WO2026011190A1

WO2026011190A1 - Sensing retrieval of pills

Info

Publication number: WO2026011190A1
Application number: PCT/US2025/036707
Authority: WO
Inventors: Raymond John Ring, Iii; Kevin Robert SKEUSE; Jake LEBOVITS; Craig Sunada; Goran TEMUNOVIC; Marko Markov; Rajendrakumar PATEL
Original assignee: Hero Health Inc
Current assignee: Hero Health Inc
Priority date: 2024-07-05
Filing date: 2025-07-07
Publication date: 2026-01-08
Anticipated expiration: 2027-01-05

Abstract

Systems, devices, and methods of the present disclosure are generally directed to balancing competing considerations of speed and accuracy in picking individual pills from one or more containers, in accordance with the particular needs of an end-user. For example, the accuracy, speed, and efficiency of pill retrieval according to the various systems, devices, and methods described herein are facilitated by one or more measurements indicative of weight of one or more pills removed from a container for delivery to an end-user.

Description

SENSING RETRIEVAL OF PILLS

CROSS-REFERENCE TO RELATED APPLICATIONS

[0001] This application claims the benefit of priority to U.S. Provisional Patent Application 63/667,991, filed July 5, 2024, and U.S. Provisional Patent 63/712,018, filed October 25, 2024, with the entire contents of each of these applications hereby incorporated herein by reference.

BACKGROUND

[0002] Automated pill dispensing is useful for improving the likelihood of end-user compliance with respect to proper timing and dosage of medications. The potential for improved compliance is manifest, for example, in medication regimens that involve several different types of medications, scheduled to be taken at various times throughout the day or night. However, techniques used for accurately and automatically retrieving pills for dispensing can be time-consuming, potentially frustrating some end-users to the point of decreased reliance on automated pill dispensing to manage medication regimens.

SUMMARY

[0003] Systems, devices, and methods of the present disclosure are generally directed to balancing competing considerations of speed and accuracy in picking individual pills from one or more containers, in accordance with the particular needs of an end-user. For example, the accuracy, speed, and efficiency of pill retrieval according to the various systems, devices, and methods described herein are facilitated by one or more measurements indicative of weight of one or more pills removed from a container for delivery to an enduser.

[0004] According to an aspect, a system for dispensing pills may include a plurality of containers, a retrieval arm movable into the plurality of containers to retrieve contents from the plurality of containers, a weighing assembly including an actuator and a weight sensor, and a carrier including a turntable and a track, the turntable defining a plurality of slots in which the plurality of containers is supportable, the actuator actuatable to rotate the turntable along the track to move a target container of the plurality of containers through an opening defined by the track and into mechanical communication with the weight sensor, and movement of the target container into mechanical communication with the weight sensor via the opening increasing spacing between sides of the target container and sides of instances of the plurality of containers adjacent to the opening.

[0005] In some implementations, movement of the target container into mechanical communication with the weight sensor via the opening may increase spacing between the sides of the target container and the sides of instances of the plurality of containers adjacent to the opening at least in a direction of rotation of the turntable.

[0006] In certain implementations, movement of the target container into mechanical communication with the weight sensor via the opening may increase spacing between at least a top portion of the target container and respective top portions of the instances of the plurality of containers adjacent to the opening.

[0007] In some implementations, the track may include a first profiled surface and a second profiled surface, the opening defined by the track is between the first profiled surface and the second profiled surface, the actuator is actuatable to rotate the turntable along the track to move the target container into the opening via movement over one of the first profiled surface or the second profiled surface and, with the target container in mechanical communication with the weight sensor via the opening, the instances of the plurality of containers adjacent to the opening rest on the first profiled surface and the second profile surface and tilt away from the opening. For example, at least one of the first profiled surface and the second profiled surface may decrease in height away from the opening.

[0008] In certain implementations, the target container may be supported in mechanical communication with the weight sensor, via the opening, in an orientation of the target container tilted toward an axis of rotation of the turntable. For example, the weighing assembly may further includes a platform coupled to the weight sensor, the platform includes a first connector portion, the target container includes a second connector portion, and the turntable is rotatable along the track, via actuation of the actuator, to locate the second connector portion of the target container through the opening and into mechanical engagement with the first connector portion of the platform, and the mechanical engagement of the first connector portion and the second connector portion tilting the target container toward the rotation axis of the turntable. As an example, the platform may be rigidly coupled to the weight sensor. Further, or instead, the first connector portion of the platform may include a spline, and the second connector portion of the target container is a groove engageable with the spline. Still further, or instead, the track may include a bumper extending into the opening, the bumper biases the target container toward the rotation axis of the turntable as the target container moves through the opening and into mechanical communication with the weight sensor. As an example, the bumper may be spaced apart from the target container with the target container in mechanical communication with the weight sensor via the opening.

[0009] According to another aspect, a system for dispensing pills may include a plurality of containers, a retrieval arm movable into the plurality of containers to retrieve contents from the plurality of containers, a weighing assembly including an actuator and a load cell, and a carrier including a turntable, a track, and at least one mechanical stop, the track defining an opening at a predetermined position, the turntable defining a plurality of slots in which the plurality of containers is supportable, the turntable rotatable along the track, via actuation of the actuator, to locate a target container of the plurality of containers through the opening and into mechanical communication with the load cell, the at least one mechanical stop limiting movement of the load cell, the track including a resiliently flexible surface, and the load cell mechanically coupled to the resiliently flexible surface of the track.

[0010] In some implementations, the resiliently flexible surface of the track may be plastic.

[0011] In certain implementations, the resiliently flexible surface of the track may define a pair of relief cuts, and the load cell is mechanically coupled to the resiliently flexible surface of the track between the relief cuts.

[0012] In some implementations, the load cell may include one or more of a strain gauge load cell, a pneumatic load cell, a hydraulic load cell, a vibrating wire load cell, a capacitive load cell, or a piezoelectric load cell.

[0013] In certain implementations, the at least one mechanical stop may limit incident strain on the load cell to below a maximum strain of the load cell.

[0014] According to yet another aspect, a method of weighing pills for dispensing may include rotating, in a first rotation direction, a turntable supporting a plurality of containers, rotation of the turntable in the first rotation direction locating a target container of the plurality of containers into mechanical communication with a weight sensor at a predetermined position, moving the target container relative to the weight sensor with the target container remaining in mechanical communication with the weight sensor, and receiving, from the weight sensor, a signal indicative of weight of contents of the target container in mechanical communication with the weight sensor following movement of the turntable relative to the target container. [0015] In certain implementations, moving the target container relative to the weight sensor with the target container remaining in mechanical communication with the weight sensor may include rotating the turntable in a second rotation direction opposite the first rotation direction. As an example, moving the target container relative to the weight sensor with the target container remaining in mechanical communication with the weight sensor may include alternating movement of the turntable back and forth between the first rotation direction and the second rotation direction.

[0016] In some implementations, moving the target container relative to the weight sensor with the target container remaining in mechanical communication with the weight sensor may include contacting the target container with a retrieval arm positioned within the target container with the contact between the target container and the retrieval arm relieving contact between the target container and the turntable. As an example, contacting the target container with the retrieval arm positioned within the target container may include moving the retrieval arm within the target container. Further, or instead, contacting the target container with the retrieval arm may include rotating the turntable to move the target container into contact with the retrieval arm.

[0017] In certain implementations, moving the target container relative to the weight sensor with the target container remaining in mechanical communication with the weight sensor may include aligning an axis of rotation of the turntable with a plane bisecting the target container in mechanical communication with the weight sensor.

[0018] In some implementations, moving the target container relative to the weight sensor with the target container remaining in mechanical communication with the weight sensor may include moving the target container by greater than 0.5 mm and less than 5 mm in any direction.

[0019] In certain implementations, moving the target container relative to the weight sensor with the target container remaining in mechanical communication with the weight sensor may include actuating a vacuum pump in fluid communication with a retrieval arm movable into the target container for retrieving one of a plurality of pills in the target container.

[0020] In some implementations, the method may further include retrieving, with a retrieval arm, a number of samples (n) from a plurality of pills in the target container in mechanical communication with the weight sensor, and receiving, from the weight sensor, a signal indicative of the respective weight of each one of the number of samples (n) and, between each sample, repeating moving the target container relative to the weight sensor with the target container remaining in mechanical communication with the weight sensor.

[0021] According to still another aspect, a method of monitoring pills for dispensing may include locating a target container of a plurality of containers into mechanical communication with a weight sensor, retrieving, with a retrieval arm, a number of samples (n) from a plurality of pills in the target container in mechanical communication with the weight sensor, receiving, from the weight sensor, a signal indicative of a respective weight of each one of the number of samples (n). determining a range of a total count of the plurality of pills in the target container based on a predetermined total standard deviation (S), the number of samples (n), a mean pill weight (X) of the number of samples (n), and a predetermined probability for accuracy (P) of the total count, and initiating a remedial action based on the range of the total count.

[0022] In some implementations, the predetermined total standard deviation may be based on a computed standard deviation for device error (Sd) and a computed standard deviation for pill weight (Sp).

[0023] In certain implementations, receiving, from the weight sensor, the signal indicative of the respective weight of each one of the number of samples (n) may include receiving a temperature signal and adjusting the signal received from the weight sensor based on the temperature signal.

[0024] In some implementations, determining the range of the total count of the plurality of pills in the target container may include activating a camera based on weight of one of the number of samples (n) deviating from the mean pill weight (X) by more than a threshold percentage, receiving from the activated camera an image of the one of the number of samples (n) with the activated camera, and assessing the one of the number of samples (n) based on the image received from the camera, and initiating the remedial action includes sending an alert based on assessment of the one of the number of samples (n). For example, assessing the one of the number of samples (n) based on the image received from the camera may include confirming the pill type.

[0025] In certain implementations, determining the range of the total count of the plurality of pills in the target container may include receiving a motion signal indicative of movement of the target container and, based on the motion signal indicating movement, checking contents of the target container. For example, checking contents of the target container may include repeating the steps of retrieving the number of samples (n), receiving the signal indicative of the respective weight of each of the number of samples (n), and determining the range of the total count of the plurality of pills in the target container. Further, or instead, checking contents of the target container nay include comparing the range of the total count of the plurality of pills to a value of the range of the total count of the plurality of pills stored prior to the motion signal indicating movement. Still further, or instead, checking contents of the target container may include activating a camera directed at the target container.

[0026] In some implementations, the predetermined probability for accuracy may be a constant.

[0027] In certain implementations, the predetermined probability for user accuracy may be a user input.

[0028] In some implementations, initiating the remedial action based on the range of the total count may include determining, based on a dosing schedule and a lower end of the range of the total count, a number of remaining days of dosing of the plurality of pills according to a dosing schedule and sending an alert to a user interface based on whether the number of remaining days of dosing is below a predetermined supply threshold.

[0029] In certain implementations, initiating the remedial action based on the range of the total count may include receiving a user input of a type of pill in the target container and a quantity of the plurality of pills in the target container, and sending an alert to a user interface based on comparison of the range of the total count and the type of pill in the target container and the quantity of the plurality of pills in the target container.

[0030] In some implementations, initiating the remedial action based on the range of the total count may include determining that that the range of the total count indicates that the target container is empty and sending an alert to a user interface based on determination that the target container is empty.

BRIEF DESCRIPTION OF THE DRAWINGS

[0031] FIG. 1A is a front perspective view of a system for dispensing dispensable units.

[0032] FIG. IB is a rear perspective view of the system of FIG. 1 A with a portion of a housing removed.

[0033] FIG. 1C is a schematic representation of a retrieval arm and a carrier of the system of FIG. 1 A, with a container shown at a predetermined position on the carrier. [0034] FIG. 2A is a top view of the carrier of the system of FIG. 1 A, with the container shown at the predetermined position on the carrier.

[0035] FIG. 2B is a perspective view of the carrier of the system of FIG. 2A, with the container shown at the predetermined position on the carrier.

[0036] FIG. 2C is a partially exploded, perspective view of FIG. 2B, showing the position of a weighing assembly relative to the carrier and the container at the predetermined position on the carrier.

[0037] FIG. 2D is a side view of a cross-section of the container, the weighing assembly, and the carrier of FIG. 2C, with the cross-section taken along the line 2D-2D in FIG. 2B.

[0038] FIG. 2E is an enlarged side view of the area of detail 2E in FIG. 2D, shown with the container along a ramp and lifted away from the weighing assembly.

[0039] FIG. 2F is the enlarged side view of detail of FIG. 2E, shown with the container supported on the weighing assembly.

[0040] FIG. 3 is a flow chart of an exemplary method of sensing retrieval of pills.

[0041] FIG. 4A is a flow chart of an exemplary method of weighing pills for dispensing.

[0042] FIG. 4B is a schematic representation of the retrieval arm disposed in a target container to move the target container relative to a weight sensor in the system of FIGS. 1A-2F.

[0043] FIG. 5 is a flow chart an exemplary method of monitoring pills for dispensing.

[0044] FIG. 6 is a schematic representation of a portion of a track including a first profiled surface and a second profiled surface, the portion of the track shown with a target container on a weight sensor and adjacent instances of containers tilted away from the target container.

[0045] FIG. 7A is a schematic representation of a weighing assembly including a platform including a first connector portion.

[0046] FIG. 7B is a schematic representation of a second connector portion of a target container mechanically engaged with the first connector portion of the platform of FIG. 7A.

[0047] FIG. 8 is a bottom isometric view of a track including a bumper. [0048] FIG. 9A is a top view of weight sensor mounted to a resiliently flexible portion of a track.

[0049] FIG. 9B is a side view of the weight sensor of FIG. 9A, shown with range of motion of the weight sensor limited by a mechanical stop.

[0050] Like reference symbols in the various drawings indicate like elements.

DETAILED DESCRIPTION

[0051] Embodiments will now be described more fully hereinafter with reference to the accompanying figures, in which exemplary embodiments are shown. The foregoing may, however, be embodied in many different forms and should not be construed as limited to the exemplary embodiments set forth herein.

[0052] All documents mentioned herein are hereby incorporated by reference in their entirety. References to items in the singular should be understood to include items in the plural, and vice versa, unless explicitly stated otherwise or clear from the text. Grammatical conjunctions are intended to express any and all disjunctive and conjunctive combinations of conjoined clauses, sentences, words, and the like, unless otherwise stated or clear from the context. Thus, the term “or” should generally be understood to mean “and/or,” and the term “and” should generally be understood to mean “and/or.”

[0053] Recitation of ranges of values herein are not intended to be limiting, referring instead individually to any and all values falling within the range, unless otherwise indicated herein, and each separate value within such a range is incorporated into the specification as if it were individually recited herein. The words “about,” “approximately,” or the like, when accompanying a numerical value, are to be construed as indicating a deviation as would be appreciated by one of ordinary skill in the art to operate satisfactorily for an intended purpose. Ranges of values and/or numeric values are provided herein as examples only, and do not constitute a limitation on the scope of the described embodiments. The use of any and all examples, or exemplary language (“e.g.,” “such as,” or the like) provided herein, is intended merely to better illuminate the embodiments and does not pose a limitation on the scope of the embodiments. No language in the specification should be construed as indicating any unclaimed element as essential to the practice of the embodiments.

[0054] While methods, systems, and devices are described below in the context of managing pill dispensing, it will be understood that embodiments described herein are provided by way of example and not limitation, and that various aspects of this disclosure may have additional applications independent from those described. For example, unless otherwise specified or made clear from the context, the systems, methods, and devices described herein may be adapted to any environment in which discrete units of consumable material are controllably dispensed on any predetermined or ad hoc schedule in a laboratory (e.g., chemical, pharmaceutical or life sciences laboratory), a packaging facility, a pharmacy, a care facility, or any of various different dispensing environments to end-users and/or caregivers. All such variations are intended to fall within the scope of this disclosure, unless a contrary intent is indicated.

[0055] As used herein, unless otherwise indicated or made clear from the context, the term “pill” shall be understood to refer to a discrete unit of a consumable material, and the term “pills” shall be understood to refer to a plurality of such discrete units. Thus, references to pills herein are intended to include a wide array of consumable items and form factors, including capsules, tablets, chewables, lozenges, dissolvables, sprinkles, dissolve-in-mouth micro-capsules, orally disintegrating tablets, chewable tablets (including jelly beans, gummies, and the like), gums, powder sachets, liquid sachets, vials, cups, cases, other storage forms, and so forth. Further, or instead, the pills may include any one or more of various different predetermined compositions and amounts. The composition of the pills may vary significantly according to the needs of end-users and, by way of example and not limitation, may include prescription medication, non-prescription or over-the-counter medication, nutritional supplements, vitamin supplements, mineral supplements, veterinary medications, veterinary nutritional supplements, food, or any other pharmaceuticals, nutraceuticals, or other item that may be advantageously dispensed and consumed in metered quantities. Thus, while pills may include ingestible substances, it shall be appreciated that pills may include topically applied substances (e.g., hand sanitizer, ointments, lotions, creams, and so forth) intended for external use.

[0056] As also used herein, the term “end-user” shall be understood to include a person for whom the pills are ultimately intended, as well as any one or more other individuals assisting in the care of the ultimate recipient of the pills. Thus, for example, an end-user can include a patient, a medical professional, a caregiver, or any combination thereof.

[0057] Further, as used herein, the term “mechanical communication” in the context of weight sensing shall be understood to include any manner and form of orientation of a container relative to a weight sensor such that the weight sensor may determine weight of the container. Thus, mechanical communication in the context of weight sensing shall be understood to include direct or indirect mechanical coupling between the weight sensor and the container being weighed, provided that such direct or indirect mechanical coupling allows for a weight determination of the container by the weight sensor. Stated differently, unless otherwise specified or made clear form the context, mechanical communication between a container and the weight sensor may include placing the container directly on the weight sensor and, further or instead, may include placing the container on a structure (e.g., a platform) coupled to the weight sensor in a manner permitting the force of the weight of the container to be transmitted to the weight sensor for measurement.

[0058] In the description that follows, for the sake of clear and efficient explanation, the pills shall be generally understood to be discrete units having nominally identical physical properties of shape, size, weight, and volume such that each pill is generally interchangeable with each other pill, in the absence of damage or another anomalous condition. Further, in this context, “nominally identical” shall be understood to refer to a manufacturing specification of a particular physical parameter. Thus, owing to normal manufacturing variations, a large number of pills with nominally identical physical parameters may be observed to have a variation of physical parameters within an acceptable range of the nominal parameter. In the description that follows, unless otherwise specified or made clear from the context, weight of the pills is advantageously used as a proxy for variations of other physical parameters, given that weight may be robustly and accurately measured according to the techniques described herein and generally has a predictable relationship to the other physical parameters of the pills. Further, while the pills may be nominally identical to one another with respect to physical parameters in some instances, it shall be appreciated that such similarity between the pills is not necessarily required, unless otherwise specified or made clear from the context.

[0059] Referring now to FIGS. 1 A-1C and 2A-2F, a system 100 for dispensing pills may include a housing 101 disposed about a plurality of containers 102 (with each instance of the plurality of containers 102 referred to as a container 102), a retrieval arm 104, a carrier 106, and a weighing assembly 208, with the housing 101 generally providing restricted access at least to contents of the plurality of containers 102. Pills may be sorted into the plurality of containers 102, with each one of the plurality of containers 102 carrying a different type of pill to be dispensed to an end-user (e.g., a patient, a care-giver, or medical professional) of the system 100. The carrier 106 may support the plurality of containers 102, and the carrier 106 may be movable to adjust positions of the plurality of containers 102 relative to a predetermined position 210. The weighing assembly 208 may include an actuator 212 and a weight sensor 214. The actuator 212 may be actuatable to move the carrier 106 to locate one instance (e.g., a predetermined instance) of the plurality of containers 102 at the predetermined position 210 and, in doing so, may control mechanical communication between the weight sensor 214 and the container 102 at the predetermined position 210. At the predetermined position 210, the weight sensor 214 may be operable to measure weight of the container 102 in mechanical communication with the weight sensor 214 at the predetermined position 210.

[0060] In use, as described in greater detail below, movement of the retrieval arm 104 may be coordinated with movement of the carrier 106 to carry out pick-and-place retrieval of individual pills from the plurality of containers 102 and ultimately deliver the retrieved pills to a dispensing cup 109, where an end-user may access the retrieved pills according to a predetermined schedule or in response to an ad hoc request. In turn, as also described in greater detail below, movement of the carrier 106 may be coordinated with operation of the weighing assembly 208 to measure the weight of contents in each one of the plurality of containers 102 to determine whether a given retrieval attempt by the retrieval arm 104 was successful in retrieving a single pill, as is generally useful for accurately dispensing pills. Thus, as also described in further detail below, movement of the carrier 106 may be coordinated with operation of each of the retrieval arm 104 and the weight sensor 214 and, through such coordination, the system 100 may advantageously balance competing considerations of speed and accuracy in picking individual pills from the plurality of containers 102. Further, or instead, the coordinated movement of the carrier 106 relative to the weight sensor 214, according to the various different techniques described herein, may facilitate managing shock, vibration, or other disruptive forces experienced by pills during pick-and-place retrieval by the retrieval arm 104, thus providing robustness of retrieval across a wide range of physical properties of pills that may be stored in the plurality of containers 102.

[0061] In general, the carrier 106 may be rotatable about an axis C, and the plurality of containers 102 may be disposed at different angular positions about the axis C such that rotation of the carrier 106 changes the position of the plurality of containers 102 relative to the predetermined position 210. Stated differently, actuation of the actuator 212 may be controlled to rotate the carrier 106 about the axis C and, in doing so, change which instance of the plurality of containers 102 is brought into mechanical communication with the weight sensor 214 at the predetermined position 210 to determine the weight of the pills in the container 102. While the plurality of containers 102 may be arranged at different angular positions about the axis C (similar to numbers on a clock), it shall be appreciated that only a single instance of the plurality of containers 102 (the container 102 located at the predetermined position 210) is shown in FIGS. 1C and 2A-2F to facilitate clear illustration and efficient description

[0062] Each one of the plurality of containers 102 may be brought into mechanical communication with the weight sensor 214 at the predetermined position 210 to determine the weight of pills in each one of the plurality of containers 102. Such weight information may be combined with knowledge about the type of pill in each one of the plurality of containers 102 to determine the respective number of pills in each one of the plurality of containers 102. For example, using a nominal or average weight for a known type of pill in one of the plurality of containers 102, the quantity of pills in the given one of the plurality of containers 102 may be determined based on the weight measured by the weight sensor 214. Specifically, the weight sensor 214 may be used to measure the weight of the given one of the plurality of containers 102 with and without pills therein, and these measurements may be used to determine a net weight of the pills in the given one of the plurality of containers. This net weight may be divided by the nominal weight or the average weight of the pills, according to the technique being used, to arrive at the quantity of pills in the given one of the plurality of containers 102. Significantly, this technique for determining the quantity of pills in the given one of the plurality of containers 102 may be repeated after each retrieval attempt made by the retrieval arm 104 to determine whether the retrieval attempt between two successive weight measurements corresponds to retrieval of only a single pill. As compared to the use of image-based techniques for determining whether a single pill has been retrieved, the foregoing weight-based determination of pill singulation may be more robust under a variety of conditions and, further or instead, may be less prone to degradation over time.

[0063] In certain implementations, the carrier 106 may define an opening 216 at the predetermined position 210, and the actuator may be actuatable to move the weight sensor 214 into mechanical communication with the instance of the plurality of containers 102 at the predetermined position through the opening defined by the carrier 106. More generally, the opening 216 defined by the carrier 106 may facilitate mechanically coupling weight sensor 214 to the container 102 at the predetermined position 210 when the carrier 106 is substantially stationary while mechanically decoupling the weight sensor 214 from the container 102 as the carrier 106 begins to move to change the position of the plurality of containers 102 relative to the predetermined position 210 and to the retrieval arm 104. In this context, substantially stationary shall be understood include low-speed/low-impact relative movement that is incidental to initially establishing mechanical communication between the weight sensor 214 and the container 102. As compared to attaching a weight sensor to a container to avoid relative motion between the weight sensor and the container, the moving the each of the plurality of containers 102 individually through the opening 216 to establish mechanical communication with the weight sensor 214 to carry out a corresponding weight measurement may offer advantages with respect to lower cost and/or improved robustness.

[0064] As an example, the carrier 106 may include a track 218 and a turntable 220. The turntable 220 may define a plurality of slots 222 corresponding in size, shape, and number to the plurality of containers 102 such that each instance of the plurality of containers 102 may be supported (e.g., releasably supported) in a respective instance of the plurality of slots 222. With such a correspondence between the plurality of containers 102 and the plurality of slots 222, it shall be appreciated that the angular position of the turntable 220 relative to the track 218 may be used as a proxy for determining and controlling the angular position of the plurality of containers 102. That is, with the plurality of containers 102 supported in the plurality of slots 222, each of the plurality of containers 102 may be at a fixed radial distance from the center axis C (which is the axis of rotation of the turntable 220) as the turntable 220 rotates along the track 218. For example, rotation of the turntable 220 along the track 218 may move the plurality of containers 102 relative to the retrieval arm 104 and, thus, the fixed radial distance of the plurality of containers 102 away from the center axis C may facilitate accurately positioning the retrieval arm 104 within an instance of the plurality of slots 222 during a retrieval attempt. Further, or instead, as compared to moving containers radially, the fixed radial distance of the plurality of containers 102 relative to the center axis C may be useful for forming the housing 101 with a smaller overall footprint, which takes up less counter space.

[0065] With the plurality of containers 102 held by the turntable 220 at a fixed radial distance from the center axis C, movement of each of the plurality of containers 102 may be restricted such that each of the plurality of containers 102 is movable only in directions parallel to the center axis C. Such restricted movement of the plurality of containers 102 may reduce the likelihood of inadvertent tipping or other unintended dislodgement of the plurality of containers 102 from the turntable 220 while nevertheless facilitating control of mechanical communication between the container 102 and the weight sensor 214. For example, as the turntable 220 rotates along the track 218, the container 102 at the predetermined position 210 may move into mechanical communication with the weight sensor 214, through the opening 216 in a first direction parallel to the center axis C of the turntable 220. With the container 102 in mechanical communication with the weight sensor 214, the container 102 and any pills therein may be weighed according to any one or more of the various different techniques described herein.

[0066] Following establishment of mechanical communication between the weight sensor 214 and the container 102, continued and/or reversed rotation of the turntable 220 about the center axis C of the turntable 220 may cause the container 102 move in a second direction parallel to the center axis C of the turntable 220. The second direction is opposite the first direction. Accordingly, movement in the second direction moves the container 102 through the opening 216 and out of mechanical communication with the weight sensor 214 such that the turntable 220 and the plurality of containers 102 supported thereon may move relative to the weight sensor 214 to place another instance of the plurality of containers 102 into contact with the weight sensor 214. This process may be repeated as many times as necessary or desirable to carry out retrieval of pills to satisfy a particular regimen associated with an end-user.

[0067] In certain instances, the opening 216 may be defined by the track 218 of the carrier 106. This may be particularly advantageous for reducing or eliminating tolerance stack-ups that can interfere with accurate and controlled placement of the container 102 into mechanical communication with the weight sensor 214. Further, or instead, because the turntable 220 rotates along the track 218, the opening 216 defined by the track 218 may advantageously reduce the amount of travel, parallel to the center axis C, required to move the container 102 through the opening 216 to establish and disrupt mechanical communication with the weight sensor 214, as needed to carry out the various different retrieval techniques described herein. Less travel required in the first direction and second direction parallel to the center axis C may correspond to lower shock, vibration, or other unintended forces on the pills in contained in the plurality of containers 102, thus generally reducing the potential for damaging the weight sensor 214 and/or reducing the potential for damaging the pills in the container 102. [0068] In some instances in which the opening 216 is defined along the track 218, the track 218 may include a first ramp section 224 that partially defines the opening 216. For example, the container 102 may be slidable along the first ramp section 224, as the turntable 220 rotates in a rotation direction about the center axis C, to move through the opening 216 and into mechanical communication with the weight sensor 214 at the predetermined position 210. More specifically, the first ramp section 224 may extend in a direction from the turntable 220 toward the weight sensor 214 to guide the container 102 gradually onto the weight sensor 214 as the turntable 220 rotates along the track 218. Further, or instead, the track 218 may include a second ramp section 225 at least partially defining the opening 216 of the carrier 106 and spaced apart from the first ramp section 224 in the rotation direction of the turntable 220. Such relative spacing between the first ramp section 224 and the second ramp section 225 may facilitate gradually moving the container 102 away from the weight sensor 214 as the turntable 220 rotates to position another instance of the plurality of containers 102 at the predetermined position 210. That is, with the container 102 in mechanical communication with the weight sensor 214, the container 102 may be slidable along the second ramp section 225 as the turntable 220 rotates in the rotation direction to move through opening 216 and out of mechanical communication with the weight sensor 214 at the predetermined position. Here again, gradual movement of the container 102 away from the weight sensor 214 and along the second ramp section 225, may be useful for reducing the likelihood of wear or damage to the weight sensor 214 and/or pills in the container 102.

[0069] In general, the track 218 may include any one or more features useful for stably supporting the turntable 220 to limit vibration or other unintended movement of the plurality of containers 102 supported on the turntable 220 as the actuator 212 moves the turntable 220 along the track 218. As an example, the track 218 may include a plurality of rails 226 that are concentric with one another and with the turntable 220 about the center axis C. The turntable 220 may be movable along the plurality of rails 226 to move the container 102 toward or away from the predetermined position 210, according to any one or more of the various weight measurement techniques described herein. Because the plurality of rails 226 match the intended path of motion of the turntable 220, the turntable 220 may be in contact with the plurality of rails 226 along several different points, as is useful for maintaining stability of the plurality of containers 102, and the contents therein, as the turntable 220 rotates. As compared to less stable support with fewer points of contact, the turntable 220 in contact with several different points on the plurality of rails 226 may be rotated at higher speeds to facilitate more rapid pill dispensing by the system 100.

[0070] In general, the weighing assembly 208 may be supported in a fixed position on the carrier 106, as may be useful for positioning portions of the weighing assembly 208 away from other elements of the system 100 that may produce vibrations that can interfere with weight measurement. For example, as described in greater detail below, the retrieval arm 104 may operate using vacuum pressure to remove a single pill from the container 102. In such implementations, it has been experimentally determined that a signal corresponding to weight measurements made by the weight sensor 214 (configured as a load cell for the experiments) may exhibit less noise when the weight sensor 214 is positioned lower along the housing 101 as compared to positioning the weight sensor 214 along a top portion of the housing, closer to the vacuum source.

[0071] Extrapolating from these experimental observations, it is believed that supporting the weighing assembly 208 in a fixed position on the carrier 106 may have further advantages with respect to dampening noise associated with a vacuum source. Thus, in certain implementations, the weight sensor 214 may be supported in a recess 228 defined by the track 218 such that the container 102 may be positionable into mechanical communication with the weight sensor 214 through the opening216 as described. That is, given that the track 218 does not move during operation of the system 100, the weight sensor 214 supported in the recess 228 defined by the track 218 may remain substantially stationary, subject only to vibration transmitted to the weight sensor 214 through various structures in mechanical communication with the weight sensor 214 via the track 218.

[0072] In certain implementations, the weighing assembly 208 may further include at least one damper 230 positioned to limit movement of the weight sensor 214 in response to weight on the weight sensor 214. For example, in instances in which the weight sensor 214 an excessive load (e.g., during shipping), the at least one damper 230 may absorb at least a portion of this excessive load to reduce the likelihood of damage to the weight sensor 214. More specifically, in a given direction (e.g., in a direction parallel to the center axis C), the weight sensor 214 may have a first compliance, and the at least one damper may have a second compliance greater than the first compliance. Thus, to the extent the excessive load results in deflection of the weight sensor 214 into contact with the at least one damper 230, the more compliant material of the at least one damper 230 may absorb at least a portion of the excessive load to provide some measure of protection to the weight sensor 214 and, importantly, may be resilient such that this protection may be sustained through repetition of excessive load on the weight sensor 214. By way of example and not limitation, the at least one damper may include a synthetic viscoelastic urethane polymer.

[0073] The weight sensor 214 may be any one or more of various different types of weight sensors that produces an electrical signal indicative of weight (force) on the sensor, while also being compact, inexpensive, calibratable, and robust in the presence of unintended forces (e.g., during shipping and handling) and through gradual accumulation of debris. Thus, for example, the weight sensor 214 may include at least one load cell and, more specifically, for the range of weights associated with pill dispensing, the at least one load cell may be a 500 g load cell. By way of example and not limitation, such a load cell may include one or more of a strain gauge load cell, a pneumatic load cell, a hydraulic load cell, a vibrating wire load cell, and a capacitive load cell, or a piezoelectric load cell.

[0074] While the container 102 may be brought into direct contact with the weight sensor 214 in some cases, it shall be appreciated that the weighing assembly 208 may further include a platform 232 coupled to the weight sensor 214. In such implementations, the container 102 may be in mechanical communication with the weight sensor 214 via the platform 232 such that the entire weight of the container 102 is supported on the platform 232. The support provided by the platform 232 may facilitate maintaining the container 102 in a fixed orientation as the container 102 is weighed by the weight sensor 214. For example, the container 102 may be moved through the opening 216 to come to rest stably in three-point contact with the platform 232 as the weight sensor 214 detects a signal indicative of weight of the container 102 and any pills therein.

[0075] In general, the actuator 212 may be any one or more of various different types of actuators that may be actuated to produce controlled rotation of the turntable 220 relative to the track 218. For example, the actuator 212 may be an electric motor, such as a rotary actuator, actuatable to start and stop rotation of the turntable 220 to achieve movement of the container 102 into and out of mechanical communication with the weight sensor 214 to carry out the various different pill detection techniques described herein.

[0076] In general, the retrieval arm 104 may be movable into one or more instances of the plurality of containers 102 to retrieve a single pill with each successful retrieval attempt. While the retrieval arm 104 may be movable into the plurality of containers 102 along any angular position relative to the predetermined position 210, the retrieval arm 104 may be advantageously movable into the container 102 at the predetermined position 210. That is, at the predetermined position 210, the retrieval arm 104 may movable into the container 102 along a z-axis parallel to the center axis C of the turntable 220 such that the force exerted by the retrieval arm 104 on the pills in the container 102 may be detected by the weight sensor 214. Further, in some instances, this detected force may be used to limit movement of the retrieval arm 104 to reduce the likelihood of damaging the retrieval arm 104, the container 102, or pills within the container 102. Continuing with this example, to retrieve pills in each of the other instances of the plurality of containers 102, the actuator 212 may be actuatable to move another instance of the plurality of containers 102 to the predetermined position 210, where the retrieval arm 104 may again be moved along the z- axis to repeat the process of pill retrieval. It shall be appreciated that such movement of the retrieval arm 104 along the z-axis at the predetermined position 210 may be carried out as many times as necessary and in as many different instances of the plurality of containers 102 as necessary to retrieve the type and number of pills for dispensing to the end-user, such as may be dictated by a predetermined schedule or an ad hoc demand.

[0077] While the retrieval arm 104 has been described as being movable along the z-axis to move into the container 102, it shall be further appreciated that the retrieval arm 104 may be movable in an x-y plane (defined by x-y axes) away from the plurality of containers 102 supported on the carrier 106. For example, small amounts of movement of the retrieval arm 104 in the x-y plane above the predetermined position 210 may facilitate moving the retrieval arm 104 to a specific portion of the container 102 for the next retrieval attempt. Further, or instead, following each successful retrieval attempt of a single pill from the container 102, the retrieval arm 104 may be movable in the x-y plane to move from a position above the predetermined position 210 to a position above a drop zone 133, where one or more successfully retrieved pills may be released to the dispensing cup 109.

[0078] The retrieval arm 104 may include any one or more of various different features of retrieval arms described, for example, in U.S. Pat. No. 9,731,853, issued on August 15, 2017, and entitled “DISPENSABLE UNIT RETRIEVAL MECHANISM,” the entire contents of which are hereby incorporated herein by reference. As an example, the retrieval arm 104 may include a tube 134 and a nib 136. The tube 134 may be hollow, and the nib 136 may be supported along an end portion of the tube 134. In such implementations, the system 100 may further include a vacuum device 138 in fluid communication with the nib 136 via the tube 134, with the fluid communication between the vacuum device 138 and the nib 136 controllable to control suction force at the nib 136. That is, with the vacuum device 138 in fluid communication with the nib 136, suction force at the nib 136 may be used to draw pills from the container 102 as the retrieval arm 104 is moved, along the z-axis, into proximity of the pills in the container 102 at the predetermined position 210. In some instances, the suction at the nib 136 may inadvertently draw a fraction of a pill or more than one pill from the container 102 at the predetermined position 210. This may be detected, for example, based on a change in weight of the container 102 in mechanical communication with the weight sensor 214, before and after the retrieval attempt. In such cases, fluid communication between the vacuum device 138 and the nib 136 may be interrupted (e.g., by turning off the vacuum device 138 and/or by closing one or more valves) to allow the fraction of a pill or the multiple pills to fall from the nib 136 and back into the container 102. Similarly, in instances in which the weight sensor 214 detects a change in weight corresponding to retrieval of a single pill carried on the nib 136 of the retrieval arm, the vacuum device 138 may remain in fluid communication with the nib 136 until the retrieval arm is over the drop zone 133, where the fluid communication may then be interrupted to allow the single pill to fall into the drop zone 133 from the nib 136. Further, or instead, the vacuum device 138 may be reversible, as may be useful for blowing air out of the nib 136 to facilitate clearing debris from the nib 136.

[0079] In certain implementations, the system 100 may further include a controller 140 in electrical communication with one or more of the retrieval arm 104, the actuator 212, the weight sensor 214, or the vacuum device 138. The controller 140 may, for example, include a processing unit 142 and one or more non-transitory computer-readable storage media 144 having stored thereon instructions for causing the processing unit 142 to carry out one or more aspects of any one of the various different weight-based sensing techniques described herein for sensing retrieval of pills from the plurality of containers 102.

[0080] In the description of the methods that follow, unless otherwise specified or made clear from the context, measurement of weight of a single pill shall be understood to be determined as a difference of the weight of the target container before and after the single pill has been removed from the target container according to any one or more of the various different techniques described herein.

[0081] FIG. 3 is a flow chart of an exemplary method 350 of sensing retrieval of pills. Unless otherwise specified or made clear from the context, it shall be understood that any one or more of the various different aspects of the exemplary method 350 may be carried out by the controller 140 (FIG. 1C) in electrical communication with the actuator 212 (FIG. 1C), the weight sensor 214 (FIG. 1C), the retrieval arm 104 (FIG. 1C), and the vacuum device 138 (FIG. 1C). For example, the one or more non-transitory computer-readable storage media 144 (FIG. 1C) may have stored thereon instructions for causing the processing unit 142 (FIG. 1C) to carry out one or more aspects of the exemplary method 350.

[0082] As shown in step 352, the exemplary method 350 may include actuating an actuator to move the one of the plurality of containers into mechanical communication with a weight sensor at a predetermined position. This actuation of the actuator may move the one of the plurality of containers according to any one or more of various different types of motion described herein for establishing mechanical communication between a weight sensor and a container containing pills therein. Thus, for example, the actuation of the actuator may rotate the one of the plurality of containers along a controlled path until the one of the plurality of containers is in mechanical communication with the weight sensor at the predetermined location.

[0083] In some instances, actuating the actuator to move the one of the plurality of containers into mechanical communication with the weight sensor at the predetermined position may include determining backlash of the carrier (e.g., backlash between the actuator and a turntable of the carrier) based on the signal indicative of the weight of the contents of the one of the plurality of containers. For example, this backlash may be observed in the signal indicative of weight as a lag time in which the signal indicative of weight of the contents of the container does not change when the actuator is actuated to move the container out of mechanical communication with the weight sensor. This lag time corresponds to backlash between the actuator and the carrier, and actuation of the actuator may be adjusted according to the backlash. That is, because of this lag time, the actuator may be actuated earlier (e.g., by an amount equal to the lag time) to facilitate maintaining accurate control over the positions of the plurality of containers relative to the weight sensor and the retrieval arm.

[0084] As shown in step 354, the exemplary method 350 may include moving a retrieval arm into one of a plurality of containers to retrieve contents (e.g., pills) from the one of the plurality of containers. This movement, may be, for example along a z-axis as described such that the retrieval arm plunges into the one of the plurality of containers.

[0085] As shown in step 356, the exemplary method 350 may include receiving, from the weight sensor, a signal indicative of weight of the contents of the one of the plurality of containers in mechanical communication with the weight sensor at the predetermined position. In certain implementations, the signal may include noise associated with, for example, operation of the retrieval arm, particularly in instances in which the retrieval arm is operable using suction from a vacuum device. Thus, certain implementations, receiving the signal indicative of weight of the contents of the one of the plurality of containers may include signal processing to remove, or at least reduce, the noise in the signal. Further, or instead, the signal indicative of the weight of the contents of the one of the plurality of containers may be a gross weight that includes the weight of the container itself. In some instances, the weight of the container may be known (e.g., by using the weight sensor to measure the weight of the container when the container is empty) and, thus, subtracted from the measured weight to provide an indication of a net weight of the pills in the container.

[0086] As shown in step 358, the exemplary method 350 may include determining whether the retrieval arm has retrieved a single pill in the retrieval attempt. This determination may, for example, be based on the signal indicative of the weight of the contents of the one of the plurality of containers at the predetermined position. For example, the signal indicative of the weight of the contents of the one of the plurality of containers may be compared before and after the retrieval attempt made by the retrieval arm. The difference between these signals provides an indication of the weight removed from the container during the retrieval attempt. That is, if the signal indicative of the weight of the container is the substantially the same (allowing for differences attributable to noise in the signal) before and after the retrieval attempt, this is an indication that the retrieval attempt was unsuccessful in removing any pills from the container. Similarly, if the signal indicative of the weight of the container corresponds to a weight less than the weight of a single pill after the retrieval attempt, this is an indication that the retrieval arm removed a fraction of a pill from the container and the retrieval attempt was unsuccessful. Further, if the signal indicative of the weight of the container corresponds to the weight of more than one pill after the retrieval attempt, this is an indication that the retrieval arm removed more than one pill from the container, and the retrieval attempt was unsuccessful.

[0087] As shown in step 360, the exemplary method 350 may include initiating a remedial action if the retrieval arm has not retrieved a single pill in the retrieval attempt. Such remedial action may be, for example, based on the type of failure detected by the weight sensor. Specifically, in instances in which no pill was retrieved by the retrieval arm, the vacuum device may be adjusted to increase suction at a nib of the retrieval arm. Further, or instead in instances in which only a fraction of a pill was retrieved by the retrieval arm, the vacuum device may be reversed to blow air through the nib of the retrieval arm to decrease the likelihood that the pill fragment will become lodged in the nib. Additionally, or alternatively, in instances in which more than one pill was retrieved by the retrieval arm during a retrieval attempt, the remedial action may include releasing the plurality of pills from the retrieval arm before another retrieval attempt is made (e.g., releasing the plurality of pills between successive retrieval attempts). Still further or instead, the remedial action may include repeating the operations of moving the retrieval arm into the one of the plurality of containers (step 354), receiving a signal indicative of weight of contents of the one of the plurality of containers in mechanical communication with the weight sensor at the predetermined position (step 356), and determining whether the retrieval arm has retrieved the single pill (step 358).

[0088] As shown in step 362, the exemplary method 350 may include actuating the actuator to move the plurality of containers out of mechanical communication with the weight sensor such that the weight sensor is unloaded.

[0089] As shown in step 364, the exemplary method 350 may include taring the weight sensor with the plurality of containers out of mechanical communication with the weight sensor such that the weight sensor is unloaded. Such taring may be useful for maintaining accuracy of the weight sensor over time and/or through varying conditions.

[0090] FIG. 4A is a flow chart of an exemplary method 465 of weighing pills for dispensing. As described in greater detail below, the exemplary method 465 may control any one or more aspects of hardware described herein to reduce the likelihood of unintended contact between a container (a target container) and other hardware (e.g., a track or a turntable) as weight of contents of the target container are being measured. Stated differently, the exemplary method 365 may facilitate achieving accurate weight readings that are useful for accurately tracking pills, accurately delivering pills, and/or initiating any one or more remedial actions using the hardware described herein. Unless otherwise specified or made clear from the context, it shall be understood that any one or more of the various different aspects of the exemplary method 465 may be carried out by the controller 140 (FIG. 1C) in electrical communication with the actuator 212 (FIG. 1C), the weight sensor 214 (FIG. 1C), the retrieval arm 104 (FIG. 1C), and the vacuum device 138 (FIG. 1C). For example, the one or more non-transitory computer-readable storage media 144 (FIG. 1C) may have stored thereon instructions for causing the processing unit 142 (FIG. 1C) to carry out one or more aspects of the exemplary method 465. [0091] As shown in step 466, the exemplary method 465 may include rotating, in a first rotation direction, a turntable supporting a plurality of containers, with rotation of the turntable in the first rotation direction locating a target container of the plurality of containers into mechanical communication with a weight sensor at a predetermined position. In general, rotating the turntable supporting the plurality of containers may be carried out according to any one or more of the various different techniques using any one or more of the various different combinations of hardware described herein, unless a contrary intent is indicated.

[0092] As shown in step 467, the exemplary method 465 may include moving the target container relative to the weight sensor with the target container remaining in mechanical communication with the weight sensor. To facilitate maintaining the target container in mechanical communication with the weight sensor throughout the movement of the target container relative to the weight sensor, the target container may be moved by small amounts (e.g., greater than about 0.5 mm and less than about 5 mm). Such small movements may be useful for spacing the target container away from unintended contact with other portions of hardware while reducing the likelihood of unintentionally dislocating the target container from mechanical communication with the weight sensor.

[0093] In general, any one or more of various different movement patterns may be used to move the target container relative to the weight sensor with the target container remaining in mechanical communication with the weight sensor. As an example, as the turntable rotates in the first rotation direction to locate the target container into mechanical communication with the weight sensor, a “lagging” wall of a slot in the turntable pushing the target cartridge may remain in contact with the target cartridge as the target cartridge moves into mechanical communication with the weight sensor at the predetermined position. Thus, continuing with this example, moving the target container relative to the weight sensor with the target container remaining in mechanical communication with the weight sensor may include moving the turntable a small distance in a second rotation direction opposite the first rotation direction, to increase the likelihood of removing contact between the “lagging” edge of the slot and the target cartridge. This may be done once or multiple times (e.g., alternating back and forth between the first rotation direction and the second rotation direction). As a specific example, if the target container is moved counterclockwise to locate the target container into mechanical communication with the weight sensor, the left side of the slot in the turntable may be in contact with the left side wall of the target container when the turntable completes movement of the target container into mechanical communication with the weight sensor. In such instances, the turntable may be moved clockwise by a small distance to improve the likelihood of the target container being positioned in the weight sensor with little or no contact between the target container and the turntable, the track, or other instances of the plurality of containers adjacent to the target container.

[0094] Referring now to FIGS. 4 A and 4B, moving the target container relative to the weight sensor with the target container remaining in mechanical communication with the weight sensor may additionally, or alternatively, include contacting a target container 102T with a retrieval arm 104 positioned within the target container 102T with contact between the target container 102T and the retrieval arm 104 relieving contact between the target container 102T and the turntable 220. For example, contacting the target container 102T with the retrieval arm 104 positioned within the target container 102T may include moving the retrieval arm 104 within the target container 102T (e.g., moving the retrieval arm 104 according to a predetermined pattern and/or according to a random pattern within the target container 102T). Further, or instead, contacting the target container 102T with the retrieval arm 104 may include rotating the turntable 220 to move the target container 102T into contact with the retrieval arm 104. As a specific example, the retrieval arm 104 may be moved into contact with an inner comer of the target container 102T and move the target container 102T radially inward. Further, or instead, the retrieval arm 104 may be moved into contact with an inner wall of the target container 102T and move the target container 102T radially outward. Among other things, these movements and/or other movements, may move the target container 102T toward a position in which a plane bisecting the target container 102T aligns with an axis of rotation of the turntable. Such movement may increase the likelihood of relieving unintended contact between the targe t container 102T and the fe atures of the turntable 220 that may contact the target container 102T during movement of the turntable 220.

[0095] Referring again only to FIG. 4A, in certain implementations, moving the target container relative to the weight sensor with the target container remaining in mechanical communication with the weight sensor may include actuating a vacuum pump in fluid communication with a retrieval arm movable into the target container for retrieving one of the plurality of pills in the target container. That is, with the vacuum pump actuated, vibrations associated with the vacuum pump may move the target container away from contact with one or more portions of the turntable to facilitate achieving an accurate weight measurement of the target container. [0096] As shown in step 468, the exemplary method 465 may include receiving, from the weight sensor, a signal indicative of weight of contents of the target container in mechanical communication with the weight sensor following movement of the turntable relative to the target container. The signal may be any one or more of the various different types of signals associated with weight measurement described herein. For example, the weight sensor may include a strain gauge, and the signal may be an output voltage corresponding to force imparted on the weight sensor by the target container and the plurality of pills therein.

[0097] As shown in step 469, the exemplary method 465 may further include retrieving, with a retrieval arm, a number of samples (n) from a plurality of pills in the target container in mechanical communication with the weight sensor, and receiving, from the weight sensor, a signal indicative of the respective weight of each one of the number of samples (n) and, between each sample, repeating moving the target container relative to the weight sensor with the target container remaining in mechanical communication with the weight sensor. For example, multiple small movements between weight measurements may increase the likelihood that if a single measurement is biased due to unintended contact between the target container and the turntable, some unimpeded measurements may be obtained to get an accurate weight measurement. In particular, weight measurements obtained with contact between the target container and the turntable may differ significantly from weight measurements obtained without such contact, and significantly different weight measurements may be filtered out to remove the bias of unintended contact between the turntable and the target container. As a specific example, number measurements may be taken, with small movements between each measurement. If the variation among the measurements is higher than a predetermined threshold based on required measurement precision, the top and bottom values may be filtered out and two additional measurements may be taken. This measurement and filtration loop may be repeated until all measurements are within an acceptable variation, and a geometric mean of the measurements may then be determined. Alternatively, or in addition, the measurement and filtration loop may be repeated until the geometric mean of the measurements converges to within another limit based on required measurement precision (e.g., precision required for safe dosing of the pill). For example, for small pills (e.g., < 50 mg), the measurement and filtration loop may be repeated until consecutive geometric mean values converge to within 5 mg. [0098] FIG. 5 is a flow chart an exemplary method 570 of monitoring pills for dispensing. As described in greater below, the exemplary method 570 may control any one or more aspects of hardware described herein to achieve accurate determination of a range of a count of pills in a target container while making efficient use of measurements. That is, the exemplary method 570 may facilitate balancing competing considerations associated with making a large number of weight measurements to get an accurate determination of a count of pills versus the need for rapidly dispensing of pills to a user to increase the likelihood of user compliance with a dosing schedule. Unless otherwise specified or made clear from the context, it shall be understood that any one or more of the various different aspects of the exemplary method 570 may be carried out by the controller 140 (FIG. 1C) in electrical communication with the actuator 212 (FIG. 1C), the weight sensor 214 (FIG. 1C), the retrieval arm 104 (FIG. 1C), and the vacuum device 138 (FIG. 1C). For example, the one or more non- transitory computer- readable storage media 144 (FIG. 1C) may have stored thereon instructions for causing the processing unit 142 (FIG. 1C) to carry out one or more aspects of the exemplary method 570.

[0099] As shown in step 571, the exemplary method 570 may include locating a target container of the plurality of containers into mechanical communication with a weight sensor. In general, locating the target container of the plurality of container into mechanical communication may include any one or more of the various different techniques described herein and, thus, may include rotation using a turntable and/or may include carrying out any one or more aspects of the exemplary method 465.

[00100] As shown in step 572, the exemplary method 570 may include retrieving, with a retrieval arm, a number of samples (n) from a plurality of pills in the target container in mechanical communication with the weight sensor. In certain implementations, the number of samples (n) may be a fixed number set at the factory and representing a balance between the need for accuracy (larger number of samples) without long weight times for the user (smaller number of samples). Alternatively, the number of samples (n) may be dynamically adjustable based on any one or more of various different factors, while also balancing the competing considerations of accuracy and user experience. For example, the number of samples (n) may be smaller at the time of first loading a target container than at refill since the probability of irregular pills (which may contribute to inaccuracy in count totals) being present in the target container is likely lower during first-time loading than during refill. Further, or instead, the number of samples (n) may be larger for smaller/lighter pills than for larger/heaver pills.

[00101] As shown in step 573, the exemplary method 570 receiving, from the weight sensor, a signal indicative of a respective weight of each one of the number of samples (n). That is, for each sample retrieved in the number of samples (n), a signal indicative of the respective weight of the given sample in the number of the samples (n) may be received. In some implementations, receiving the signal indicative of the respective weight of each one of the number of samples (n) may include receiving a temperature signal associated with the sample and adjusting the signal received from the weight sensor based on the temperature signal.

[00102] It has been observed that a large number of measurements of pills using the system 100 (FIGS. 1A-1C) has a Gaussian distribution. Without wishing to be bound by theory, it is believed that such a Gaussian distribution is a result of the measurements of the pills being disrupted by natural phenomena associated with operation of the system 100 (e.g., electrical and thermal noise, probability of setting the target container to exactly the same position, probability and amount of turntable-target container contacts, etc.). Using a Gaussian distribution of the weight measurements associated with the number of samples (n), the distribution may be characterized by the mean weight value of the number of samples (n) and the standard deviation. The means value depends on pill weight, but the standard deviation depends on weighing accuracy of the system. That is, the standard deviation may be thought of as a “natural constant” for the system used to carry out the weight measurements (e.g., the system 100 of FIGS. 1A-1C). Table 1 below shows the pill count range and the probability of that range for 5000 mg pills added to the target container, with a single measured pill having a weight of 46 mg. As may be appreciated from this example, while a smaller pill count range is generally more desirable, the probability associated with smaller ranges decreases. To decrease the pill count range for a given probability, more a larger number of samples (n) is required.

[00103] Table 1. Example pill count range.

[00104] It has been experimentally observed that, over multiple sampling sessions using a system such as the system 100 (FIGS. 1A-1C), the average pill weight observed converges toward a single value with increasing number of samples (n) but never gets to that value. Uncertainty in the measurement results in uncertainty in the exact number of pills - thus, resulting in a pill count range.

[00105] As shown in step 574, the exemplary method 570 may include determining a range of a total count of the plurality of pills in the target container based on a predetermined total standard deviation (S), the number of samples (n), a mean pill weight (X) of the number of samples (n), and a predetermined probability for accuracy (P) of the total count. That is, using a Gaussian distribution, the range of the total count of the plurality of pills in the target container may be determined using the predetermined standard deviation (S), the number of samples (n), an average pill weight (X) of the number of samples (n), and a predetermined probability for accuracy (P). The predetermined probability for accuracy (P) may be a constant in some instances. Further, or instead, the predetermined probability for accuracy (P) may vary according to pill type. Still further, or instead, the predetermined probability for accuracy (P) may be a user input to a user interface (e.g., a user interface 107 in FIG. 1A).

[00106] The predetermined total standard deviation S is a function of the standard deviation in weight of the pills (S_p) and the standard deviation of error for system measurements (Sa). In certain implementations, the standard deviation of error for system measurements (Sa) may vary with nominal weight of the pill. The predetermined total standard deviation S may be calculated as S² = Sa² + S_p ², where S_p is less than 2 percent of the nominal pill weight and Sa is a predetermined function of nominal pill weight and may be measured/calibrated at the factory for a given system.

[00107] While the mean pill weight (X) of the number of samples (n) may be the arithmetic mean in some implementations, it shall be appreciated that the average pill weight (X) may be the geometric mean calculated as the nth root of the product of the weights for the number of samples (n) with zero and negative weight values pre- filtered from the number of samples (n). The geometric mean is useful for averaging real objects that are inherently nonzero and non-negative in size/weight and exist on a log scale. In the case of pills, different form factors and production tolerances of tables may lead to large jumps in weight between medication types. As compared to using the arithmetic mean, the geometric mean may be less likely to skew the mean pill weights as a result of an outlier.

[00108] In some implementations, determining the range of the total count of the plurality of pills in the target container may include activating a camera (e.g., a camera 137 in FIG. 1C) based on the weight of one of the number of samples (n) deviating from the mean pill pill weight (X) by more than a threshold percentage. One or more images of the one of the number of samples (n) may be received from the activated camera and, based on the one or more images, the one of the number of samples (n) may be assessed (e.g., to determine if a pill fragment has been picked and/or to confirm the pill type). Based on assessment of the one of the number of samples (n), initiating the remedial action may include sending an alert (e.g., to a user interface) and/or discarding the measurement.

[00109] Additionally, or alternatively, determining the range of the total count of the plurality of pills in the target container may include receiving a motion signal (e.g., a variation in signal from the weight sensor) indicative of movement of the system. Based on the motion signal indicating movement, the contents of the target container may be checked. In this context, checking may include inspecting the plurality of pills in the target container and/or confirming the range of the total count of the plurality of pills in the target container. As an example, checking the contents of the target container may include activating a camera directed at the target container and checking the contents of the container for color, shape, size, reflectivity, or another visually distinctive parameter of the pill to identify whether an anomalous pill is present in the target container. Further, or instead, checking the contents of the target container may include repeating the steps of retrieving the number of samples (n), receiving the signal indicative of the respective weight of each of the number of samples (n), and determining the range of the total count of the plurality of pills in the target container. Continuing with this example, checking the contents of the target container may include comparing the range of the total count of the plurality of pills to a value of the range of the total count of the plurality of pills stored prior to the motion signal indicating movement.

[00110] As shown in step 575, the exemplary method 570 may include initiating a remedial action based on the range of the total count. As an example, initiating the remedial action based on the range of the total count may include determining, based on the dosing schedule and a lower end of the total pill count range, a number of remaining days of dosing of the plurality of pills according to a dosing schedule and sending an alert to a user interface based on whether the number of remaining days of dosing is below a predetermined supply threshold. Further, or instead, initiating the remedial action based on the range of the total count may include receiving a user input of a type of pill in the target container and a quantity of the plurality of pills in the target container, and sending an alert to a user interface based on comparison of the range of the total count of the type of pill in the target container and the quantity of the plurality of pills in the target container. Still further, or instead, initiating the remedial action based on the range of the total count may include determining that that the range of the total count indicates that the target container is empty (and/or the target container is missing or misaligned with the weight sensor) and sending an alert to a user interface based on determination that the target container is empty.

[00111] In some instances, initiating the remedial action based on the range of the total count may include detecting one or more errors associated with loading the plurality of pills into the target container. For example, in some instances, the range of the total count may be indicative of an incorrect type of pill in the target container and initiating the remedial action may include sending an alert to the user interface and/or preventing further dispensing. As another example, the range of the total count may be indicative of the user removing the wrong quantity of pills from the cart during manual retrieval, and the remedial action may include sending an alert to the user interface to alert the user and/or sending an alert to a caregiver associated with the user. Still further, or instead, the range of the total count may be indicative of an overfilled cartridge, and initiating the user interface may include sending an alert to the user interface with instructions for the user to remove some pills from the overfilled cartridge. In some instances, the range of the total count may be indicative of containers in incorrect slots that do not match a saved configuration of medication locations around the turntable. In such instances, initiating the remedial action may include sending a user alert, which may include instructions for proper placement of the containers according to the saved configuration of medication locations.

[00112] In some implementations, the remedial action may be additionally, or alternatively, initiated based on a weight measurement outside of a range of acceptable weights for a given type of pill. For example, the range of acceptable weights for a single pill of a specific type may be adjusted dynamically over time based on data obtained during use of the system and/or based on changes in temperature and/or relative humidity.

[00113] To facilitate detection of wrong pill types in the target container with high confidence, the user may be directed to load pills of significantly different weights in adjacent cartridges. Accidental pill transfer from one cartridge to another is most likely to happen between adjacent cartridges, such as may occur via spilling if the device is tilted or tipped over or via movement of pills from overfilled containers or via retrieval arm-mediated transfer (e.g., the pill gets stuck on the retrieval arm. Accordingly, placing pills of significantly different weights in adjacent containers may increase the likelihood that, if an accidental pill transfer occurs, the out-of-place pill will have a significantly different weight than the rest of the pills in the target container, making it easier to identify the out-of-place pill with high confidence. In this context, significantly different weights may comprise non- overlapping expected weight ranges for single pills. Further, or instead, significantly different weights of pills may include weights of two pill types wherein the single pill weight range of one pill type does not overlap with either the single pill range or the double-pick weight range of the other pill type.

[00114] In some instances, the order of dispenses within a scheduled dose may be arranged to facilitate detection of wrong pill types based on weight. Accidental retrieval arm- mediated transfer from one container to another (e.g., pill gets stuck to the retrieval arm and then falls off into another container) is most likely to happen between consecutively dispensed pill types. Accordingly, with dispenses ordered such that pill types of significantly different weights are dispensed back-to-back/consecutively, if a pill is accidentally transferred from one container to the next-dispensed container, the out-of-place pill may be significantly different with than the rest of the pills in the container, which may make it easier to identify the out-of-place pill with high confidence. Further, or instead, the device may consecutively dispense pills with non-overlapping expected single pill weight ranges. Still further, or instead, consecutively dispensed pills may have non-overlapping single pill weight range/double pick weight. In instances in which a dose to be dispensed includes a pill considered to present relatively high risk of inadvertent transfer from container to container (e.g., sticky pill types such as gel caps), the order of dispenses may be arranged such that the pill dispensed after the high transfer risk pill has an expected weight range that does not overlap with the expected range of the high transfer risk pill.

[00115] Having described certain aspects of weight-based sensing for sensing pill retrieval, attention is directed to additional or alternative approaches to weight-based sensing that may be used in addition to or instead of one or more of the approaches described above. More specifically, unless otherwise specified or made clear from the context element numbers in the 600 series (FIG. 6), 700 series (FIGS. 7A and 7B), 800 series (FIG. 8), and 900 series (FIG. 9) shall be understood to be analogous to or interchangeable with corresponding elements having the same last two digits in the 100 series and 200 series (FIGS. 1 A-1C and FIGS. 2A-2F), unless otherwise explicitly made clear from the context. Accordingly, in the disclosure that follows, element numbers having the same last two digits as the 100 series and 200 series are not described separately from one another, except to note differences or to emphasize certain features. Thus, for example, a track 618 (FIG. 6) and the track 218 (FIG. 2C) shall be understood to be analogous to or interchangeable with one another, unless otherwise specified or made clear from the context.

[00116] Referring now to FIGS. 1 A-1C, FIGS. 2A-2F, and FIG. 6, the system 100 may include a plurality of containers 102, 102T, the retrieval arm 104, the weighing assembly 208, and the carrier 106. The retrieval arm 104 may be movable into the plurality of containers 102 to retrie ve contents from the plurality of containers 102. The weighing assembly 208 may include the actuator 212 and a weight sensor 614. The carrier 106 may include the turntable 220 and a track 618 defining a plurality of slots 222 in which the plurality of containers 102 is supportable. The actuator 212 may be actuated to rotate the turntable 220 along the track 618 to move a target container 602T of the plurality of containers 102 through an opening 616 defined by the track 618 and into mechanical communication with the weight sensor 614. The movement of the target container 602T into mechanical communication with the weight sensor 614 via the opening 616 increasing spacing (e.g., at least in a the direction of rotation of the turntable 220) between sides of the target container 602T and sides of instances of the plurality of containers 602 adjacent to the opening. As compared to maintaining spacing between containers, the increased spacing between the target container 602T in mechanical communication with the weight sensor 614 and the plurality of containers 602 adjacent to the opening 616 may reduce the likelihood of unintended contact between the target container 602T and the plurality of containers 602 adjacent to the opening 616, thus decreasing the likelihood that the plurality of containers 602 may interfere with weight measurement of the target container 602T in mechanical communication with the weight sensor 614.

[00117] In general, movement of the target container 602T into mechanical communication with the weight sensor 614 may increase spacing between the widest portions of the plurality of the containers 602. Thus, for example, in instances in which the plurality of containers 602 are widest at top portions to facilitate access to the contents of the plurality of containers 602, movement of the target container 602T into mechanical communication with the weight sensor 614 via the opening 616 may increase spacing between at least a top portion 676T of the target container 602T and respective top portions 676 of the instances of the plurality of containers 602 adjacent to the opening 616.

[00118] In certain instances, the track 618 may include a first profiled surface 677 and a second profiled surface 678. The actuator 212 may be actuatable to rotate the turntable 220 along the track 618 to move the target container 602T into the opening 616 via movement over one of the first profiled surface 677 or the second profiled surface 678 (depending on the direction of rotation of the turntable 220). With the target container 602T in mechanical communication with the weight sensor 614 via the opening 616, the instances of the plurality of containers 602 adjacent to the opening may rest on the first profiled surface 677 and the second profiled surface 678 and, thus, tilt away from the opening 616. Such tilting may decrease the likelihood of contact between the target container 602T and the plurality of containers 602 adjacent to the opening 616 as the weight sensor 614 measures weight of the target container 602T. Tn general, the first profiled surface 677 and the second profiled surface 678 may be any one or more of various different shapes that accommodate tilting the plurality of containers 602 away from the target container 602T in mechanical communication with the weight sensor 614. For example, at least one of the first profiled surface 677 and the second profiled surface 678 may decrease in weight away from the opening 616 (e.g., with each forming a gradual slope).

[00119] For example, referring now to FIGS. 1A-1C, FIGS. 2A-2F, and FIGS. 7A- 7B, a target container 702T may be supported in mechanical communication with a weight sensor 714, via the opening 216, in an orientation of the target container 702T tilted toward an axis C about which the turntable 220 is rotatable. As an example, the weighing assembly 208 may include a platform 779 coupled to the weight sensor 214. Continuing with this example, the platform 779 may include a first connector portion 781, and the target container 702T may include a second connector portion 782. Continuing still further with this example, the turntable 220 may be rotatable along the track 218, via actuation of the actuator 212, to locate the second connector portion 782 of the target container 702T through the opening 216 and into mechanical engagement with the first connector portion 781 of the platform 779. The mechanical engagement of the first connector portion 781 and the second connector portion 782 may facilitate achieving consistent alignment of the target container 702T on the platform 779. For example, the platform 779 may be rigidly coupled to the weight sensor 214, as may be useful for reducing the likelihood of migration of the platform 779 relative to the weight sensor 214. Further, or instead, the mechanical engagement of the first connector portion 781 and the second connector portion 782 may tilt the target container 702 toward the axis C about which the turntable 220 is rotatable. As an example, the first connector portion 781 of the platform 779 may include a spline, and the second connector portion 782 of the target container 702T may include a groove releasably engageable with the spline. [00120] While movement of the target container into mechanical communication with the weight sensor has been described as increasing spacing between the target container and adjacent containers in a direction of rotation of a turntable, it shall be appreciated that other types of increased spacing are additionally or alternatively possible.

[00121] Referring now to FIGS. 1A-1C, FIGS. 2A-2F, and FIG. 8, a track 818 may include a bumper 883 extending into an opening 816 defined by the track 818. The bumper 883 may bias a target cartridge (e.g., any one of the plurality of containers 102) toward the axis C about which the turntable 220 is rotatable as the target cartridge moves through the opening 816 and into mechanical communication with the weight sensor 214. The bumper 883 may be angled such that the bumper 883 is spaced apart from the target cartridge with the target cartridge in mechanical communication with the weight sensor 214 via the opening 816.

[00122] Referring now to FIGS. 1 A-1C, FIGS. 2A-2F, and FIGS. 9A-9B, the system 100 for dispensing pills may include the plurality of containers 102, the retrieval arm 104, the weighing assembly 208, and the carrier 106. The weighing assembly 208 may include the actuator 212 and a load cell 914. The carrier 106 may include the turntable 220, a track 918, and at least one mechanical stop 983. The load cell 914 may be mechanically coupled to a resiliently flexible surface 984 (e.g., formed of plastic) of the track 918, and the at least one mechanical stop 983 may limit movement of the load cell 914. As an example, the at least one mechanical stop 983 may limit incident strain on the load cell 914 to below a maximum strain of the load cell 914. Thus, in general, the combination mounting the load cell 914 on the resiliently flexible surface 984 of the track 918 may increase sensitivity of the load cell 914 while the at least one mechanical stop 983 moderates the risk of damaging the load cell 914 in the event of large loads (e.g., drop shock) on the load cell 914. In certain implementations, the resiliently flexible surface 984 of the track 918 may define a pair of relief cuts 985, and the load cell 914 may be mechanically coupled to the resiliently flexible surface 984 of the track 918 between the relief cuts 985. As compared to mounting a load cell without relief cutes, the relief cuts 985 may facilitate increasing deflection of the load cell 914, thus increasing sensitivity of the load cell 914. Further, or instead, the load cell 914 may include at least one or more of a strain gauge load cell, a pneumatic load cell, a hydraulic load cell, a vibrating wire load cell, a capacitive load cell, or a piezoelectric load cell.

[00123] The above systems, devices, methods, processes, and the like may be realized in hardware, software, or any combination of these suitable for a particular application. The hardware may include a general-purpose computer and/or dedicated computing device. This includes realization in one or more microprocessors, microcontrollers, embedded microcontrollers, programmable digital signal processors or other programmable devices or processing circuitry, along with internal and/or external memory. This may also, or instead, include one or more application specific integrated circuits, programmable gate arrays, programmable array logic components, or any other device or devices that may be configured to process electronic signals. It will further be appreciated that a realization of the processes or devices described above may include computer-executable code created using a structured programming language such as C, an object oriented programming language such as C++, or any other high-level or low-level programming language (including assembly languages, hardware description languages, and database programming languages and technologies) that may be stored, compiled or interpreted to run on one of the above devices, as well as heterogeneous combinations of processors, processor architectures, or combinations of different hardware and software. In another aspect, the methods may be embodied in systems that perform the steps thereof, and may be distributed across devices in a number of ways. At the same time, processing may be distributed across devices such as the various systems described above, or all of the functionality may be integrated into a dedicated, standalone device or other hardware. In another aspect, means for performing the steps associated with the processes described above may include any of the hardware and/or software described above. All such permutations and combinations are intended to fall within the scope of the present disclosure.

[00124] Embodiments disclosed herein may include computer program products comprising computer-executable code or computer-usable code that, when executing on one or more computing devices, performs any and/or all of the steps thereof. The code may be stored in a non-transitory fashion in a computer memory, which may be a memory from which the program executes (such as random-access memory associated with a processor), or a storage device such as a disk drive, flash memory or any other optical, electromagnetic, magnetic, infrared or other device or combination of devices. In another aspect, any of the systems and methods described above may be embodied in any suitable transmission or propagation medium carrying computer-executable code and/or any inputs or outputs from same.

[00125] It will be appreciated that the devices, systems, and methods described above are set forth by way of example and not of limitation. Absent an explicit indication to the contrary, the disclosed steps may be modified, supplemented, omitted, and/or re-ordered without departing from the scope of this disclosure. Numerous variations, additions, omissions, and other modifications will be apparent to one of ordinary skill in the art. In addition, the order or presentation of method steps in the description and drawings above is not intended to require this order of performing the recited steps unless a particular order is expressly required or otherwise clear from the context.

[00126] The method steps of the implementations described herein are intended to include any suitable method of causing such method steps to be performed, consistent with the patentability of the following claims, unless a different meaning is expressly provided or otherwise clear from the context. So, for example, performing the step of X includes any suitable method for causing another party such as a remote user, a remote processing resource (e.g., a server or cloud computer) or a machine to perform the step of X. Similarly, performing steps X, Y and Z may include any method of directing or controlling any combination of such other individuals or resources to perform steps X, Y and Z to obtain the benefit of such steps.

[00127] While particular embodiments have been shown and described, it will be apparent to those skilled in the art that various changes and modifications in form and details may be made therein without departing from the spirit and scope of this disclosure and are intended to form a part of the invention as defined by the following claims.

Claims

CLAIMS What is claimed is:

1. A system for dispensing pills, the system comprising: a plurality of containers; a retrieval arm movable into the plurality of containers to retrieve contents from the plurality of containers; a weighing assembly including an actuator and a weight sensor; and a carrier including a turntable and a track, the turntable defining a plurality of slots in which the plurality of containers is supportable, the actuator actuatable to rotate the turntable along the track to move a target container of the plurality of containers through an opening defined by the track and into mechanical communication with the weight sensor, and movement of the target container into mechanical communication with the weight sensor via the opening increasing spacing between sides of the target container and sides of instances of the plurality of containers adjacent to the opening.

2. The system of claim 1, wherein movement of the target container into mechanical communication with the weight sensor via the opening increases spacing between the sides of the target container and the sides of instances of the plurality of containers adjacent to the opening at least in a direction of rotation of the turntable.

3. The system of any one of claims 1 or 2, wherein movement of the target container into mechanical communication with the weight sensor via the opening increases spacing between at least a top portion of the target container and respective top portions of the instances of the plurality of containers adjacent to the opening.

4. The system of any one of claims 1-3, wherein the track includes a first profiled surface and a second profiled surface, the opening defined by the track is between the first profiled surface and the second profiled surface, the actuator is actuatable to rotate the turntable along the track to move the target container into the opening via movement over one of the first profiled surface or the second profiled surface and, with the target container in mechanical communication with the weight sensor via the opening, the instances of the plurality of containers adjacent to the opening rest on the first profiled surface and the second profile surface and tilt away from the opening.

5. The system of claim 4, wherein at least one of the first profiled surface and the second profiled surface decreases in height away from the opening.

6. The system of any one of claims 1-5, wherein the target container is supported in mechanical communication with the weight sensor, via the opening, in an orientation of the target container tilted toward an axis of rotation of the tumtahle.

7. The system of claim 6, wherein the weighing assembly further includes a platform coupled to the weight sensor, the platform includes a first connector portion, the target container includes a second connector portion, and the turntable is rotatable along the track, via actuation of the actuator, to locate the second connector portion of the target container through the opening and into mechanical engagement with the first connector portion of the platform, and the mechanical engagement of the first connector portion and the second connector portion tilting the target container toward the rotation axis of the turntable.

8. The system of claim 7, wherein the platform is rigidly coupled to the weight sensor.

9. The system of any one of claims 7 or 8, wherein the first connector portion of the platform includes a spline, and the second connector portion of the target container is a groove engageable with the spline.

10. The system of any one of claims 7-9, wherein the track includes a bumper extending into the opening, the bumper biases the target container toward the rotation axis of the turntable as the target container moves through the opening and into mechanical communication with the weight sensor.

11. The system of claim 10, wherein the bumper is spaced apart from the target container with the target container in mechanical communication with the weight sensor via the opening.

12. A system for dispensing pills, the system comprising: a plurality of containers; a retrieval arm movable into the plurality of containers to retrieve contents from the plurality of containers; a weighing assembly including an actuator and a load cell; and a carrier including a turntable, a track, and at least one mechanical stop, the track defining an opening at a predetermined position, the turntable defining a plurality of slots in which the plurality of containers is supportable, the turntable rotatable along the track, via actuation of the actuator, to locate a target container of the plurality of containers through the opening and into mechanical communication with the load cell, the at least one mechanical stop limiting movement of the load cell, the track including a resiliently flexible surface, and the load cell mechanically coupled to the resiliently flexible surface of the track.

13. The system of claim 12, wherein the resiliently flexible surface of the track is plastic.

14. The system of any one of claims 12 or 13, wherein the resiliently flexible surface of the track defines a pair of relief cuts, and the load cell is mechanically coupled to the resiliently flexible surface of the track between the relief cuts.

15. The system of any one of claims 12-14, wherein the load cell comprises one or more of a strain gauge load cell, a pneumatic load cell, a hydraulic load cell, a vibrating wire load cell, a capacitive load cell, or a piezoelectric load cell.

16. The system of any one of claims 12-15, wherein the at least one mechanical stop limits incident strain on the load cell to below a maximum strain of the load cell.

17. A method of weighing pills for dispensing, the method comprising: rotating, in a first rotation direction, a turntable supporting a plurality of containers, rotation of the turntable in the first rotation direction locating a target container of the plurality of containers into mechanical communication with a weight sensor at a predetermined position; moving the target container relative to the weight sensor with the target container remaining in mechanical communication with the weight sensor; and receiving, from the weight sensor, a signal indicative of weight of contents of the target container in mechanical communication with the weight sensor following movement of the turntable relative to the target container.

18. The method of claim 17, wherein moving the target container relative to the weight sensor with the target container remaining in mechanical communication with the weight sensor includes rotating the turntable in a second rotation direction opposite the first rotation direction.

19. The method of claim 18, wherein moving the target container relative to the weight sensor with the target container remaining in mechanical communication with the weight sensor includes alternating movement of the turntable back and forth between the first rotation direction and the second rotation direction.

20. The method of claims 17-19, wherein moving the target container relative to the weight sensor with the target container remaining in mechanical communication with the weight sensor includes contacting the target container with a retrieval arm positioned within the target container with the contact between the target container and the retrieval arm relieving contact between the target container and the turntable.

21. The method of claim 20, wherein contacting the target container with the retrieval arm positioned within the target container includes moving the retrieval arm within the target container.

22. The method of any one of claims 20 or 21, wherein contacting the target container with the retrieval arm includes rotating the turntable to move the target container into contact with the retrieval arm.

23. The method of any one of claims 17-22, wherein moving the target container relative to the weight sensor with the target container remaining in mechanical communication with the weight sensor includes aligning an axis of rotation of the turntable with a plane bisecting the target container in mechanical communication with the weight sensor.

24. The method of any one of claims 17-23, wherein moving the target container relative to the weight sensor with the target container remaining in mechanical communication with the weight sensor includes moving the target container by greater than 0.5 mm and less than 5 mm in any direction.

25. The method of any one of claims 17-24, wherein moving the target container relative to the weight sensor with the target container remaining in mechanical communication with the weight sensor includes actuating a vacuum pump in fluid communication with a retrieval arm movable into the target container for retrieving one of a plurality of pills in the target container.

26. The method of any one of claims 17-25, further comprising retrieving, with a retrieval arm, a number of samples (n) from a plurality of pills in the target container in mechanical communication with the weight sensor, and receiving, from the weight sensor, a signal indicative of the respective weight of each one of the number of samples (n) and, between each sample, repeating moving the target container relative to the weight sensor with the target container remaining in mechanical communication with the weight sensor.

27. A method of monitoring pills for dispensing, the method comprising: locating a target container of a plurality of containers into mechanical communication with a weight sensor; retrieving, with a retrieval arm, a number of samples (n) from a plurality of pills in the target container in mechanical communication with the weight sensor; receiving, from the weight sensor, a signal indicative of a respective weight of each one of the number of samples (n); determining a range of a total count of the plurality of pills in the target container based on a predetermined total standard deviation (S), the number of samples (n), a mean pill weight (X) of the number of samples (n), and a predetermined probability for accuracy (P) of the total count; and initiating a remedial action based on the range of the total count.

28. The method of claim 27, wherein the predetermined total standard deviation is based on a computed standard deviation for device error (Sd) and a computed standard deviation for pill weight (Sp).

29. The method of any one of claims 27 or 28, wherein receiving, from the weight sensor, the signal indicative of the respective weight of each one of the number of samples (n) includes receiving a temperature signal and adjusting the signal received from the weight sensor based on the temperature signal.

30. The method of any one of claims 27-29, wherein determining the range of the total count of the plurality of pills in the target container includes activating a camera based on weight of one of the number of samples (n) deviating from the mean pill weight (X) by more than a threshold percentage, receiving from the activated camera an image of the one of the number of samples (n) with the activated camera, and assessing the one of the number of samples (n) based on the image received from the camera, and initiating the remedial action includes sending an alert based on assessment of the one of the number of samples (n).

31. The method of claim 30, wherein assessing the one of the number of samples (n) based on the image received from the camera includes confirming the pill type.

32. The method of any one of claims 27-31, wherein determining the range of the total count of the plurality of pills in the target container includes receiving a motion signal indicative of movement of the target container and, based on the motion signal indicating movement, checking contents of the target container.

33. The method of claim 32, wherein checking contents of the target container includes repeating the steps of retrieving the number of samples (n), receiving the signal indicative of the respective weight of each of the number of samples (n), and determining the range of the total count of the plurality of pills in the target container.

34. The method of claim 33, wherein checking contents of the target container includes comparing the range of the total count of the plurality of pills to a value of the range of the total count of the plurality of pills stored prior to the motion signal indicating movement.

35. The method of any one of claims 32-34, wherein checking contents of the target container includes activating a camera directed at the target container.

36. The method of any one of claims 27-35, wherein the predetermined probability for accuracy is a constant.

37. The method of any one of claims 27-36, wherein the predetermined probability for user accuracy is a user input.

38. The method of any one of claims 27-37, wherein initiating the remedial action based on the range of the total count includes determining, based on a dosing schedule and a lower end of the range of the total count, a number of remaining days of dosing of the plurality of pills according to a dosing schedule and sending an alert to a user interface based on whether the number of remaining days of dosing is below a predetermined supply threshold.

39. The method of any one of claims 27-38, wherein initiating the remedial action based on the range of the total count includes receiving a user input of a type of pill in the target container and a quantity of the plurality of pills in the target container, and sending an alert to a user interface based on comparison of the range of the total count and the type of pill in the target container and the quantity of the plurality of pills in the target container.

40. The method of any one of claims 27-39, wherein initiating the remedial action based on the range of the total count includes determining that that the range of the total count indicates that the target container is empty and sending an alert to a user interface based on determination that the target container is empty.