressure in the tube , a pressure switching (e.g. , if many dispensable units have been retrieved ) the
sub -mechanism 908 may be used , which can include , but is 20 dispensable units can gravitate to these deeper sections .
not limited to , an array of solenoid valves . The pressure Further, the horizontal pattern followed by the mechanisms
switching sub -mechanism 908 may enable vacuum force to described herein may spend more time or retrieval steps in
be concentrated in one or more of the tubes, and improve the these deeper areas of the container, as there could be a much
likelihood of dispensable unit retrieval. greater chance of finding dispensable units in these areas .
As shown in FIG . 10 , the system 1000 may include 25 The devices may also or instead utilize a known axial
several carousels 1018 or arrays that stack , e.g. , horizontally location of a surface of the dispensable unit mixture for
or vertically. Stacking may occur carousel 1018 by carousel concentrating in these areas. For instance, if the axial
1018 as in the figure, container by container, or via any other position of the surface is relatively low in the container, then
permutation of containers in three - dimensional space , e.g. , the device may know to focus in the deeper areas of the
in a helical or screw arrangement. 30 container, thereby adjusting its horizontal two - dimensional
In any of the arrangements discussed above , the contain- pattern to concentrate in a smaller section in these areas
ers may be removable from the system or device . Addition- ( e.g., shrinking the pattern ).
ally, the containers may be attached the device (e.g. , to the The container may also or instead include features that
carousel) via one of several attachment sub -mechanisms, allow for easy extraction and loading into the mechanisms
including but not limited to magnets, electro -magnets, pres- 35 described herein , e.g. , the carousel. These features may
sure - sensitive tape , mechanical locking ( e.g. , male -to -fe- include without limitation holes , grooves, handles , magnets ,
male ) , friction fits, snap fits, and so on . and so forth . These features may be disposed below a
In implementations, carousel motion may include a high sloping floor of the container, to ensure that internal volume
torque or high force actuation . For this reason , human and of the container is not affected . The containers may also or
machine safety may be a concern , for instance if a hand were 40 instead include features that enable a secure docking , attach
caught between two containers during carousel motion . For ment, or locking to corresponding features on a carousel or
this and other reasons , an electrical failsafe may be imple- another device . A carousel or another device for engaging
mented where a carousel, which is held within an enclosure with the containers may also or instead include protrusions
and accessible through a door ( e.g. , for loading), may or the like to force improperly or insecurely attached con
include a sensor ( e.g. , an optical- interrupter ), that holds a 45 tainers into a correct, secure position . These protrusions may
particular voltage (e.g. , corresponding to a digital high or secure the container when the carousel rotates , thereby
digital low ) when the door is closed or the whole system or imposing a radial inward force from a fixed or rotating
device is safe and secured . The signal to drive the actuation portion of the carousel onto the offending container, e.g. ,
of the carousel may pass from a processor through a gate driving it in place .
(before reaching , for instance , a motor driving circuit or 50 The container may have surfaces for use in cleaning the
chip ), where the gate performs a logical ‘ AND ' or ' OR'to retrieval mechanism , particularly, though not limited to , the
enable the actuation only if the sensor value is as expected nib , which can accumulate a build -up of contaminants or
for a secured (or locked or closed ) state . residue over time . For example, the nib may compress upon
The containers described herein , e.g. , those shown in the being forced towards the cleaning surface, thus exerting a
figures above , may be arbitrarily sized , shaped, textured and 55 force on any built up contaminants. The cleaning surface
weighted , or may be devised to be of a particular size , shape , may include a horizontal lip or the like present on one or
texture and weight that is optimized , e.g. , for particular several edges or sides of the container. The cleaning surface
dispensable units or for cooperation with particular machin- may also be slightly angled from a horizontal plane such that
ery. In one illustrative container, the material of the con- any contaminants that are dislodged fall into the container
tainer is smooth ( i.e. , having a low surface friction ) to 60 from which they originated. While making contact with the
prevent jamming, which can occur in a container made of cleaning surface, the mechanism may further move in a
moderately high surface friction material such as wood or horizontal direction to perform a wipe that can remove other
matte plastic . The container may also be relatively light- residue or contaminants .
weight to reduce the power needed to move the container. A container may function as a chute for receiving
This material of the container may include without limita- 65 retrieved dispensable units . A reason for such a container/
tion one or more of: polypropylene (e.g. , random copolymer chute can include instances where there is only one degree
or homopolymer ), polycarbonate ( such as Makrolon ), ABS , of horizontal motion , thereby necessitating that the horizon
 US 11,139,057 B2
29 30
tal dimension used for changing pattern locations horizon- networks, telecommunications networks such as the Public
tally is the same as the dimension used to move the mecha- Switched Telephone Network or cellular networks using
nism above the chute for dropping retrieved dispensable third generation ( e.g. , 3G or IMT-2000 ), fourth generation
units . In this case , other containers may also have a design (e.g. , LTE ( E -UTRA ) or WiMax -Advanced (IEEE
that enables such a one dimensional horizontal pattern , for 5 802.16m) ) and / or other technologies, as well as any of a
instance, a bottom that is contoured to be vertically sloped variety of corporate area or local area networks and other
not only in the radial direction but also the tangential switches , routers, hubs , gateways, and the like that might be
direction with respect to a rotating carousel. used to carry data among participants in the system 1100 .
The container may have a globally unique or categorizing The data network 1101 may include wired or wireless
identifier upon it , such as one or more of a barcode , a quick 10 networks, or any combination thereof. One skilled in the art
response (QR) code , a near field communication (NFC ) tag , will also recognize that the participants shown the system
or a radio - frequency identification RFID tag . This may allow 1100 need not be connected by a data network 1101 , and thus
the retrieval mechanism , in conjunction with a reading or can be configured to work in conjunction with other par
scanning component, to identify a container including any ticipants independent of the data network 1101 .
unique properties for the container and the dispensable unit 15 Communications over the data network 1101 may be
mixture contained therein (e.g. , average dispensable unit made possible through one or more communications inter
size , total dispensable unit count, and so on) . Such a feature faces 1103 present on one or more of the components of the
may form part of an e - commerce system where empty or system 1100. The communications interface 1103 may
near -empty containers trigger ( e.g. , using the depth infor- include, or be connected in a communicating relationship
mation described herein ) an automatic re -ordering of more 20 with , a network interface or the like . The communications
containers that coincide with the near -empty identified con- interface 1103 may include any combination of hardware
tainer or more dispensable units . and software suitable for coupling the components of the
The container may have a resealable opening ( e.g. , a system 1100 to a remote device ( e.g. , the computing device
living hinge or an adhesive top ) . This may form part of an 1102 ) in a communicating relationship through the data
e - commerce system where partial containers may be sealed 25 network 1101. By way of example and not limitation , this
and removed , and where financial payments may be made may include electronics for a wired or wireless Ethernet
based on how much of the dispensable unit mixture was connection operating according to the IEEE 802.11 standard
dispensed during a particular time period . (or any variation thereof), or any other short or long range
The mechanisms described herein and associated contain- wireless networking components or the like . This may
ers may contain or be disposed adjacent to storage chambers 30 include hardware for short range data communications such
for dispensable units or non - unit materials or mixtures that as Bluetooth or an infrared transceiver, which may be used
are not supported for dispensing by specific mechanisms or to couple into a local area network or the like that is in turn
specific containers. This may allow for a more holistic coupled to a data network such as the Internet. This may also
operation of the mechanisms , for instance a pill dispenser or instead include hardware /software for a WiMax connec
that operates only on pills , but is adjacent to other medical 35 tion or a cellular network connection (using, e.g. , CDMA ,
supplies like bandages given the possible overlapping use GSM , LTE, or any other suitable protocol or combination of
cases ( e.g. , in a first aid cabinet ). protocols )
Dispensable Unit Identification The computing device 1102 may include a processor 1112
FIG . 11 illustrates a system for dispensable unit identifi- and a memory 1114. The computing device 1102 may
cation . In general, the system 1100 may include components 40 include any devices within the system 1100 operated by
and participants for detecting a dispensable unit's properties. users to manage, monitor, communicate with , or otherwise
For example, the system 1100 may be used for the detection interact with other participants in the system 1100. This may
or identification of one or more of the following: a count of include devices (e.g. , remote devices ) such as desktop
dispensable units ( e.g. , the number of dispensable units computers, laptop computers, network computers, tablets ,
physically within a known location or container ), which may 45 smart phones , smart watches , PDAs , or any other devices
be used to relay back to a user the state of a container (i.e. , that can participate in the system 1100 as contemplated
whether it is full or empty ); and a shape, size , weight, and herein . In one aspect , the computing device 1102 (and a user
texture /surface friction of the dispensable units. The prop- interface thereof) is integral with another component in the
erties of the dispensable units may be used for any dispens system 1100 .
ing process , e.g. , a vacuum assisted process (i.e. , a pick- 50 The computing device 1102 may generally provide a user
and -place mechanism ), a gravity assisted mechanism that interface 1128 , which may include a graphical user interface ,
utilizes a chute ( e.g. , where the chute size is electronically a text or command line interface, a voice - controlled inter
controlled based on dispensable unit size) , and so forth . The face, and / or a gesture -based interface . In general, the user
dispensable unit's properties detected and identified by the interface 1128 may create a suitable display on the comput
dispensable unit identification systems described herein may 55 ing device 1102 for user interaction . In implementations, the
be utilized in the formation of a retrieval pattern as described user interface 1102 may control operation of one or more of
herein , or steps included in the retrieval pattern. the components of the system 1100 , as well as provide
The system 1100 may include a computing device 1102 , access to and communication with resources of the system
a container 1104 , an optical sensor 1106 , a retrieval robot
1100 .
1108 , and a measurement device 1110. The aforementioned 60 The user interface 1128 may be maintained by a locally
participants and components of the system 110 may be in a executing application on the computing device 1102 that
communicating relationship with one another, e.g. , through receives data from one or more of the components of the
a data network 1101 . system 1100 or other resources. In other embodiments , the
The data network 1101 may be any network ( s) or inter- user interface 1128 may be remotely served and presented
network ( s) suitable for communicating data and control 65 on one of the computing devices 1102. In implementations,
information among participants in the system 1100. This the user interface 1128 may also or instead be provided by
may include public networks such as the Internet, private and / or disposed on another participant in the system 1100 .
 US 11,139,057 B2
31 32
The container 1104 may be any as described herein , and the dispensable units 1116 within the container 1104. A
may for instance be shaped and sized to hold a plurality of suitably sensitive measuring device 1110 may also provide
dispensable units 1116 . additional information , such as when a single dispensable is
The optical sensor 1106 may be configured to detect an removed , how much contact force a retrieval device is
optical property of one of the plurality of dispensable units 5 applying to the container ,and how many items are left in the
1116 prior to placement in the container 1104. The optical container. This information can facilitate a blind retrieval
sensor 1106 may include one or more of the following: a task as contemplated herein by providing non- optical feed
CMOS device, a CCD device, an opto - interrupter, a reflec
tive object sensor, and the like . The optical sensor 1106 may back useful in planning and executing a retrieval strategy.
be disposed within another participant in the system 1100 , or 10 one or measurement
The device 1110 may also or instead include
more cantilevers for supporting the container 1104 ,
it may be a standalone participant within the system 1100. In
an aspect , the optical sensor 1106 is disposed in the con e.g. , a platform of similar size to the containers 1104. The
cantilever may be attached such that a force (e.g. , including ,
tainer 1104. In another aspect , the optical sensor 1106 may but not limited to , weight) on the cantilever causes a
be separate from the container 1104 , and used independently
to analyze dispensable units 1116 , e.g.,before they are place is may
deformation . On such a measurement device 1110 , a user
activate a “ measurement mode ” or the like , or it may be
into the container 1104 for distribution by the retrieval robot
1108. In this manner, retrieval operations may be usefully activated automatically . Upon activation of a measurement
optimized to a particular dispensable unit without a need for mode, the measurement device 1110 may measure the
the local container 1104 or retrieval robot 1108 to perform weight of a container 1104 ( empty or otherwise) and store
any measurements . Instead, information about the properties 20 that data in a memory 1114. In an aspect, the weight of an
can be stored and transmitted to the retrieval robot 1108 for empty container 1104 and the known weight of a dispens
use in generating retrieval strategies for the dispensable able unit 1116 may be used to calculate an amount of
units , and this information may be recovered using, e.g. , an dispensable units 1116 present in the container 1104 at a
identifier for the dispensable units or information provided given time .
by a user about the dispensable units. 25 The processor 1112 may be configured to receive the
The optical property detected by the optical sensor 1106 signal 1122 and to use the detected weight and the optical
may include without limitation one or more of a texture of property to execute a blind dispensing operation of one of
the dispensable unit 1116 , a shape of the dispensable unit the plurality of dispensable units 1116 from the container
1116 , and a size of the dispensable unit 1116 , and so on . This 1104 using the retrieval robot 1108. In one aspect , the
information may help to characterize how the items will 30 processor 1112 is part of a controller or the like (e.g. , as
pack , settle , and move relative to one another, which may be described above ), or the processor 1112 is in communication
useful in determining , e.g. , how best to create and execute a with the
retrieval strategy, and how much contact force might be robot 1108. For examplecontroller , for controlling operation of the retrieval
required to successfully execute the retrieval of a single , the processor 1112 may be con
item . In one aspect, the optical sensor 1106 is configured to 35 figured to adjust a speed of the blind dispensing operation
based on at least one of the detected weight and the optical
detect the optical property using light obstruction , where the property . In an aspect , when the detected weight is over a
optical property includes at least one of a size and shape of
the dispensable unit 1116. For example , the optical sensor predetermined weight (e.g. , indicating that the container
1106 may detect an amount of light being obstructed from a 1104 includes relatively heavy dispensable units 1116 ) , the
known array of light, where this value can be used to 40 processor 1112 is configured to set the speed of the blind
determine the size of the dispensable unit 1116. In another dispensing operation below a predetermined speed . In other
aspect , the optical sensor 1106 may be a camera or the like words, in an aspect , the weight of the dispensable unit is a
that captures an image of one of the dispensable units 116 for factor used to determine the speed of the retrieval robot
analysis. In implementations, the optical sensor 1106 may be 1108 , where the heavier the dispensable unit , the slower the
configured to provide a signal 1122 indicative of the optical 45 movement of the retrieval robot 1108. Other properties of
property to another component, e.g. , the processor 1112 of the dispensable unit may also or instead be used to configure
the computing device 1102. Any number of light sources aspects of the settings or operation of the retrieval robot
may be used in combination with the optical sensor 1106 in 1108 .
order to detect or identify properties of one of the dispens- In an implementation , the optical sensor 1106 is config
able units 1116 . 50 ured to detect an optical property of a portion or group of the
The retrieval robot 1108 may be any as described herein , plurality of dispensable units 1116 , and the processor 1112
and may for instance be configured to retrieve objects from is configured to determine whether the portion of the plu
within the container 1104 , e.g. , the dispensable units 1116 . rality of dispensable units 1116 includes dispensable units
The measurement device 1110 may include a strain gauge 1116 of different types based on the optical property of the
1118 and circuitry 1120 configured to provide a signal 1122 55 portion . In this manner, the system 1100 can identify
indicative of a detected weight of one or more of the whether the plurality of dispensable units 1116 includes a
container 1104 and a dispensable unit 1116. For example, in mixture of different types of units , or if the plurality of
an aspect , the measurement device 1110 provides a detected dispensable units 1116 are of the same type of units . The
weight of one or more of the plurality of dispensable units specific type or types of dispensable units 1116 may also or
1116 prior to placement in the container 1104. In an aspect , 60 instead be detected and identified using the system 1100 .
the detected weight of the container 1104 yields the weight The system 1100 may further include a light source 1124 .
of the dispensable units 1116 within the container when the The light source 1124 may be configured to produce a light
weight of the empty container 1104 is known . In another having a plurality of different frequencies for cooperation
aspect , when the weight of the empty container 1104 and the with the optical sensor 1106 in detecting a texture of one or
weight of an individual dispensable unit 1116 (or the weight 65 more of the dispensable units 1116. To this end, the optical
of a certain amount of dispensable units 1116 ) is known, the sensor 1106 may be configured to detect the texture of the
detected weight of the container 1104 yields the amount of dispensable unit 1116 by measuring diffusion , dispersion ,
 US 11,139,057 B2
33 34
and strength of the light returned to the optical sensor 1106 As shown in step 1206 , the method 1200 may include
when light from the light source 1124 is illuminated onto the detecting a weight of one or more of the container and a
dispensable unit 1116 . dispensable unit using a measurement device .
The system 1100 may further include other devices 1126 As shown in step 1208 , the method 1200 may include
including without limitation one or more of a camera , an 5 providing a second signal to the computing device, the
second signal indicative of the detected weight of the
acoustic sensor, a capacitive sensor (e.g. , capacitive touch container.
sensors and capacitive distance sensors ), and an inductive
sensor. The other devices 1126 may also or instead include determining ainblind
As shown step 1210 , the method 1200 may include
dispensing operation for retrieving one
input devices including a keyboard , touchpad, mouse , 10 of the plurality of dispensable units from the container with
switches , dials , buttons, sensors , and the like , as well as a retrieval robot using information included in at least one of
output devices such as a display, a speaker or other audio the first signal and the second signal. The blind dispensing
transducer, light emitting diodes, and the like . Other devices operation may include executing a retrieval pattern as dis
1126 may also or instead include a variety of cable connec cussed herein . Thus, determining the blind dispensing opera
tions and /or hardware adapters for connecting to , e.g. , 15 tion may include determining the use of a specific retrieval
external computers, external hardware, external instrumen
tation or data acquisition systems , and the like .
pattern, determining steps for a retrieval pattern, formulating
a retrieval pattern from scratch , adjusting a retrieval pattern ,
The system 1100 described above , or one of its compo- and so forth . Determining the blind dispensing operation
nents or participants, may communicate with a user , e.g. , may also or instead include determining other parameters for
through a network interface or the like. For example, the 20 retrieval include speed , acceleration, trajectories , drop
system 1100 may query the user to verify information , e.g. , zones , cleaning schedules or procedures, and so forth .
a number of dispensable units 1116 added to a container As discussed generally herein , optical and weight infor
1104 , or to verify a specific perty detected by the system mation may be used in a variety of ways . For example, the
1100. This communication may be accomplished through weight may be used to determine how many units are in a
one or more of the following: text message , push notifica- 25 container or when the container might be empty . Weight may
tion, a device's onboard display, a voice or sound commu- also be used to quickly check for a successful retrieval
nication , a vibration or other alert, touch of buttons or a attempt, or to measure the force that a retrieval device is
touch screen , and the like . applying to items in a container. The optical properties may
FIG . 12 is a flow chart of a method for dispensable unit be used, e.g. , to estimate a contact force and / or vacuum force
identification . 30 required to securely bind a dispensable unit with a vacuum
As shown in step 1202 , the method 1200 may include based retrieval nib . In another aspect , the optical properties
detecting an optical property of a dispensable unit . This may may be used to estimate size or weight of individual units ,
usefully be performed prior to placement of the dispensable so that a sufficient vacuum force can be applied, and so that
unit in a container that is shaped and sized to hold a plurality retrieval attempts ( e.g. , included in a sequence) are spaced
of dispensable units for distribution using a device as 35 a suitable distance apart. More generally, any use of weight
contemplated herein . An optical sensor or the like may be and optical properties as contemplated herein may be used
used to detect the optical property of the dispensable unit. to augment and improve a blind retrieval process and
Detecting an optical property of a dispensable unit may eliminate or mitigate the need for machine vision or similar
include illuminating the dispensable unit with a light source image analysis as an aid to navigation during retrieval.
that produces a light having a plurality of frequencies; 40 As shown in step 1210 , the method 1200 may include
measuring diffusion , dispersion , and strength of light executing the blind dispensing operation . In particular, it is
returned to an optical sensor; and detecting a texture of the contemplated that a dispensing operation including , e.g. ,
dispensable unit from the measured diffusion , dispersion , retrieval and distribution , can be performed ( or at least
and strength . attempted ) without any supporting visual information. This
Detecting an optical property of a dispensable unit may 45 can advantageously simplify the hardware required to suc
also or instead include using light obstruction, e.g. , for cessfully distribute dispensable items from a container and
detecting at least one of a size and shape of the dispensable eliminate the need for cameras, illumination , and supporting
unit . For example, the device may determine the size of the communication circuitry within the system .
dispensable unit based on how much light is obstructed from The method 1200 may also or instead include performing
an array of LEDs shining at the dispensable unit . The LEDs 50 error checks . An error check may include determining
may also or instead send an amplitude or frequency modu- whether the weight of the dispensable units that was mea
lated signal, whose receipt may be Fast Fourier Transformed sured is a multiple of the weight of an originally measured
( FFT ) by the sensors to determine the amount of light dispensable unit (within a certain margin of error ). Another
obstruction. Detecting an optical property of a dispensable error check may use one or more cameras disposed within a
unit may also or instead include machine vision , i.e. , edge 55 container for viewing the dispensable units from a variety of
detection of dispensable unit's edges in a two -dimensional angles to ensure that the visible added dispensable units
image , or use of side -lighting to detect surface features or have the same or similar properties, and to ensure that no
textures. residue or other contaminant is present in the container. This
The method 1200 may also include detecting an optical may be coupled with a vibration actuation ( e.g. , via a motor
property of numerous dispensable units in a group, and 60 or the like) of the container to agitate the dispensable units,
determining whether this group of dispensable units includes e.g. , for exposing more dispensable units for the line of sight
dispensable units of different types based on the optical of the camera for verification. Notifications to a user (or
properties of the group and individual items in the group . another component or participant in the system) may be sent
As shown in step 1204 , the method 1200 may include based on the outcome of the error checks .
providing a first signal to a computing device including a 65 Networked Notification for Dispensable Units
processor and a memory , the first signal indicative of the FIG . 13 illustrates a system for networked notification for
detected optical property. dispensable units . The system 1300 may be useful, e.g. , for
 US 11,139,057 B2
35 36
controlling distribution of sensitive dispensable units. The in the number of rules 1314 related to its distribution and
system 1300 may also or instead be utilized with any of the use . The controlled substance may also or instead be subject
aforementioned devices , systems, and methods, including to particular predetermined schedules 1314 for its distribu
without limitation any of the retrieval mechanisms and tion and use .
containers discussed above . 5 The rules 1314 may include a tracking rule related to at
The system 1300 may include a container 1302 , a dis- least one of a dosage conflict, an illegal use , and a high -risk
pensing system 1304 , a processor 1306 and a memory 1308 , use of one or more of the plurality of dispensable units 1312 .
and one or more network interfaces 1310 to couple compo- The tracking rule may be checked for accuracy on a prede
nents of the system 1300 to a data network 1301 . termined basis , e.g. , automatically or by a user of the system
The container 1302 may be any as described herein . For 10 1300. The tracking rule may be specifically tailored to a
example , the container 1302 may be configured to hold a particular dispensable unit included in the plurality of dis
plurality of dispensable units 1312 subject to managed pensable units 1312 .
distribution according to a number of rules 1314 and / or a The rules 1314 may also or instead include instructions
predetermined schedule 1316. For sensitive dispensable provided for, or regulations related to , the distribution and
units , the container 1302 may be fortified in a number of 15 use of one or more of the plurality of dispensable units 1312 .
ways . In one aspect , tamper -proof mechanisms may be The rules 1314 may be stored in a database , e.g. , in the
installed in order to prevent access to contents without use memory 1308 or on the remote resource 1318. The rules
of the corresponding dispensing system 1304. While it may 1314 may be subject to random or scheduled updates .
be difficult to physically secure such a container 1302 The rules 1314 may be provided by a regulatory agency ,
against all entry attempts, a certain degree of physical 20 a corporation, a manufacturer, a physician or other prescrib
strength to the container 1302 may discourage more casual ing party, a third party , a family member, a user , an admin
efforts at unauthorized entry. And it is relatively straightfor- istrator, a hospital , an insurance company, a pharmacy, and
ward to detect tampering and entry in a manner that can be so forth .
immediately reported when the tampered -with device is The predetermined schedule 1316 may include any time
coupled to or communicating with the dispensing system 25 based or event- based regime related to the dispensable units
1304. This information may be usefully communicated to 1312 , e.g. , when they should be dispensed or consumed ,
appropriate authorities or other personnel for further action . how long they remain effective ( e.g. , an expiration date ), a
Thus, more generally the container may be tamper proof, recall schedule, and so forth . The predetermined schedule
and may be configured to report tampering events when 1316 may be stored in a database , e.g. , in the memory 1308
possible . In addition , the dispensing system 1304 may be 30 or on the remote resource 1318. The predetermined schedule
configured to prohibit further distribution from the container 1316 may be subject to random or scheduled updates . The
1302 after a tampering event is detected . This may be useful predetermined schedule 1316 may be provided by a regu
in a variety of contexts contemplated in , including latory agency, a corporation, a manufacturer, a physician or
contexts where controlled substances or the like are distrib- other prescribing party, a third party , a family member, a
uted in containers, or contexts where a pharmaceutical in a 35 user, an administrator, a hospital , an insurance company, a
container is recalled globally, expires, or is contraindicated pharmacy, and so forth .
for a particular patient. The remote resource 1318 may include without limitation
The dispensing system 1304 may be any as described one or more of a physician's office, a law enforcement
herein . For example, the dispensing system 1304 may be agency , a mobile device, a regulatory body, a government
operable to dispense the plurality of dispensable units 1312 40 agency, a corporate database , a manufacturer of one of the
from the container 1302 . plurality of dispensable units 1312 , and so forth . The remote
The processor 1306 and the memory 1308 may be opera- resource 1318 may also or instead include a user device , e.g. ,
tively connected to the container 1302 and the dispensing a smart phone, a tablet, a computer, and so forth . The remote
system 1304. The processor 1306 and the memory 1308 may resource 1318 may also or instead include a publicly or
be disposed on , or in communication with, a computing 45 privately available source of rules and schedules, e.g. , on a
device such as any as described herein . webpage hosted by a server or the like. In another aspect , the
The processor 1306 may be configured to dispense one or remote resource 1318 is another component of the system
more of the plurality of dispensable units 1312 according to 1300 such as the container 1302 or the dispensing system
at least one of the predetermined schedule 1316 and the 1304. In general, the remote resource 1318 may be capable
number of rules 1314 . 50 of providing updates to one or more of the predetermined
The memory 1308 may store the predetermined schedule schedule 1316 and the number of rules 1314 .
1316 and the number of rules 1314 , or the predetermined In an aspect , the processor 1306 is configured to receive
schedule 1316 and the number of rules 1314 may otherwise an update 1320 to the predetermined schedule 1316 or the
be accessible to the processor 1306 , e.g. , through the data number of rules 1314 from the remote resource 1318
network 1301 . 55 through the data network 1301. The update may include ,
The network interface 1310 may couple one or more of e.g. , a recall of the plurality of dispensable units 1312 , a
the participants in the system 1300 to the data network 1301 . change in the predetermined schedule 1316 or the number of
For example, the network interface 1310 may couple one or rules 1314 , and so forth . The update may also or instead
more of the processor 1306 , the memory 1308 , and a remote include an interpretation of the predetermined schedule 1316
resource 1318 to the data network 1301. Additionally, other 60 or the number of rules 1314 , or an application/ instruction
components of the system 1300 may also or instead include related to the predetermined schedule 1316 or the number of
network interfaces 1310 for coupling to the data network rules 1314 .
1301 . In another aspect , the processor 1306 may also or instead
The plurality of dispensable units 1312 may be any as be configured to transmit a notification 1322 based on a
described herein . In an aspect , the plurality of dispensable 65 detected event at one or more of the container 1302 and the
units 1312 may include at least one controlled substance . dispensing system 1304. The update 1320 may thus be
The controlled substance may have particular rules included received in response to the detected event.
 US 11,139,057 B2
37 38
The update 1320 may include an update to a tracking rule on time , and illustrative triggers 1401 may include, without
as described herein . The update 1320 may also or instead limitation , that too few dispensable units were dispensed in
include verification of the tracking rule, a particular a particular time period, or too many, or an incorrect or
configuration of the tracking rule , a confirmation of the unsafe combination of dispensable units . The system 1400
tracking rule, and an execution of the tracking rule. The 5 may query a trigger database 1404 to ascertain if events
update 1320 may instead include an alert regarding the 1402 observed by the system 1400 correspond to static
tracking rulee.g ., an alert to a user to configure , confirm , triggers 1401 , or if a set of environmentally dependent
execute , or otherwise perform an action /verification related triggers have been achieved . Events 1402 may be looked up ,
to the tracking rule . stored, or processed in connection with the trigger database
The detected event may include without limitation one or 10 1404 , having been detected via one or more event listeners
more of the following: a dispensing of one or more of the 1405. The event listeners 1405 may detect that the event has
plurality of dispensable units 1312 ; that a dispensable unit occurred 1416 .
1312 has not been dispensed at a predetermined time; a Other example events 1402 may include , without limita
detected environmental condition, that an amount of dis- tion , that a particular sensor records a particular temperature
pensable units 1312 in the container 1302 has fallen below 15 or records a particular humidity (or other environmental
a predetermined threshold amount; and the like . The noti- condition ). Corresponding example triggers may include,
fication 1322 may be directly related to the detected event. without limitation , that the temperature of the recorded
For example, where the amount of dispensable units 1312 in environment is too high , or the recorded humidity is too
the container 1302 has fallen below a predetermined thresh- humid , or is otherwise outside some predetermined criteria .
old amount, the notification 1322 may include sending a 20 The system 1400 may have a set of connected devices
request to receive additional dispensable units 1312 . 1403 and third party systems 1406 , which may be collec
The notification 1322 may be transmitted to one or more tively referred to as " external services ” 1407. External
of the following: a treating physician for a user of the services 1407 may include but are not limited to smart
plurality of dispensable units 1312 ; a manufacturer of one of phones, cellphones, tablets, desktops, laptops, projector sys
the plurality of dispensable units 1312 ; a pharmacy for a user 25 tems , digital billboards, advertising systems, quantified -self
of the plurality of dispensable units 1312 ; an insurer of a devices, other personal health devices and accessories,
user of the plurality of dispensable units 1312 ; and the like . medical databases, home/ enterprise security services, smart
In another aspect , the processor 1306 is configured to home systems, home appliances ground / air transportation /
transmit a notification 1322 of a potential misuse ( or other- fulfillment services , drone services /platforms, and the like .
wise event of interest) related to the plurality of dispensable 30 External services 1407 may function as inputs to the
units 1312 to the remote resource 1318 through the data system 1400 , where an event 1402 that occurs at that
network 1301. The potential misuse may include without external service 1407 activates a trigger 1401 in the system
limitation one or more of a misdosage , a dispensing of a 400 , based on the static and dynamic triggers associated
dispensable unit 1312 by an unauthorized user, that a dis- with the system , which may be disposed in a trigger database
pensable unit 1312 has not been dispensed at a predeter- 35 1404. For instance , a fall detector connected to the system
mined time , and at least one of a certain range of dispensable 1400 , upon detecting the fall of an elderly patient who is
units 1312 being dispensed in a predetermined time period using the same , may communicate with the system 1400 that
and a certain combination of dispensable units 1312 being such an event 1402 has occurred.
dispensed in a predetermined time period . The potential External services 1407 may also function as outputs of the
misuse may also or instead include the violation of a rule, 40 system 1400 , where the system 1400 sends a notification
e.g. , a tracking rule as described herein , or a deviation from 1408 (e.g. , including certain content) via a notifier 1409
the predetermined schedule 1316 . (e.g. , including, but not limited to , a wireless antenna and a
In general, the above system 1300 may be useful for data bus ) with a particular content to one of the external
sending notifications 1322 , and it may be used with any of services 1407 in a determined format based on upon its
the other devices, systems , and methods described herein . 45 processing 1410 of inputs ( and triggers ). The processing
For example, notifications 1322 may relate to the dispensa- 1410 may include selecting a rule to handle the trigger 1401 .
tion of dispensable units 1312 , or more narrowly consum- The content of each notification 1408 may be determined
able items . By way of example, such notifications 1322 may based on some additional data 1411 , including, but not
include alerts related to a missed medicine dose or the like. limited to , news /media data , other authored content, user
By way of further example, the notifications 1322 may also 50 data ( for instance medical data and historical usage data ),
or instead include direct notifications /messages sent to emer- user privileges , pre -determined external-service - specific
gency services if certain dispensable units 1312 are not content templates, and the like . Content may be human
dispensed or consumed within a certain timeframe. readable or machine instructions. For instance, upon detect
The notifications 1322 may include any as described ing that a user's medicine supply is low, the system 1400
herein or otherwise known in the art including without 55 may send a notification 1408 in the form of an instruction to
limitation text message , e - mail , phone calls , video , push an e - commerce server to place an order to purchase more .
notifications, vibrating alerts, visual alarms or alerts, and so For further instance, upon detecting a patient has had an
forth . accident while walking outside , the system 1400 may send
FIG . 14 illustrates another system for networked notifi- a notification 1408 in the form of an instruction 1408 to a
cation for dispensable units . 60 medical drone service to dispatch immediate medical help .
The system 1400 may have a set of static or dynamic The system 1400 may perform processing of its input data
triggers 1401 corresponding to one or more observed events (e.g. , the external event 1402 ) to determine which outputs to
1402 , e.g. , external events . If the system 1400 is coupled activate (e.g. , notifications 1408 ) and with what content .
with a device 1403 , e.g. , a connected device that manages Such processing includes but is not limited to usage and goal
and / or dispenses dispensable units, illustrative events 1402 65 analytics, risk assessment ( e.g. for medical contamination or
may include, without limitation , that a dispensable unit is adverse pill mixing or upon recall of a particular drug ), and
dispensed or that a scheduled dispensable is not dispensed data aggregation and statistical functions.
 US 11,139,057 B2
39 40
There may be a cascading or escalating chain of notifi- The cloud 1413 may connect to social media portals to
cation inputs ( e.g. , triggers /events 1401/1402 ) , which the supplement user data with additional fields, e.g. , favorite
system 1400 may use to prioritize input events 1402 while foods. The system may communicate with GPS towers , cells
determining what action to take for a particular trigger 1401 , towers , Wi- Fi nodes, and other wireless access points to
in a rules database and prioritizer 1412 (e.g. , a prioritization 5 determine or triangulate a user's location .
function ). For instance, the system 1400 may prioritize alsThe cloud 1413 may connect with healthcare profession
, prescription vendors, and insurers automatically upon
events 1402 or resulting triggers 1401 from a direct text
message by a doctor or from an electronic fall detector over prescription issuance or entry, potentially for order process
events /triggers from a pedometer. Such cascading may be 10 functions ing , drug shipment, and regulatory data filing, among other
set up in advance or may be dynamically determined , for .
instance according to reliability and use cases of the par databases and 1413
The cloud may pull data from multiple online
news sources (which may be part of the
ticular external service 1407 .
There may be a cascading or escalating chain of notifi additional data 1411 of the system 1400 ) to find and push
cation outputs . For instance , illustratively, notifications 1408 15 limited to druguprecalls
SKU - specific - to -date news and alerts, including but not
, updated drug interactions, updated
may first be sent to a vibrating wristband on a patient, second drug warnings, and manufacturer warning letters. This may
as a text message to a cellphone, third as an automated phone include recalls.
call to a patient's doctor, fourth to the emergency services The cloud 1413 may require authorization ( e.g. , user
near the patient. privileges 1414 ) from users to unlock access to cloud
The cascading or escalating chain of notification inputs 20 features as well as identify users . Methods for authorization
( e.g. , triggers /events 1401/1402 ) and outputs (e.g. , notifica- may include but are not limited to the following: type, touch ,
tions 1408 ) may utilize a cloud 1413 or the like , which may speech , facial / visual recognition, fingerprint recognition , or
perform or support two way communications with the combinations of these . Users may authorize certain human
components of the network notification system . Further, the or automated agents to view all or a specified part of their
cloud 1413 may perform two way communications with any 25 user data . Agents may include but are not limited to doctors,
other smart devices 1403 that a user may have (e.g. , smart- hospital systems . Users may authorize agents on an indi
phone , tablet , etc. ) , through which the user may access the vidual basis or by certain agent characteristics, including but
cloud interfaces. Even further, the cloud 1413 may perform not limited to doctor specialty, doctor experience with
two way communication with medical professionals and consumable indication, and hospital group . Users may
third -party systems 1406 ( e.g. , emergency medical record 30 authorize site administrators and customer service represen
( EMR) systems , disease management systems, genomic / tatives to access their accounts for troubleshooting and
genetic platforms physicians/healthcare professionals, development purposes . Users that are account owners may
patient vitals tracking devices /systems, and quantified - self authorize other users (whether part of their account or not )
devices /systems). to consume certain SKUs or use certain dispensers.
The cloud 1413 may use prioritized buffering and trans- 35 Security of EMRs and other healthcare data structures
mission to ensure non -redundant data is transmitted first may be enabled via data licensing and incremental digital
during any communication , and to ensure reliability when signatures.
user devices have limited Internet access . The cloud 1413 may provide dispensable unit usage trend
The cloud 1413 may deliver alert communications upon identification via an analytics engine, e.g. , for ( 1 ) input to
triggers including but not limited to scheduled dosing (in- 40 medical professionals and systems , (2 ) warnings/recommen
cluding any dosing requirements, such as an instruction to dations based on recognized patterns and medical input, (3 )
take a drug with food ), misuse ( e.g. , missed medication , on demand data / visuals for users , and (4 ) modification of
overdose) and unsafe drug interactions ( e.g. , Drug A and pricing and supply chain (e.g. contract and internal manu
Drug B cause stomach bleeding if consumed within 24 hours facturing) of consumable products.
of each other ), where alerts may be in any form ( e.g. , emails , 45 E - commerce backend may exist for auto -replenishing of
text messages , notifications on a dispenser ) and may travel containers via automatically triggered orders ( when detect
to any device, including locally networked devices or ing containers are near empty ), order queuing, dose queuing
devices within a firewall. and replacement of prescription filling process by connect
The cascading or escalating chain of notification inputs ing users , healthcare professionals, and prescription ven
and outputs may operate in the following manner, which is 50 dors .
provided by way of example and not of limitation . A The cloud 1413 may provide storage , in a distributed
particular user may have a notification state in the cloud database, of a user's data , item data , medical professional/
which may escalate based on trigger events 1402 ( e.g. , system data listed above , and other data as appropriate , as
mis -dosing ); the following embodiments of notification well as hosting for additional content ( including but not
states may exist : (Level 1 ) Normal state , user may receive 55 limited to blogs , user forums, site-specific media and con
notifications through devices and app notifications ( Level 2 ) tent ). User data in the cloud layer may be redundant with
Upon missing a dose , user may receive text messages , user data on cartridges or the like , and the cloud can perform
emails , etc. (Level 3 ) Emergency state , for example upon conflict resolution as necessary . The cloud may cache fre
overdosing or repeated missing of scheduled doses , user quently accessed user data for quick transmission to car
may receive phone call from human customer service agent 60 tridges or the like .
and emergency contacts may be alerted . Access to the cloud 1413 may be provided to third parties
All communications may be fully compliant with regu- via a documented application programming interface ( API).
latory requirements, including but not limited to HIPAA , and The API may allow access to evolving subset of full cloud
may be encrypted with industry standard or industry leading functionality. Similarly, third party APIs may be used by the
cryptographic technologies, such as 256 - bit Rijndael 65 system to bring third party devices, networks, and ecosys
encryption. All communications may pass through cloud's tems into the connected network and functionality of the
system servers to ensure complete reliability and security. dispensable unit system .
 US 11,139,057 B2
41 42
Customers may purchase a preset ( for example “ Family their user privileges 1414 , and in accordance with regulatory
with children ” preset) cartridge or the like . For preset restrictions, including but not limited to HIPAA .
products, the cloud may automatically configure the vanilla External services 1407 may be linked to individual users ,
product to a particular preset based on the unique product ID or to multiple users . For instance , an administrator may be
and the associated product purchase information from the 5 able to receive notifications 1408 to their personal external
user . services 1407 ( that function as outputs to the system 1400 )
Still more generally, a variety of fixed and distributed based on triggers 1401 from external services 1407 ( e.g. , fall
infrastructures may be usefully employed with system com- detectors ) that belong to several elderly patients. Further
ponents to provide value added services and augment opera- more , a second non - administrator user may be able to
tion of the system for an individual user. Thus, portions of 10 receive notifications 1408 for a first non - administrator user
the systems and methods described above may be imple- (e.g. , a patient) assuming that they are set up as such and are
mented in the cloud, while other portions use local process- sufficiently privileged within the system 1400 .
ing resources for a device , such as a computer, printer, In an embodiment, the dispenser -notification system 1400
camera, and the like coupled to a local area network shared may interact with a third party tracking system or set of
with the components of the system . In another aspect , other 15 tracking rules ( collectively referred to herein as “ tracking
network resources may be usefully combined with cloud- mechanisms ” 1415 ) for controlled substances, such as risk
based services and local processing resources to provide evaluation and mitigation strategies (REMS ) . This tracking
various layers of functionality , knowledge sharing, redun- mechanism 1415 may be centralized ( for instance at a
dancy, and speed . For example, while a cloud -based or other government agency ) or distributed across several service
remote-hosted system may manage personal inventory by 20 providers or guideline -setters. A “ controlled substance ” may
automatically ordering replacement cartridges at appropriate include a dispensable unit that poses some risk to humans or
times , this may also be performed with a suitably pro- to the environment if used indiscriminately , or at the incor
grammed local computer that can read compliance data , rect time/ frequency, or in the incorrect combination , and
cartridge status, and scheduling information from a compo- may or may not be regulated by a regulatory body or
nents of the system and determine when replacement car- 25 government. Controlled substances may be present inside
tridges might be needed . A local reminder may then be the dispenser , and dispensing - actions would refer to the
presented to the user, or the computer may autonomously dispensing of such controlled substances .
connect to the network and authorize or make corresponding The dispenser -notification system 1400 may use such
purchases. Still more generally, a single user may wish to tracking mechanisms 1415 as inputs, whereby rules defined
autonomously manage all dispensing activity, and the sys- 30 by the tracking mechanism 1415 define triggers 1401 in the
tem may be configured as a closed system with no external dispenser-notification system , and whereby events 1402
network connectivity, or with limited network activity, e.g. , occurring on the end of the tracking mechanism 1415 may
to issue e -mail or text message alerts from the local com- activate triggers 1401 in the dispenser -notification system
puter. At the same time , each function described above may 1400 .
occur at any number of locations . For example, monitoring 35 The dispenser -notification system 1400 may use incorpo
consumable units may be performed by a cartridge , by a clip , rate such tracking mechanisms' rules and events into its
by a base , by a local computing device , by a dedicated processing and analysis as described earlier. Particular
remote server, or by a general purpose , cloud -based man- analyses may identify dose conflicts or illegal or high - risk
agement system . Similarly various notification systems, usage of particular controlled substances or combinations
monitoring functions, data storage functions, management 40 thereof.
and administration functions and the like may be distributed The dispenser -notification system 1400 may use such
or centralized in various manners across available resources tracking mechanisms 1415 as outputs, whereby communi
according to user preferences, security requirements , over- cations are sent to the tracking mechanisms 1415 based on
sight required by health care professionals, data integrity triggers 1401 activated at the system 1400 and processing is
requirements and so forth . All such variations are intended 45 done by the system 1400. Such communications may have
to fall within the scope of this disclosure, and not particular a particular content (e.g. , notifications 1408 with specific
function, service, system component, sub -component, or content ), which may be defined as described earlier for the
communications interface or endpoint should be presumed system 1400 , and may include machine instructions or
to reside with any specific system element unless explicitly human - readable reports . Particular outputs may include
stated to the contrary or otherwise clear from the context. 50 machine instructions to trigger an audit at a regulatory body
External services 1407 may be “ connected ” to the system ( potentially via the external tracking mechanism 1415 ) and
1400 via hardware or software integration . The system may alert a manufacturer of a high -risk controlled substance
expose an API whereby a third party device or system can , usage event 1402 at a dispenser.
via its communication interface ( including but not limited to Based on its user database ( which may be internal or
Wi- Fi, Ethernet, WiMAX , 3G cellular and 4G - LTE ), may 55 within the cloud 1413 ) , the dispenser -notification system
send and receive instructions to / from a particular web 1400 may tie particular dispensing -actions or doses of
address ( according to , for instance , a RESTful API defined controlled substances to specific users , defined user groups
by the system) that may indicate one of the following states or dynamic user populations ( including but not limited to
(but not limited to them ): trigger occurrence on the side of groups defined based on usage and based on demographic ).
the external service, authentication / authorization success or 60 The above systems, devices, methods, processes, and the
failure, readiness to accept/ send communications to / from like may be realized in hardware, software , or any combi
the system or not . nation of these suitable for a particular application. The
Notifications 1408 in this system 1400 may be tied to user hardware may include a general -purpose computer and / or
accounts . There may be multiple levels of user functionality, dedicated computing device . This includes realization in one
illustratively one for administrators, professionals and care- 65 or more microprocessors, microcontrollers, embedded
takers ( “ admins” ), and one for all other users . Admins may microcontrollers, programmable digital signal processors or
have access to all or a subset of user accounts, depending on other programmable devices or processing circuitry, along
 US 11,139,057 B2
43 44
with internal and /or external memory. This may also , or any suitable method of causing one or more other parties or
instead , include one or more application specific integrated entities to perform the steps, consistent with the patentability
circuits , programmable gate arrays, programmable array of the following claims , unless a different meaning is
logic components, or any other device or devices that may expressly provided or otherwise clear from the context. Such
be configured to process electronic signals . It will further be 5 parties or entities need not be under the direction or control
appreciated that a realization of the processes or devices of any other party or entity, and need not be located within
described above may include computer -executable code a particular jurisdiction .
created using a structured programming language such as C , It should further be appreciated that the methods above
an object oriented programming language such as C ++ , or are provided by way of example. Absent an explicit indica
any other high - level or low - level programming language 10 tion to the contrary , the disclosed steps may be modified,
( including assembly languages, hardware description lan- supplemented, omitted , and /or re - ordered without departing
guages , and database programming languages and technolo- from the scope of this disclosure .
gies ) that may be stored , compiled or interpreted to run on It will be appreciated that the methods and systems
one of the above devices, as well as heterogeneous combi- described above are set forth by way of example and not of
nations of processors , processor architectures, or combina- 15 limitation . Numerous variations, additions, omissions , and
tions of different hardware and software. In another aspect , other modifications will be apparent to one of ordinary skill
the methods may be embodied in systems that perform the in the art. In addition, the order or presentation of method
steps thereof, and may be distributed across devices in a steps in the description and drawings above is not intended
number of ways . At the same time , processing may be to require this order of performing the recited steps unless a
distributed across devices such as the various systems 20 particular order is expressly required or otherwise clear from
described above , or all of the functionality may be integrated the context. Thus, while particular embodiments have been
into a dedicated , standalone device or other hardware . In shown and described, it will be apparent to those skilled in
another aspect , means for performing the steps associated the art that various changes and modifications in form and
with the processes described above may include any of the details may be made therein without departing from the
hardware and / or software described above . All such permu- 25 spirit and scope of this disclosure and are intended to form
tations and combinations are intended to fall within the a part of the invention as defined by the following claims ,
scope of the present disclosure . which are to be interpreted in the broadest sense allowable
Embodiments disclosed herein may include computer by law.
program products comprising computer - executable code or What is claimed is :
computer-usable code that, when executing on one or more 30 1. A device comprising:
computing devices, performs any and / or all of the steps a container;
thereof. The code may be stored in a non - transitory fashion a retrieval arm ;
in a computer memory, which may be a memory from which a positioner coupled to the retrieval arm and actuatable to
the program executes ( such as random access memory move the retrieval arm within the container;
associated with a processor ), or a storage device such as a 35 a sensor configured to measure a signal indicative of a
disk drive, flash memory or any other optical , electromag- level of dispensable units in the container, wherein the
netic , magnetic , infrared or other device or combination of signal indicative of the level of the dispensable units is
devices. In another aspect , any of the systems and methods indicative of the force exerted by the retrieval arm on
described above may be embodied in any suitable transmis the container; and
sion or propagation medium carrying computer -executable 40 a controller in communication with the positioner and the
code and / or any inputs or outputs from same. sensor, the controller configured to receive, from the
It will be appreciated that the devices, systems, and sensor, the signal indicative of the level of the dispens
methods described above are set forth by way of example able units in the container, and to actuate the positioner
and not of limitation. Absent an explicit indication to the to move the retrieval arm within the container accord
contrary, the disclosed steps may be modified , supple- 45 ing to a sequence of retrieval attempts, each retrieval
mented , omitted, and / or re - ordered without departing from attempt corresponding to a different two - dimensional
the scope of this disclosure . Numerous variations, additions , pattern within a horizontal plane through the container,
omissions , and other modifications will be apparent to one and each retrieval attempt carried out at a depth of the
of ordinary skill in the art. In addition, the order or presen- container based at least in part on the signal indicative
tation of method steps in the description and drawings above 50 of the level of the dispensable units in the container.
is not intended to require this order of performing the recited 2. The device of claim 1 , wherein the signal indicative of
steps unless a particular order is expressly required or the level of the dispensable units is indicative of the weight
otherwise clear from the context. of the dispensable units in the container.
The method steps of the implementations described herein 3. The device of claim 1 , wherein the sensor includes a
are intended to include any suitable method of causing such 55 strain gauge .
method steps to be performed , consistent with the patent- 4. The device of claim 1 , wherein the controller is further
ability of the following claims , unless a different meaning is configured to actuate the positioner to move the retrieval
expressly provided or otherwise clear from the context. So arm , between unsuccessful retrieval attempts, by a retreat
for example performing the step of X includes any suitable margin in a direction away from the level of the dispensable
method for causing another party such as a remote user, a 60 units in the container.
remote processing resource ( e.g. , a server or cloud com- 5. The device of claim 4 , wherein the retreat margin is
puter ) or a machine to perform the step of X. Similarly, based on the signal indicative of the level of the dispensable
performing steps X , Y and Z may include any method of units in the container.
directing or controlling any combination of such other 6. The device of claim 1 , wherein the container includes
individuals or resources to perform steps X , Y and Z to 65 a bottom surface having at least one sloped portion.
obtain the benefit of such steps . Thus method steps of the 7. The device of claim 1 , wherein the retrieval arm
implementations described herein are intended to include includes a tube and a nib , the tube defining a hollow core , the
 US 11,139,057 B2
45 46
nib coupled to the tube , and the nib defining an opening in retrieval attempts includes moving the retrieval arm in a
fluid communication with the hollow core . random direction within the horizontal plane .
8. The device of claim 7 , further comprising a vacuum 14. The method of claim 9 , wherein moving the retrieval
source in fluid communication with the tube, the vacuum arm within the container according to the sequence of
source controllable to apply a vacuum force through the 5 retrieval attempts includes moving the retrieval arm pro
hollow core to the nib .
9. A method comprising: gressively toward or away from a perimeter of the container.
measuring a signal indicative of a level of dispensable retrieval 15. The method of claim 9 , further comprising moving the
units in a container, wherein the signal indicative of the retreat marginarm , between unsuccessful retrieval attempts, by a
level of the dispensable units in the container corre- 10 dispensable unitsin ina the direction away from the level of the
container.
sponds to weight of the dispensable units in the con 16. The method of claim 15 , wherein the retreat margin is
tainer ; based on the signal indicative of the level of the dispensable
moving a retrieval arm within the container according to units in the container.
a sequence of retrieval attempts of the dispensable 17. The method of claim 9 , further comprising applying a
units , each retrieval attempt associated with a different 15 vacuum
two - dimensional pattern within a horizontal plane through force to an end portion of the retrieval arm moving
the container during the sequence of retrieval
through the container; and
selectively adjusting a depth of each retrieval attempt attempts.
within the container based at least in part on the signal 18. A method, comprising:
indicative of the level of dispensable units in the 20 measuring a signal indicative of a level of dispensable
container. units in a container, wherein the signal indicative of the
10. The method of claim 9 , wherein measuring the signal level of the dispensable units in the container corre
indicative of the level of the dispensable units in the con sponds to force of a retrieval arm on the containers;
tainer includes measuring a response of a strain gauge in moving a retrieval arm within the container according to
mechanical communication with the container . 25
a sequence of retrieval attempts of the dispensable
11. The method of claim 9 , wherein moving the retrieval units, each retrieval attempt associated with a different
arm within the container according to the sequence of two - dimensional pattern within a horizontal plane
retrieval attempts includes moving the retrieval arm by at through the container, and
least a predetermined distance within the horizontal plane . selectively adjusting a depth of each retrieval attempt
12. The method of claim 11 , wherein the predetermined 30 within the container based at least in part on the signal
distance is greater than half of a width of the retrieval arm . indicative of the level of dispensable units in the
container.
13. The method of claim 9 , wherein moving the retrieval
arm within the container according to the sequence of