US Patent 10360751 Object dispenser having a variable orifice and image identification

A method and apparatus for dispensing objects from automated storage and retrieval systems such as medications is disclosed which may also include a singulator to assure singulation (retrieval of singular objects). The singulator may be an imaging system to confirm and/or identify the objects being dispensed and/or a variable orifice dynamically adjustable to a specific object or pill size, and through which only a single object or pill is allowed to pass. The system may further include a flexible probe so as to reduce the size of the system where the movement of the probe relative to or while retrieving objects is accomplished by advancing/retracting a flexible tube. The method and apparatus may further include an imaging system.