Systems and methods for automatically verifying packaging of solid pharmaceuticals via robotic technology according to patient prescription data

Abstract

Robotic pick-and-place automation is used to transfer oral solid pharmaceuticals from moveable trays or canisters. Sensors are used to verify that the pharmaceuticals have been properly placed in the desired pharmaceutical locations precisely according to the patient prescription data. A pharmacist places pharmaceutical products within dispensing trays or canisters to present the pharmaceutical products for picking and placing via the robotic pick-and-place machinery. Once the canister or tray is located adjacent the pick-and-place device, a sensor or imaging unit associated with the pick-and-place device verifies that the pharmaceutical product, the size, shape, and/or color of an expected pharmaceutical product that is to be placed within the packaging material in accordance with patient prescription data stored by a computer associated with the system. Sensors verify that each individual pharmaceutical specified by a patient prescription have been deposited into each specified location strictly in accordance with the patient prescription data.

Description

BACKGROUND OF THE INVENTION

Field of the Invention

The present invention relates generally to the field of automated oral solid pharmaceutical packaging mechanisms for packaging oral solid pharmaceuticals in packages in accordance with patient prescription information. More specifically, the present invention is directed to systems and methods for automatically verifying placement of oral solid pharmaceuticals within packaging according to patient prescription data. A variety of systems and methods are disclosed which provide rapid and efficient verification of oral solid pharmaceutical product placement within packaging in accordance with patient prescription data. The systems and methods which are described below provide multiple independent verifications within a single piece of automation that ensure absolute confidence that the placement of oral solid pharmaceuticals within packaging strictly matches patient prescription dosing information.

Description of the Related Art

Currently, various automated packaging systems exist for placing oral solid pharmaceuticals into packaging solutions which correlate individual dosing times with patient prescription dated. Examples include U.S. Pat. Nos. 8,831,773 and 7,185,476 which are incorporated herein by reference. These issued patents describe systems that are capable of placing one or more oral solid pharmaceutical products into package cavities that correspond to patient prescription data and are herein incorporated by reference in their entirety. While the existing solutions describe various systems that are capable of rapidly and efficiently placing oral solid pharmaceuticals into packages, there remains a need in the art for ensuring that the oral solid pharmaceuticals have been precisely placed into the packages according to the patient prescription data with absolute confidence and within a single system. Currently there are no systems available that provide automatic verification that oral solid pharmaceutical packaging has been filled precisely according to patient prescription data within a single system and blister carded packaging. Accordingly, there remains a need in the field for systems and methods that are capable of ensuring that oral solid pharmaceuticals have been placed strictly in accordance with predetermined patient prescription data within a single system and in blister carded packaging.

The conventional approach to solving this issue requires that a trained technician or pharmacist review the packaged pharmaceuticals in order to ensure that the oral solid pharmaceutical products have been properly placed within the packaging material. The conventional approach is prone to errors and significant delays associated with the manual review process. Applicants' innovation that is set forth below overcomes these deficiencies of existing systems and obviates the need for post packaging quality review. Applicants' unique use and arrangement of various sensors ensures that the oral solid pharmaceuticals have been packaged properly.

SUMMARY OF THE PRESENT INVENTION

In accordance with a first preferred exemplary embodiment of the present invention, robotic pick-and-place automation is used to transfer oral solid pharmaceuticals from moveable trays or canisters that have been quality checked by a pharmacist to package locations in accordance with patient prescription data. Advantageously, in accordance with the present invention, a variety of sensors are used in order to verify that the oral solid pharmaceuticals have been properly placed in the desired oral solid pharmaceutical package locations precisely according to the patient prescription data. In accordance with a first preferred embodiment of the present invention, a pharmacist places oral solid pharmaceutical products within dispensing trays or canisters which are used to present the oral solid pharmaceutical products for picking and placing via the robotic pick-and-place machinery. Once the canister or tray is located adjacent the pick-and-place device, a further sensor or imaging unit associated with the pick-and-place device verifies that the oral solid pharmaceutical product presented by the tray or canister matches the size and shape and/or color of an expected oral solid pharmaceutical product that is to be placed within the packaging material in accordance with patient prescription data that is stored by a computer associated with the system.

If the expected data matches the actual oral solid pharmaceutical product sensed by the imaging unit associated with the pick-and-place device, the robotic pick-and-place continues to transfer one oral solid pharmaceutical product to a desired package location which has a dosing time corresponding to the patient prescription data that is for the package that is currently being filled. Once the robotic pick-and-place end of arm tooling has transferred the oral solid pharmaceutical product to the desired package location, additional sensing units ensure that the transfer is completed into the desired package location in order to verify that the robotic pick-and-place unit has dropped the oral solid pharmaceutical product into a desired package location. If the imaging sensor of the robotic pick-and-place device determines that the oral solid pharmaceutical product presented at the tray or canister is not a match to the expected oral solid pharmaceutical product according to the current patient prescription data, then the system issues an alert to the system operator in order to prevent the erroneous transfer of oral solid pharmaceutical products into the packaging material and will not pick that oral solid pharmaceutical.

In accordance with a preferred exemplary embodiment of the present invention, a med verification tray or transfer sensing unit is located between the end of arm tooling for the robotic pick-and-place mechanism and a oral solid pharmaceutical product package or temporary store having cavity locations corresponding to the cavities of a solid pharmaceutical package that is to be filled by the system. The med verification tray or transfer sensing unit preferably includes a plurality of sensors that operate to confirm transfer from the robotic pick-and-place end of arm tooling into the package cavity location corresponding to the prescription data that is currently being filled by the system. It is preferred that the system is able to ensure that a specific cavity location is being filled by confirming the drop of the oral solid pharmaceutical from the robotic pick-and-place end of arm tooling.

In accordance with a first preferred exemplary embodiment of the present invention, one or more optical sensing units are used to ensure that the oral solid pharmaceutical product that is transferred by the robotic pick-and-place device actually drops into the specific package cavity location that is to be filled by the system. In a first preferred exemplary embodiment, an optical sensor unit includes an emitter that emits a wide beam that at least substantially covers a region above the cavity location that is to be filled. One or more receiving units are located opposite the emitting unit and sense the emitted beam generated by the emitter. An interrupt signal is generated when the one or more receiving units sense that at least a portion of the beam has been interrupted. Because the emitter and receiving unit are preferably individually associated with each package cavity location, it is possible to confirm that an oral solid pharmaceutical has been transferred by the robotic pick-and-place unit from the dispensing tray or canister specifically into a desired oral solid pharmaceutical package cavity location corresponding to the patient prescription data. This technique ensures strict compliance for packaging oral solid pharmaceutical products in accordance with stored patient prescription data. It is also preferred that the sensors of the med verification tray or transfer sensing unit preferably sense any additional breach of the beam immediately after the drop of the oral solid pharmaceutical product in order to ensure that the oral solid pharmaceutical product does not bounce from the desired oral solid pharmaceutical packaging location when the oral solid pharmaceutical product is dropped by the robotic pick-and-place device.

A further verification may also be performed by imaging the packaged pharmaceuticals and matching the oral solid pharmaceutical products located within each package cavity with the corresponding patient prescription data for the specific dosing time corresponding to the package cavity location. In accordance with the foregoing verifications, it is possible to ensure that the individual oral solid pharmaceutical package cavities have been filled with the appropriate doses corresponding to predetermined patient prescription data with absolute confidence. Conventional systems have not been able to provide this high level of confidence for the existing automated oral solid pharmaceutical packaging systems. The present invention overcomes these shortcomings and deficiencies of the existing systems thereby providing a much more economical and efficient packaging solution.

BRIEF DESCRIPTION OF THE DRAWINGS

FIG. 1 illustrates a first exemplary embodiment of the overall robotic pick-and-place oral solid pharmaceutical packaging system of the present invention;

FIG. 2 illustrates a first exemplary embodiment of the med verification tray or transfer sensing unit of the present invention;

FIG. 3 illustrates a second exemplary embodiment of the med verification tray or transfer sensing unit of the present invention;

FIG. 4 illustrates is a flow diagram illustration of the process for automatically verifying packaging of oral solid pharmaceuticals;

FIG. 5 illustrates a second exemplary embodiment of the oral solid pharmaceutical transfer tray or cassette of the present invention.

DETAILED DESCRIPTION OF THE PRESENTLY PREFERRED EMBODIMENTS

FIG. 1 illustrates a first preferred exemplary embodiment of the present invention which is generally shown at 10 in the illustration. A robotic pick-and-place unit 12 transfers oral solid pharmaceutical products from the transfer trays or cassettes 14, 15, 16 into individual oral solid pharmaceutical package locations in accordance with patient prescription data. The individual transfer trays or cassettes 14, 15, 16 are preferably transferred to the respective locations shown in the illustration by another transfer robot from a staging location at which a pharmacist or technician fills the individual trays or cassettes from bulk storage. An initial verification is provided by a pharmacist or technician in order to ensure that the medications placed into the transfer trays or cassettes 14, 15, 16 match the medication designated for a specific transfer tray or cassette. Bar coding verification or other automatically verified visual coding is preferably used by the automated system in order to confirm that an individual tray or cassette that is staged adjacent the robotic pick-and place unit 12 for filling matches the designation provided by the pharmacist or technician at the time of filling.

An additional verification of the oral solid pharmaceutical is performed by an imaging unit (not shown) that is preferably associated with the end of arm tooling portion 18 of the robotic pick-and-place unit 12. The imaging unit provides image data for comparison with a library of image data that is used to ensure the oral solid pharmaceutical actually picked up by the robotic pick-and place unit 12 matches an expected oral solid pharmaceutical designated by a prescription to be filled based on a plurality of visual characteristics including one or more of shape, size, and/or color of the solid oral pharmaceutical. The imaging unit is also preferably used in order to ensure that the end of arm tooling is placed properly above a specific oral solid pharmaceutical so that the suction tip is able to grab and move an individual solid pharmaceutical. An automated processing unit compares the actual image data with expected image data to determine whether there is a match, if there is no match then an alert is issued to the system operator.

In accordance with a preferred exemplary embodiment as illustrated in FIGS. 1 and 2, the end of arm tooling portion 18 initially engages a suction tip 75 that is secured to the transfer tray or cassette 14, 15, or 16 from which a solid oral pharmaceutical 24 is to be transferred for packaging. The suction tip 75 is a soft rubber end that is engaged and removed from the end of arm tooling portion 18 at each cassette 14, 15, or 16 so that each cassette or transfer tray 14, 15, or 16 has its own dedicated suction tip 75 thereby avoiding the potential for cross-contamination from different medications that are filled by the system. Once all medications have been transferred from a particular transfer tray or cassette 14, 15, or 16 for a particular package that is being filled by the system, the suction tip 75 of the end of arm tooling portion 18 is again secured to its corresponding transfer tray or cassette 14, 15, or 16 so that it is available for use the next time that a solid oral pharmaceutical 24 is to be transferred from the transfer tray or cassette 14, 15, or 16. The round suction tip 75 is preferably temporarily secured at the transfer tray or cassette 14, 15, or 16 via a plastic semicircular structure 8 so that the end of arm tooling portion 18 can easily engage and disengage the suction tip 75 of each cassette or transfer tray 14, 15, or 16.

FIG. 1 also illustrates the location of the med transfer verification unit 20 that is placed above a package or package template that is to be filled by the system. The med transfer verification unit 20 incorporates a plurality of sensors that verify the transfer into a specific package or package template cavity corresponding to a patient prescription that is filled by the system.

FIG. 2 illustrates a first exemplary embodiment of the med transfer verification unit 20. The med transfer verification unit 20 preferably includes an array of cavities 22 that each individually provide a transfer path for a solid oral pharmaceutical that is packaged by the system of the present invention. The array of cavities 22 of the med transfer verification unit 20 preferably correspond with the individual cavities of an oral solid pharmaceutical product package that is located beneath the med transfer verification unit 20. Each cavity of the package or package template corresponds with a specific patient dosing time and the system automatically transfers each required oral solid pharmaceutical into its specified location strictly in accordance with predetermined patient prescription data using the robotic pick-and-place unit.

FIG. 2 also illustrates a plurality of electromagnetic emitter units 26 that are used to verify that medication transferred by the robotic pick-and-place unit actually drops into a desired package cavity or template location. In accordance with this first embodiment, an electromagnetic energy receiving unit (not shown) is placed opposite each of the electromagnetic emitting units and a path is formed in the med transfer verification unit 20 through the oral solid pharmaceutical transfer path for each cavity in a given row or column of the med transfer verification unit 20 in order to confirm that an oral solid pharmaceutical has been deposited in a desired cavity according to the predetermined patient prescription data. In accordance with this first embodiment of the med transfer verification unit 20, it is possible to verify that an oral solid pharmaceutical has been deposited by the end of arm tooling but verification is only possible for rows or columns of the med transfer verification unit 20. Those skilled in the art will appreciate that additional emitters and receivers can be used in order to provide greater resolution for pill drop verification into each individual cavity. The med transfer verification unit 20 also acts as a barrier between cavities to prevent inadvertent transfer of the medication between the cavities.

FIG. 3 illustrates an alternate embodiment of the med transfer verification unit 20 wherein each cavity 22 of the med transfer verification unit 20 includes its own pair of electromagnet emitter and receiver units for specifically confirming that a solid oral pharmaceutical has been dropped into a specific cavity of a package in accordance with patient prescription data. The electromagnetic emitter units are not shown in the illustration of FIG. 3. FIG. 3 illustrates the med transfer verification unit 20 and the individual electromagnetic receiving units 30 that are individually associated with each cavity of the med transfer verification unit 20. When an individual solid oral pharmaceutical is dropped by the robotic pick-and-place unit through a specific cavity of the med transfer verification unit 20, the med transfer verification unit 20 is able to sense and verify the drop of the solid oral pharmaceutical based on a break in the beam that is received by each of the electromagnetic receiving units 30. This sensing of the drop at each individual cavity provides confirmation that the oral solid pharmaceutical that has been dropped by the robotic pick-and-place unit into the package strictly in accordance with the predetermined patient prescription data. The individual electromagnetic emitters and receivers can also be used to ensure that pills have not bounced out from the cavities by verifying that only a single break in the beam is associated with each pill drop.

Additional image data from optical sensing units positioned above and/or below the package cavity may be used to further confirm that each individual cavity has been properly filled with the oral solid pharmaceuticals strictly in accordance with the predetermined patient prescription data.

FIG. 4 is a flow diagram which illustrates the overall process for automatically verifying the placement of oral solid pharmaceutical products into specific cavities of a package strictly in accordance with patient prescription data stored in an electronic memory of a computer controller that is used for controlling the packaging machinery. In step 42 a pharmacist or technician verifies transfer of medication from bulk storage into the appropriate canister or dispenser for the specified medication. The medication canister is returned to a carousel where it can be automatically retrieved by a robot for transfer to the robotic pick-and place device of the present invention. It is preferred that a bar code, QR code or rfid reader associated with the system reads a code on the canister before it is positioned at a specific location in a staging area so a robotic retriever can transfer the desired canister automatically to the robotic pick-and-place unit.

In step 44, a bar code or other automated reader reads a code or data from the canister when it is transferred to the staging area of the robotic pick-and-place packaging system in order to ensure that the system transfers the desired medication. In step 46, image data from the pick-and-place unit verifies that the individual pill being transferred has physical characteristics matching those of the expected pill. In step 48, the system verifies drop of the pill into the specific package cavity corresponding to the patient prescription data. Finally, in step 50, the resultant package is labeled and sealed with the patient specific data after all required medications for all doses specified by patient prescription data have been filled by the system into the cavities of the product package.

In an alternate more manual version of the system, the med transfer verification tray includes one or more lights that illuminate at a region of the tray corresponding to a specific cavity of the package that is to be filled with an oral solid pharmaceutical. This assists in the manual transfer of oral solid pharmaceuticals into specific package cavities according to patient prescription data. The remaining operations associated with pill transfer can then be performed in accordance with manual transfer into a package cavity. The system cause one or more lights in a specific region to illuminate in order to guide the user to place a solid pharmaceutical in a desired package location corresponding to patient prescription data.

FIG. 5 illustrates the details of the end of arm tooling for the robotic pick-and-place device which is shown generally at 60. High pressure and low pressure lines 62 and 64 operate to generate a vacuum at the suction tube 65. A pressure sensor 66 located proximate the suction tube 65 operates to ensure that a pill has been picked up by the system based on a predetermined pressure change at the pressure sensor 66. A valve 67 is a pneumatic solenoid switch that selectively applies the vacuum at the suction tube 65. The switch is preferably a 2 msec switch which causes the pressure change within 10 msec at the suction tube end within 10 msec. The solenoid switch or valve 67 consists of four standard ports and the port A and B are the supply of negative pressure and positive pressure. Port A is directly coupled to the vacuum ejector which supplies the negative pressure and port B is directly coupled to a positive pressure regulator which supplies low positive pressure. As a result, the P port is the port which supplies the vacuum pressure and the positive pressure to the suction tube. Ports A and B always have the vacuum and positive pressure active during picking and placing operations. This arrangement assures rapid pressure changes at the end of the suction tube 65. The positive pressure is required to simply and effectively remove the vacuum pressure at the end of suction tube 65.

For performing pill drop verification, it is preferred to use emitters such as model LV S 62 manufactured by Keyence as an optical emitter along with an optical sensor. Alternatively a Fairchild semiconductor infrared emitting diode can be used as the light source in conjunction with an optical sensor. Those skilled in the art will appreciate that virtually any emitter and sensor can be used to sense a break in the sensed emission beam associated with the transit of an oral solid pharmaceutical into a product package cavity. In an alternate arrangement, it is recognized that one or more imaging units could be used to sense the transit of oral solid pharmaceuticals into package cavities but this arrangement requires additional image data processing in order to identify transfer into a specific package cavity.

Those skilled in the art will appreciate that various substitutions and alterations can be made to the systems and methods described in the instant application while still falling within the scope of the appended claims.

Claims

1. A method for automatically verifying packaging of oral solid pharmaceutical medications comprising: verifying placement of a plurality of oral solid pharmaceuticals into each of a plurality of dispensing containers, each individual dispensing container being dedicated to a specific oral solid pharmaceutical medication;automatically transferring a plurality of individual dispensing containers to a staging location of a robotic pick-and-place transfer mechanism and verifying that a specific dispensing container is located at a specific staging location for transferring oral solid pharmaceuticals from the dispensing container;moving an end of an arm tooling of the robotic pick-and-place transfer mechanism to engage a first suction tip that is removably secured to a first structure;using the robotic pick-and-place transfer mechanism to automatically transfer individual oral solid pharmaceutical medications from at least one of a plurality of dispensing containers to cavity locations of a product package that each correspond to patient prescription data;automatically verifying that each of the individual oral solid pharmaceutical medications is transferred to a correct cavity location;upon transferring all of the first type of oral solid pharmaceutical for a particular product package, securing, using the end of the arm tooling, the first suction tip to the first structure; andmoving the end of the arm tooling of the robotic pick-and-place transfer mechanism to engage a second suction tip that is removably secured to a second structure.

2. The method for automatically verifying packing of oral solid pharmaceutical medications of claim 1, wherein: automatically verifying that each of the individual oral solid pharmaceutical medications is transferred to a correct cavity location comprises verifying, using an imaging unit associated with the robotic pick-and-place transfer mechanism, that each oral solid pharmaceutical medication transferred by the robotic pick-and-place transfer mechanism matches predetermined physical parameters of an oral solid pharmaceutical that is specified for transfer into a specific cavity location based on the patient prescription data.

3. The method for automatically verifying packing of oral solid pharmaceutical medications of claim 2, wherein: the predetermined physical parameters comprise visual characteristics of the oral solid pharmaceutical stored as image data; andverifying that each oral solid pharmaceutical medication transferred by the robotic pick-and-place transfer mechanism matches predetermined physical parameters comprises comparing image data from the imaging unit with a library containing a plurality of image data for a plurality of oral solid pharmaceuticals.

4. The method for automatically verifying packing of oral solid pharmaceutical medications of claim 1, wherein: automatically verifying that each of the individual oral solid pharmaceutical medications is transferred to a correct cavity location comprises imaging the transferred oral solid pharmaceutical medications and matching the oral solid pharmaceutical medications located within each cavity location with corresponding patient prescription data associated with each cavity location.

5. The method for automatically verifying packing of oral solid pharmaceutical medications of claim 1, further comprising: automatically sealing and printing patient identification and prescription data on the product package once all oral solid pharmaceutical specified by the patient prescription data have been transferred into the product package cavities specified by the patient prescription data.

6. The method for automatically verifying packing of oral solid pharmaceutical medications of claim 1, wherein: automatically verifying that each of the individual oral solid pharmaceutical medications is transferred to a correct cavity location comprises detecting a break an emitter beam for a single one of the individual oral solid pharmaceutical medications to confirm that the single one of the individual oral solid pharmaceutical medications has been deposited in a desired cavity according to the patient prescription data.

7. The method for automatically verifying packing of oral solid pharmaceutical medications of claim 6, wherein: the emitter beam extends across one or both of a row or a column of cavity location of a transfer validation unit that is positioned above the product package.

8. A method for automatically verifying packaging of oral solid pharmaceutical medications comprising: moving an end of an arm tooling of a robotic pick-and-place transfer mechanism to engage a first suction tip that is removably secured to a first structure;using the robotic pick-and-place transfer mechanism to automatically transfer individual oral solid pharmaceutical medications from at least one of a plurality of dispensing containers to cavity locations of a transfer validation unit that each correspond to patient prescription data;upon transferring all of the first type of oral solid pharmaceutical for a particular product package, securing, using the end of the arm tooling, the first suction tip to the first structure;moving the end of the arm tooling of the robotic pick-and-place transfer mechanism to engage a second suction tip that is removably secured to a second structure; andautomatically sealing and printing patient identification and prescription data on the product package once all oral solid pharmaceutical specified by the patient prescription data have been transferred into product package cavities specified by the patient prescription data.

9. The method for automatically verifying packing of oral solid pharmaceutical medications of claim 8, further comprising: automatically verifying that each of the individual oral solid pharmaceutical medications is transferred to a correct cavity location.

10. The method for automatically verifying packing of oral solid pharmaceutical medications of claim 8, further comprising: prior to using the robotic pick-and-place transfer mechanism to automatically transfer each of the individual oral solid pharmaceutical medications, automatically verifying whether an image of a specific one of the individual oral solid pharmaceutical medications matches an expected image.

11. The method for automatically verifying packing of oral solid pharmaceutical medications of claim 10, further comprising: issuing an alert if the image of the specific one of the individual oral solid pharmaceutical medications does not match the expected image.

12. The method for automatically verifying packing of oral solid pharmaceutical medications of claim 8, further comprising: detecting a break an emitter beam for a single one of the individual oral solid pharmaceutical medications to confirm that the single one of the individual oral solid pharmaceutical medications has been deposited in a desired cavity according to the patient prescription data.

13. The method for automatically verifying packing of oral solid pharmaceutical medications of claim 12, wherein: the emitter beam is one of a plurality of emitter beams; andeach cavity location comprises a dedicated one of the plurality of emitter beams.

14. The method for automatically verifying packing of oral solid pharmaceutical medications of claim 12, wherein: the emitter beam is one of a plurality of emitter beams; andeach of the plurality of emitter beams extends across a single column or row of cavity locations.

15. A system for automatically verifying packing of oral solid pharmaceutical medications, comprising: a robotic pick-and-place unit having an arm tooling having an end, wherein the end of the arm tooling is configured to: move to engage a first suction tip that is removably secured to a first structure;upon transferring all of the first type of oral solid pharmaceutical for a particular product package, secure the first suction tip to the first structure;move to engage a second suction tip that is removably secured to a second structure; andmove between each of a plurality of dispensing containers and cavity location of the particular product package to automatically transfer individual oral solid pharmaceutical medications from at least one of the plurality of dispensing containers to cavity locations of the particular product package that each correspond to patient prescription data.

16. The system for automatically verifying packing of oral solid pharmaceutical medications of claim 15, further comprising: at least one optical sensor unit associated with a transfer validation unit positioned above the particular product package, the at least one optical sensor unit being configured to detect when a particular one of the oral solid pharmaceutical medications has been transferred into a corresponding one of the cavity locations.

17. The system for automatically verifying packing of oral solid pharmaceutical medications of claim 16, wherein: the at least one optical sensor unit is further configured to sense when the end of the arm tooling is placed above a specific oral solid pharmaceutical.

18. The system for automatically verifying packing of oral solid pharmaceutical medications of claim 15, wherein: the first suction tip is removably secured to the first structure using a semicircular retaining structure.

19. The system for automatically verifying packing of oral solid pharmaceutical medications of claim 15, further comprising: a transfer validation unit positioned above the particular product package, the transfer validation unit comprising at least one emitter beam, the transfer validation unit being configured to detect a break in the at least one emitter beam for a single one of the individual oral solid pharmaceutical medications to confirm that the single one of the individual oral solid pharmaceutical medications has been deposited in a desired cavity according to the patient prescription data.

20. The system for automatically verifying packing of oral solid pharmaceutical medications of claim 15, further comprising: one or more optical sensing units positioned above, below, or above and below cavity locations, wherein the one or more optical sensing units are configured to verify that each of the individual oral solid pharmaceutical medications is transferred to a correct cavity location by imaging the transferred oral solid pharmaceutical medications and matching the oral solid pharmaceutical medications location within each cavity location with corresponding patient prescription data associated with each cavity location.

21. The system for automatically verifying packing of oral solid pharmaceutical medications of claim 15, wherein: the first structure comprises a first dispensing container associated with a first type of oral solid pharmaceutical; andthe second structure comprises a second dispensing container associated with a second type of oral solid pharmaceutical.

22. The system for automatically verifying packing of oral solid pharmaceutical medications of claim 15, wherein: the first suction tip is engaged to the end of the arm tooling by coupling the first suction tip with a suction tube that is connected to a negative pressure source and a positive pressure source.

23. The system for automatically verifying packing of oral solid pharmaceutical medications of claim 15, wherein: the first structure and the second structure are different.