CN115990112A

CN115990112A - Dispensing method suitable for intravenous injection medicament dispensing equipment

Info

Publication number: CN115990112A
Application number: CN202111220703.1A
Authority: CN
Inventors: 陈康; 曹青
Original assignee: Ruinjin Hospital Affiliated to Shanghai Jiaotong University School of Medicine Co Ltd
Current assignee: Ruinjin Hospital Affiliated to Shanghai Jiaotong University School of Medicine Co Ltd
Priority date: 2021-10-20
Filing date: 2021-10-20
Publication date: 2023-04-21
Also published as: WO2023066309A1

Abstract

The invention provides a dispensing method suitable for intravenous medicament dispensing equipment, which comprises the following steps: moving the first medicine bottle and the second medicine bottle to the positions corresponding to the cover body removing units, so that the bottle cover of the first medicine bottle is separated from the bottle body; taking out the syringe; clamping a first medicine bottle from a transfer position, inserting an injector into the first medicine bottle for sampling, clamping a second medicine bottle from a first appointed position, inserting the injector into the second medicine bottle, and injecting sample liquid in the injector into the second medicine bottle; moving the second medicine bottle to a shaking unit for shaking; inserting the injector into the second medicine bottle, extracting the mixed liquid in the second medicine bottle, and moving the second medicine bottle to a second designated position; the first medicine bottle is clamped, the injector is inserted into the first medicine bottle, the mixed liquid is injected into the first medicine bottle, and the first medicine bottle is moved to a third appointed position. The scheme does not need manual intravenous injection medicine dispensing, saves human resources, reduces harm to nursing staff, and avoids the problem that nursing staff miss medicine.

Description

Dispensing method suitable for intravenous injection medicament dispensing equipment

Technical Field

The invention relates to the technical field of intravenous fluid preparation, in particular to a dispensing method suitable for intravenous medicament dispensing equipment.

Background

Intravenous infusion is a common treatment means in clinic and is characterized by large usage amount and direct access to blood circulation. Therefore, strict requirements are imposed on the concentration, clarity and pH value of the liquid medicine.

Along with the increasing variety of medicines, the liquid medicine which is clinically infused into the body of a patient is mostly formed by mixing a plurality of liquid medicines. The existing intravenous injection medicament dispensing is generally operated manually, a certain amount of solvent is required to be extracted by a syringe, then other solute bottles are injected, and the solution is retrieved from the fully mixed solute bottles and injected into the solvent bottles. However, the existing intravenous medicament dispensing process has the following problems:

firstly, the whole dispensing process is completed manually, so that the labor cost is high and the labor intensity is high;

second, caregivers may forget to add the medicament when dispensing, which may threaten the safety of intravenous administration of patients;

third, some vials are highly dangerous and may be potentially harmful to human contact.

Therefore, manual administration of intravenous medicaments is prone to waste of human resources and even causes harm to caregivers, and patients may be affected by errors of the caregivers.

Accordingly, the present invention provides a dispensing method suitable for an intravenous medicament dispensing apparatus as a solution to the above-described problems.

Disclosure of Invention

The invention aims to solve the problems that in the prior art, manual intravenous medicament dispensing is easy to waste human resources and even cause harm to nursing staff, and patients are possibly influenced by the errors of the nursing staff.

In order to solve the above problems, an embodiment of the present invention discloses a dispensing method suitable for an intravenous drug dispensing apparatus for mixing liquid medicines in a first drug bottle and a second drug bottle, and including an identification unit, a gripping unit, a cap removing unit, a shaking unit, and a syringe clamping unit; the clamping unit comprises a clamping mechanism, wherein the clamping mechanism comprises a medicine bottle clamping part and an injector clamping part; the dispensing method comprises the following steps:

s1: the identification unit acquires attribute information of the first medicine bottle, the medicine bottle clamping part clamps the first medicine bottle according to the attribute information of the first medicine bottle and moves the first medicine bottle to a position corresponding to the cover removing unit, the cover removing unit clamps the bottle cap of the first medicine bottle with a preset clamping force and drives the first medicine bottle to deviate from the medicine bottle clamping part along the axis direction of the first medicine bottle so as to separate the bottle cap and the bottle body of the first medicine bottle;

S2: the medicine bottle clamping part is used for placing the first medicine bottle at a preset transfer position for standby;

s3: the identification unit acquires attribute information of the second medicine bottle, the medicine bottle clamping part clamps the second medicine bottle according to the attribute information of the second medicine bottle, the second medicine bottle is moved to a position corresponding to the cover removing unit, the cover removing unit clamps the bottle cap of the second medicine bottle with a preset clamping force, the second medicine bottle is driven to deviate from the medicine bottle clamping part along the axis direction of the second medicine bottle, so that the bottle cap and the bottle body of the second medicine bottle are separated, and the second medicine bottle is placed at a first designated position;

s4: the identification unit acquires the attribute information of the injector clamped by the injector clamping unit, and the injector clamping part takes out the injector from the injector clamping unit with a preset contact force according to the attribute information of the injector;

s5: the medicine bottle clamping part clamps the first medicine bottle from the transfer position, the injector clamping part inserts the injector into the first medicine bottle to sample, the first medicine bottle is put back to the transfer position after the sampling is completed, the second medicine bottle is clamped from the first appointed position, the injector is inserted into the second medicine bottle, and the sample liquid in the injector is injected into the second medicine bottle;

s6: the medicine bottle clamping part moves the second medicine bottle to the shaking unit for shaking;

S7: the medicine bottle clamping part clamps the second medicine bottle by the shaking unit, and the injector clamping part inserts the injector into the second medicine bottle to extract the mixed medicine liquid in the second medicine bottle and move the second medicine bottle to a second appointed position;

s8: the medicine bottle clamping part clamps the first medicine bottle from the transfer position, and the injector clamping part inserts the injector into the first medicine bottle to inject the mixed medicine liquid into the first medicine bottle, and moves the first medicine bottle to the third designated position.

According to another specific embodiment of the invention, the dispensing method suitable for intravenous medicament dispensing equipment disclosed by the embodiment of the invention is that the attribute information of the first medicine bottle comprises the type, the shape and the placement position of the first medicine bottle; the cover removing unit comprises two clamping parts which are oppositely arranged in the horizontal direction, and at least one clamping part is provided with a clamping groove on one surface close to the other clamping part; and, step S1 includes:

s11: the identification unit obtains attribute information of the first medicine bottle by utilizing visual detection, obtains the bottleneck position of the first medicine bottle by utilizing a detection algorithm and depth information, and the medicine bottle clamping part moves to a preset transition position according to the bottleneck position of the first medicine bottle; the transition position is a position higher than the preset distance of the bottle neck in the axial direction of the first medicine bottle;

S12: the medicine bottle clamping part moves from the transition position to the bottleneck of the first medicine bottle at a preset moving speed, clamps the bottleneck of the first medicine bottle, and moves the first medicine bottle to the position corresponding to the cover removing unit;

s13: the medicine bottle clamping part moves the first medicine bottle in a preset moving state in a direction close to the clamping groove, and controls the two clamping parts to clamp the bottle cap of the first medicine bottle according to the actual clamping force of the bottle cap of the first medicine bottle and the clamping groove and the preset clamping force;

s14: the cover body removing unit drives the first medicine bottle to deviate from the medicine bottle clamping part along the axial direction of the first medicine bottle so as to separate the bottle cover from the bottle body of the first medicine bottle; and is also provided with

After step S14, further includes:

s14': the identification unit performs visual detection on the first medicine bottle and judges whether the bottle cap of the first medicine bottle is removed according to the visual detection result;

if yes, executing step S2;

if not, repeating the steps S13 to S14 until the bottle cap of the first medicine bottle is removed.

According to another embodiment of the present invention, a dispensing method for an intravenous drug dispensing apparatus according to an embodiment of the present invention further includes a sterilization unit; and, after step S1, further includes:

S1': the medicine bottle clamping part moves the first medicine bottle with the bottle cap removed to a position corresponding to the sterilizing unit, and sterilizes the bottle mouth of the first medicine bottle.

According to another specific embodiment of the invention, the dispensing method suitable for intravenous injection medicament dispensing equipment disclosed by the embodiment of the invention is characterized in that a storage groove is arranged at the transfer position; and, step S2 includes:

the medicine bottle clamping part moves the first medicine bottle to a position higher than the bottom surface of the storage tank by a preset distance; the medicine bottle clamping part moves the first medicine bottle in a direction close to the object placing groove in a preset moving state until the contact force between the first medicine bottle and the bottom of the object placing groove reaches the preset contact force, the first medicine bottle is released, and the medicine bottle clamping part is deviated from the first medicine bottle along the axial direction of the first medicine bottle; and, intravenous injection medicament dispensing apparatus further includes an alarm unit; and, after step S2, further includes:

the identification unit performs visual detection on the object placing groove and judges whether the first medicine bottle is positioned at a preset transfer position according to a visual detection result;

if yes, executing step S3;

if not, triggering an alarm unit according to the visual detection result.

According to another specific embodiment of the invention, the dispensing method suitable for intravenous medicament dispensing apparatus disclosed in the embodiment of the invention is that the second medicine bottle is at least one second medicine bottle, and the attribute information of the second medicine bottle comprises the type, shape and placement position of the second medicine bottle; the cover removing unit comprises two clamping parts which are oppositely arranged in the horizontal direction, and at least one clamping part is provided with a clamping groove on one surface close to the other clamping part; and, step S3 includes:

S31: the identification unit obtains attribute information of the current second medicine bottle by utilizing visual detection, obtains the bottleneck position of the current second medicine bottle by utilizing a detection algorithm and depth information, and the medicine bottle clamping part moves to a preset transition position according to the bottleneck position of the current second medicine bottle; the transition position is a position higher than the preset distance of the bottle neck in the axis direction of the current second medicine bottle;

s32: the medicine bottle clamping part moves from the transition position to the bottleneck of the current second medicine bottle at a preset moving speed, clamps the bottleneck of the current second medicine bottle, and moves the current second medicine bottle to the position corresponding to the cover removing unit;

s33: the medicine bottle clamping part moves the current second medicine bottle in a preset moving state towards a direction close to the clamping groove, and controls the two clamping parts to clamp the current second medicine bottle cap according to the actual clamping force of the current second medicine bottle cap and the clamping groove and the preset clamping force;

s34: the cover body removing unit drives the current second medicine bottle to deviate from the medicine bottle clamping part along the axial direction of the current second medicine bottle so as to separate the bottle cover from the bottle body of the current second medicine bottle, and the second medicine bottle is placed at a first appointed position; and, after step S34, further includes:

S34': the identification unit performs visual detection on the current second medicine bottle, and judges whether the bottle cap of the current second medicine bottle is removed according to the visual detection result;

if yes, executing step S4;

if not, repeating the steps S33 to S34 until the bottle cap of the second medicine bottle is removed.

According to another embodiment of the present invention, a dispensing method for an intravenous medicament dispensing apparatus is disclosed in the embodiment of the present invention, wherein the second medicine bottle is at least one second medicine bottle; the intravenous injection medicament dispensing apparatus further comprises a sterilizing unit; and, after step S3, further includes:

s3': the medicine bottle clamping part moves the current second medicine bottle with the bottle cap removed to a position corresponding to the sterilizing unit, and sterilizes the bottle mouth of the current second medicine bottle; and, after step S3', further includes:

s35: repeating the steps S31 to S34 'and S3' until the bottle mouths of all the second medicine bottles are disinfected.

According to another specific embodiment of the invention, the dispensing method suitable for intravenous injection medicament dispensing equipment disclosed by the embodiment of the invention comprises the steps of storing the attribute information of the injector, wherein the attribute information comprises the storage position of the injector and the serial number of the injector; the syringe clamping part also comprises a limit groove matched with the fixing part of the syringe clamping unit; and, step S4 includes:

S41: the identification unit obtains the attribute information of the injector by utilizing visual detection, and the injector clamping part moves to a preset transition position according to the attribute information of the injector; the transition position is a position which is a preset distance away from the side wall of the injector in the radial direction of the injector;

s42: the injector clamping part approaches the injector along the radial direction of the injector in a preset moving state, and the injector is taken out from the fixing part of the injector clamping unit with a preset contact force and falls into the limit groove; and, intravenous injection medicament dispensing apparatus further includes an alarm unit; and, after step S42, further includes:

s43: the identifying unit carries out visual detection on the clamping part of the injector and judges whether the injector is taken out or not according to the visual detection result;

if yes, executing step S5;

if not, triggering an alarm unit according to the visual detection result.

According to another specific embodiment of the present invention, the dispensing method for an intravenous medicament dispensing apparatus disclosed in the embodiment of the present invention includes a cover removing unit including two clamping portions disposed opposite to each other, and at least one clamping portion is provided with a clamping groove on a face thereof adjacent to the other clamping portion; in step S43, before step S5 is executed, the method further includes:

S431: the injector clamping part moves the injector to the corresponding position of the clamping groove, and controls the two clamping parts to clamp the corresponding position of the needle cover of the injector in a preset clamping state until the clamping force of the clamping groove and the needle cover reaches the preset clamping force, and then the injector is driven to deviate from the cover removing unit along the axial direction of the injector so as to separate the needle cover of the injector from the body of the injector;

s432: performing visual detection on the syringe, and judging whether the needle cover of the syringe is removed according to the visual detection result;

if so, continuing to drive the injector to deviate from the cover removing unit along the axial direction of the injector so as to lead the injector to deviate from the cover removing unit;

if not, step S431 is repeated until the needle cover of the syringe is removed.

According to another embodiment of the present invention, a dispensing method for an intravenous medicament dispensing apparatus is disclosed in the embodiment of the present invention, wherein the second medicine bottle is at least one second medicine bottle; the intravenous injection dispensing equipment further comprises a frame, the clamping unit is fixed on the frame, and the clamping mechanism can rotate around a horizontal axis relative to the frame; and, step S5 includes:

s51: the medicine bottle clamping part clamps the first medicine bottle from the transfer position;

S52: the clamping mechanism rotates around the horizontal axis by a first preset angle to insert the syringe into the first medicine bottle along a first preset direction and withdraw a preset dosage of medicine liquid in the first medicine bottle, wherein the first preset direction is within +/-45 degrees relative to the vertical upward direction;

s53: the syringe clamping part pulls out the syringe from the first medicine bottle, and the clamping mechanism rotates around the horizontal axis from the current position by a second preset angle so that the syringe faces a second preset direction which is within +/-45 degrees relative to the vertical downward direction and forms an included angle of 90-135 degrees with the first preset direction;

s54: the medicine bottle clamping part is used for placing the first medicine bottle back to the transfer position and moving to the first appointed position to clamp the second medicine bottle;

s55: the injector clamping part inserts the injector into the second medicine bottle along a second preset direction and injects the liquid medicine in the extracted first medicine bottle into the second medicine bottle; and, after step S55, further includes:

s56: steps S51 to S55 are repeated until all the second vials are filled with the liquid medicine in the first vial.

According to another embodiment of the present invention, a dispensing method for an intravenous medicament dispensing apparatus is disclosed in the embodiment of the present invention, wherein the second medicine bottle is at least one second medicine bottle; the shaking unit comprises at least one storage groove; and, step S6 includes:

S61: the medicine bottle clamping part moves the current second medicine bottle to a preset transition position; the transition position is a position higher than the preset distance of the bottom of the storage tank in the axial direction of the storage tank;

s62: the medicine bottle clamping part moves the current second medicine bottle in a direction close to the object placing groove in a preset moving state until the contact force between the current second medicine bottle and the bottom of the object placing groove reaches the preset contact force, releases the current second medicine bottle, and enables the medicine bottle clamping part to deviate from the current second medicine bottle along the axial direction of the current second medicine bottle; and, intravenous injection medicament dispensing apparatus further includes an alarm unit; and, after step S62, further includes:

s63: visual detection is carried out on the object placing groove, and whether the second medicine bottle is positioned in the object placing groove is judged according to the visual detection result;

if yes, executing the steps S61 to S62 on the rest second medicine bottles, and shaking up all the second medicine bottles;

if not, triggering an alarm unit according to the visual detection result.

According to another specific embodiment of the invention, the dispensing method suitable for the intravenous injection medicament dispensing equipment disclosed by the embodiment of the invention further comprises a rack, wherein the clamping unit is fixed on the rack, and the clamping mechanism can rotate around a horizontal axis relative to the rack; the second medicine bottle is at least one second medicine bottle; and, step S7 includes:

S71: the medicine bottle clamping part clamps the current second medicine bottle by the shaking unit;

s72: the clamping mechanism rotates around the horizontal axis by a third preset angle so as to insert the syringe into the current second medicine bottle along a third preset direction and extract all mixed medicine liquid in the second medicine bottle, wherein the third preset direction is within +/-45 degrees relative to the vertical upward direction;

s73: the syringe clamping part pulls out the syringe from the second medicine bottle, and the clamping mechanism rotates around the horizontal axis from the current position by a fourth preset angle so as to enable the syringe to face a fourth preset direction and move the second medicine bottle to a second preset position; wherein the fourth predetermined direction is within ±45° relative to the vertically downward direction and forms an angle of 90 ° to 135 ° with the third predetermined direction; and, step S8 includes:

s81: the medicine bottle clamping part clamps the first medicine bottle from the transfer position;

s82: the injector clamping part inserts the injector into the first medicine bottle along a fourth preset direction, extracts air in the first medicine bottle with a preset volume, injects mixed medicine liquid in the extracted second medicine bottle into the first medicine bottle, and moves the first medicine bottle to a third appointed position;

s83: and repeating the steps S71 to S73, the steps S81 and the steps S82 until all the mixed liquid medicine in the second medicine bottles is injected into the first medicine bottle.

According to another specific embodiment of the present invention, the dispensing method for intravenous medicament dispensing apparatus disclosed in the embodiment of the present invention is that the first preset angle and the third preset angle are equal; the second preset angle is equal to the fourth preset angle; the first predetermined direction is the same as the third predetermined direction; the second predetermined direction is the same as the fourth predetermined direction.

According to another embodiment of the present invention, a dispensing method for an intravenous medicament dispensing apparatus according to an embodiment of the present invention further includes a controller; the controller is respectively connected with the identification unit and the clamping mechanism, and controls the clamping mechanism according to the attribute information of the first medicine bottle, the second medicine bottle and the injector acquired by the identification unit.

The beneficial effects of the invention are as follows:

according to the scheme, the identification unit is used for acquiring the attribute information of the first medicine bottle, the second medicine bottle and the injector, the medicine bottle clamping part and the injector clamping part inject the medicine liquid of the first medicine bottle into the second medicine bottle according to the attribute information, after shaking uniformly, the mixed medicine liquid in the second medicine bottle is injected into the first medicine bottle, so that the medicine liquid in the first medicine bottle and the second medicine bottle is mixed, and the medicine dispensing is completed. The whole process does not need manual operation, thereby saving the labor cost and avoiding the problem that part of medicaments harmful to human skin contact with human body to cause harm to human body. And moreover, the problem that nursing staff forgets to add medicines when dispensing medicines and threatens intravenous medicine safety of patients is avoided. Further, the scheme is provided with the alarm unit, and the alarm unit has an automatic alarm mode aiming at different processes, so that the reliability is improved. Further, for the scene which is likely to fail, detection is performed through the identification unit, and the attempt is repeated, so that the reliability of the system is further improved.

Drawings

Fig. 1 is a schematic connection diagram of an intravenous medicament dispensing apparatus in a dispensing method applicable to the intravenous medicament dispensing apparatus according to an embodiment of the present invention;

fig. 2 is a flow chart of a dispensing method suitable for an intravenous medicament dispensing apparatus according to an embodiment of the present invention;

fig. 3 is a schematic structural view of an intravenous medicament dispensing apparatus provided by an embodiment of the present invention;

fig. 4 is a schematic structural diagram of a shaking unit in an intravenous medicament dispensing apparatus according to an embodiment of the present invention.

Reference numerals illustrate:

1. an identification unit; 2. a gripping unit; 21. a medicine bottle clamping part; 22. a syringe clamping portion; 3. a cover removing unit; 4. a shaking unit; 5. a syringe clamping unit; 6. a controller; 7. a frame.

Detailed Description

Further advantages and effects of the present invention will become apparent to those skilled in the art from the disclosure of the present specification, by describing the embodiments of the present invention with specific examples. While the description of the invention will be described in connection with the preferred embodiments, it is not intended to limit the inventive features to the implementation. Rather, the purpose of the invention described in connection with the embodiments is to cover other alternatives or modifications, which may be extended by the claims based on the invention. The following description contains many specific details for the purpose of providing a thorough understanding of the present invention. The invention may be practiced without these specific details. Furthermore, some specific details are omitted from the description in order to avoid obscuring the invention. It should be noted that, without conflict, the embodiments of the present invention and features of the embodiments may be combined with each other.

It should be noted that in this specification, like reference numerals and letters denote like items in the following figures, and thus once an item is defined in one figure, no further definition or explanation thereof is necessary in the following figures.

In the description of the present embodiment, it should be noted that the azimuth or positional relationship indicated by the terms "upper", "lower", "inner", "bottom", etc. are based on the azimuth or positional relationship shown in the drawings, or the azimuth or positional relationship in which the inventive product is conventionally put in use, are merely for convenience of describing the present invention and simplifying the description, and are not indicative or implying that the apparatus or element to be referred to must have a specific azimuth, be configured and operated in a specific azimuth, and therefore should not be construed as limiting the present invention.

The terms "first," "second," and the like are used merely to distinguish between descriptions and are not to be construed as indicating or implying relative importance.

In the description of the present embodiment, it should also be noted that, unless explicitly specified and limited otherwise, the terms "disposed," "connected," and "connected" are to be construed broadly, and may be, for example, fixedly connected, detachably connected, or integrally connected; can be mechanically or electrically connected; can be directly connected or indirectly connected through an intermediate medium, and can be communication between two elements. The specific meaning of the above terms in the present embodiment can be understood in a specific case by those of ordinary skill in the art.

For the purpose of making the objects, technical solutions and advantages of the present invention more apparent, embodiments of the present invention will be described in further detail below with reference to the accompanying drawings.

In order to solve the problems that in the prior art, manual intravenous medicament dispensing is easy to waste human resources and even cause harm to nursing staff, and patients are possibly influenced by errors of the nursing staff, the embodiment of the invention provides a dispensing method suitable for intravenous medicament dispensing equipment, and the method is used for dispensing medicaments required by intravenous injection.

As shown in fig. 1, the intravenous medicine dispensing apparatus is for mixing medicine liquids in a first medicine bottle and a second medicine bottle, and includes an identification unit 1, a gripping unit 2, a cap removing unit 3, a shaking unit 4, and a syringe clamping unit 5. Also, the gripping unit 2 comprises a gripping mechanism, which may be a robot or in other implementations. The gripping mechanism includes a vial holder 21 and a syringe holder 22. And, the intravenous drug dispensing apparatus further includes a controller 6. The controller 6 is connected to the identification unit 1 and the gripping mechanism, and controls the gripping mechanism based on the attribute information of the first medicine bottle, the second medicine bottle, and the syringe acquired by the identification unit. The first vial in the preferred embodiment of the present description will be described with respect to a large vial and the second vial will be described with respect to a small vial, i.e., the liquid medicine in the small vial is mixed into the large vial. However, the present invention is not limited thereto, and those skilled in the art can easily understand that the first and second medicine bottles may be any type and any shape, that is, the medicine dispensing method provided by the present invention and suitable for the medicine dispensing device for intravenous injection can cover all medicine bottles used in dispensing of intravenous injection.

Further, in the intravenous drug dispensing apparatus, the identification unit 1 is used for identifying information in the manner of AI identification. Of course, any kind of target detection algorithm based on deep learning, such as YOLO, fast-RCNN, FCOS, ATSS, etc. can be used. The gripping unit 2 includes a gripping mechanism for performing a gripping operation, and the gripping mechanism includes a medicine bottle gripping portion 21 for gripping a medicine bottle, and a syringe gripping portion 22 for gripping a syringe. And the syringe clamping section 22 further includes a limit groove matched with the fixing section of the syringe clamping unit 5 for clamping the syringe. The cap removing unit 3 is used for removing caps, such as caps of medicine bottles, needle caps of syringes, and the like, and other caps that need to be removed. The shaking-up unit 4 is used for shaking-up the liquid medicine in the second medicine bottle. The invention adopts a rotary shaking mode, but the invention is not limited to the rotary shaking mode, and a person skilled in the art can easily think of adopting a shaking mode such as overturning, shaking and the like. The syringe clamping unit 5 is used for clamping and fixing the syringe.

Specifically, the cover removing unit 3 includes two clamping portions disposed opposite to each other in the horizontal direction, and at least one clamping portion is provided with a clamping groove on one face thereof adjacent to the other clamping portion. That is, the cover removing unit 3 clamps the cover with two clamping portions to remove the cover. In order to improve the clamping effect, a clamping groove is arranged on one surface of at least one clamping part, which is close to the other clamping part. That is, the clamping grooves may be provided on both sides of the two clamping portions opposite to each other, and the clamping grooves may be provided on one side of any one clamping portion close to the other clamping portion. Of course, the present invention is merely illustrative of a specific structure of the cover removing unit 3, and one skilled in the art may arbitrarily select other structures as the cover removing unit 3 to remove the cover.

More specifically, in the present invention, the controller 6 is a control part provided separately. Although the present invention has been described with respect to the control of the vial clamping section 21 and the syringe clamping section 22 by the controller 6, in other embodiments, the cap removal unit 3, the shaking unit 4, and the syringe clamping unit 5 may be controlled by the controller 6. In fact, it is easily conceivable for a person skilled in the art to set a specific position thereof according to a control object of the controller 6. For example, the controller 6 may be integrated in the gripping unit 2 when it only controls the vial clamping section 21 and the syringe clamping section 22.

The intravenous injection dispensing apparatus further comprises a frame 7, the gripping unit 2 is fixed on the frame 7, and the gripping mechanism is rotatable about a horizontal axis relative to the frame 7. In fact, the cover removal unit 3, the shaking unit 4, the syringe clamping unit 5 may all be provided on the frame 7, and other units may be provided on the frame 7 by a person skilled in the art. The frame 7 only serves as a support.

As shown in fig. 2, based on the intravenous injection dispensing equipment, the dispensing method comprises the following steps:

The method comprises the steps that the identification unit is used for acquiring attribute information of a first medicine bottle, a second medicine bottle and an injector, the medicine bottle clamping part and the injector clamping part inject medicine liquid of the first medicine bottle into the second medicine bottle according to the attribute information, after shaking up, mixed medicine liquid in the second medicine bottle is injected into the first medicine bottle, so that the medicine mixing of the medicine liquid in the first medicine bottle and the second medicine bottle is realized, and medicine dispensing is completed. The whole process does not need manual operation, thereby saving the labor cost and avoiding the problem that part of medicaments harmful to human skin contact with human body to cause harm to human body. And moreover, the problem that nursing staff forgets to add medicines when dispensing medicines and threatens intravenous medicine safety of patients is avoided.

Further, in the dispensing method suitable for the intravenous medicament dispensing apparatus according to the present invention, the attribute information of the first medicine bottle includes the type, shape, and placement position of the first medicine bottle. The first medicine bottle comprises ampoule bottle, penicillin bottle and common hanging needle medicine bottle. Because the invention is limited by the structure of the cover removing unit, only the bottle cover connected with the bottle body in a clamping way and the like can be removed, but the bottle cover fixedly connected with the bottle body like an ampoule bottle cannot be removed. Therefore, after the attribute information of the first medicine bottle is obtained, the operation of judging whether the bottle cap can be removed according to the type of the medicine bottle can be added, and when the medicine bottle is an ampoule bottle or the like and the bottle cap cannot be removed by using the cap removing unit, the subsequent operation is not performed, so that the time is saved. The shape of the first medicine bottle comprises the size and the outline of the medicine bottle, and the placement position of the first medicine bottle is the coordinate position of the first medicine bottle.

The step S1 comprises the following steps:

s14: the cover body removing unit drives the first medicine bottle to deviate from the medicine bottle clamping part along the axial direction of the first medicine bottle so as to separate the bottle cover and the bottle body of the first medicine bottle.

More specifically, the visual detection in step S11 may be a method of setting a camera to capture the first vial, the detection algorithm is a method of calculating an image captured by the camera by using image analysis, and the depth information is a method of obtaining a depth image of the vial by using infrared imaging to reflect the three-dimensional shape of the vial. In the invention, the type, shape and position of the first medicine bottle are obtained by utilizing a visual detection line, and the bottleneck position of the first medicine bottle is further obtained by utilizing a detection algorithm and depth information. In order to more stably clamp the first medicine bottle, so that the first medicine bottle is not easy to fall off in the clamping process, the bottleneck position of the first medicine bottle is selected to be clamped, and in fact, other positions capable of driving the first medicine bottle to move can be easily considered by the person skilled in the art. And, the preset distance between the transition position and the bottleneck is set by a person skilled in the art according to actual requirements. Such as 3cm, 5cm, or other values. And, the preset moving speed in step S12 is a slower speed, which may be 1cm/S, 2cm/S, etc. The position corresponding to the cap removing unit is to move the first medicine bottle to a position where two sides of the bottle cap in the axial direction are parallel to two opposite sides of the two clamping parts, namely, the sides of the bottle cap are parallel to the plane where the clamping grooves are located. With such steps, robustness can be enhanced better, and even if identification of visual detection, detection algorithm and the like is inaccurate, the medicine bottle clamping part can smoothly convey the bottle neck of the medicine bottle to the medicine bottle clamping part through the interaction force between the medicine bottle and the medicine bottle. After that, the medicine bottle clamping part lifts the first medicine bottle upwards according to the axis direction of the medicine bottle, so that the medicine bottle can be prevented from being damaged by the contact of the medicine bottle and the medicine bottle clamping part which suddenly sends larger force, and the convenience of movement can be provided for the follow-up medicine bottle clamping part.

More specifically, in step S13, the preset movement state is a piecewise function with respect to the speed, and the speed may be set to be 1cm/S or 2cm/S when the cap of the medicine bottle is not in contact with the clamping groove, and the speed may be set to be 0.5cm/S or 0.8cm/S or slower after the cap of the medicine bottle is in contact with the clamping groove. The step can prevent the bottle cap from damaging the medicine bottle due to overlarge contact force between the bottle cap and the clamping groove or prevent the bottle cap from being easily removed after deformation. The preset clamping force is generally 5N, and can be 3N, 6N or other values, and when the actual clamping force between the bottle cap of the first medicine bottle and the clamping groove reaches the preset clamping force, the two clamping parts are controlled to clamp the bottle cap of the first medicine bottle. With such a procedure, the problem of ineffective or loose clamping caused by clamping the cap of the first vial without contacting the clamping groove can be avoided.

More specifically, in step S14, the cap removing unit drives the first medicine bottle to deviate from the medicine bottle clamping portion along the axial direction of the first medicine bottle, and the cap removing unit may be kept still, and the medicine bottle clamping portion moves along the direction deviating from the cap removing unit; the cap removing unit may be moved in a direction away from the medicine bottle holding portion while the medicine bottle holding portion is stationary; it is also possible that the cap removing unit and the medicine bottle holding portion are both moved in directions away from each other.

Still further, in the dispensing method suitable for the intravenous medicament dispensing apparatus according to the present invention, after step S14, further comprising:

if yes, executing step S2;

The method has the steps that the first medicine bottle is visually detected, and the bottle cap removing action is repeated when the bottle cap is not removed, so that the method provides practicable guarantee for subsequent operation.

Still further, in a dispensing method according to the present invention adapted for an intravenous drug dispensing apparatus, the intravenous drug dispensing apparatus further comprises a sterilizing unit. The disinfection unit sprays disinfection liquid to the mouth of the first medicine bottle in an atomized state.

After step S1, the method further includes:

Further, in the dispensing method suitable for the intravenous medicament dispensing apparatus according to the present invention, the storage tank is provided at the transit position. And, step S2 includes: the medicine bottle clamping part moves the first medicine bottle to a position higher than the bottom surface of the storage tank by a preset distance; the medicine bottle clamping part moves the first medicine bottle in a direction close to the object placing groove in a preset moving state until the contact force between the first medicine bottle and the bottom of the object placing groove reaches the preset contact force, then the first medicine bottle is released, and the medicine bottle clamping part is deviated from the first medicine bottle along the axial direction of the first medicine bottle.

More specifically, the preset distance is the distance between the bottom surface of the storage groove and the bottom of the first medicine bottle, and can be 5cm, 8cm and other values. The predetermined movement state may be a piecewise function with respect to speed, and may be set to a speed of 2cm/s or 4cm/s when the medicine bottle is not in contact with the bottom surface of the storage tank, and a speed of 1cm/s or 0.8cm/s or slower when the cover of the medicine bottle is in contact with the clamping tank. The predetermined contact force may be 8N or 10N. With such a step, robustness can be enhanced, and even if the first vial is not strictly vertically oriented above the transfer position, the large vial can be pushed into the slot smoothly by the contact force of the circular face of the slot with the first vial. The medicine bottle clamping part releases the first medicine bottle and slowly leaves the large medicine bottle along the axial direction of the first medicine bottle, so that the medicine bottle cannot be knocked down when the medicine bottle clamping part leaves the medicine bottle. In addition, due to the manner in which the caps are separated by clamping and relative movement using the clamping grooves, the shapes of the caps that can be removed according to the present invention include, but are not limited to, circular caps, oval caps, even ring caps, etc.

Further, in the dispensing method suitable for the intravenous medicament dispensing apparatus according to the present invention, the attribute information of the second medicine bottle includes the type, shape, and placement position of the second medicine bottle. The attribute information of the second medicine bottle is not substantially different from the attribute information of the first medicine bottle, and will not be described again here. And, step S3 includes:

s34: the cover body removing unit drives the current second medicine bottle to deviate from the medicine bottle clamping part along the axial direction of the current second medicine bottle so as to separate the bottle cover and the bottle body of the current second medicine bottle and place the second medicine bottle at the first appointed position.

And, after step S34, further includes:

if yes, executing step S4;

Still further, the intravenous medicament dispensing apparatus further includes a sterilizing unit; and, after step S3, further includes:

s3': the medicine bottle clamping part moves the current second medicine bottle with the bottle cap removed to the position corresponding to the sterilizing unit, and sterilizes the bottle mouth of the current second medicine bottle.

Specifically, the bottle cap removing process of the second medicine bottle described in step S3 is not substantially different from the bottle cap removing process of the first medicine bottle, and the transition position, the preset clamping force, the preset moving speed and the preset moving state of the second medicine bottle can be set by referring to the first medicine bottle, which is not described herein. The difference is only that the second medicine bottle is placed at the first designated position after the cap removal unit removes the cap of the second medicine bottle. The first designated location may be a storage box, or conveyor belt, storing a second vial, as may be desired by one skilled in the art.

Further, in the dispensing method suitable for the intravenous medicament dispensing apparatus according to the present invention, the attribute information of the syringe includes a storage location of the syringe, a serial number of the syringe. The storage position of the injector is the placement position of the injector, and the serial number of the injector refers to the serial number of each injector when the injector clamping unit can simultaneously clamp a plurality of injectors. And, step S4 includes:

s42: the syringe clamping part approaches the syringe in the radial direction of the syringe in a preset moving state, and the syringe is taken out from the fixing part of the syringe clamping unit with a preset contact force and falls into the limit groove.

More specifically, in step S41, the visual inspection is performed in the same manner as the visual inspection of the medicine bottle, and the description thereof will be omitted. The preset distance is the minimum distance of the sidewall of the syringe from the syringe holding section in the radial direction of the syringe, which may be set to 3cm, 5cm or other values. In step S42, the predetermined movement state may be a piecewise function with respect to the speed, and the speed may be set to be 2cm/S or 4cm/S when the fixed portion of the syringe clamping unit is not in contact with the syringe clamping portion, and the speed may be set to be 1cm/S or 0.8cm/S or slower when the fixed portion of the syringe clamping unit is in contact with the syringe clamping portion. The preset contact force can be 8N, 10N and other values, and the method has the steps that the syringe clamping part moves in a preset moving state, so that the problem that the syringe is damaged due to large impulse when the syringe clamping unit is in contact with the syringe clamping part can be avoided, the syringe is removed by the syringe clamping part with the preset contact force, and the problem that the syringe is taken out without being in full contact with the fixing part, so that the syringe slides down can be avoided.

Still further, in the dispensing method according to the present invention, which is suitable for use in an intravenous medicament dispensing apparatus, it is also necessary to remove the needle cover of the syringe after the syringe is taken out. Thus, after removal of the syringe, the steps of:

if not, step S431 is repeated until the needle cover of the syringe is removed.

More specifically, in step S431, moving the syringe to the corresponding position of the clamping groove means that the syringe is to be moved below the clamping groove in the direction of the needle insertion. This is because the needle cap of the syringe is generally small in caliber and thin in thickness, the broken needle cap is clamped if the force is not grasped directly, and because the caliber of the medicine bottle cap is greatly different from that of the needle cap, the clamping groove cannot be made into a shape suitable for both the medicine bottle cap and the syringe needle cap, and the needle cap needs to be pushed away from the syringe by the cap removing unit. Namely, the two clamping parts clamp the injector above the needle cover, and the needle head part of the injector is in a conical structure, so that the needle cover can be pushed away from the injector by driving the injector to deviate from the cover removing unit. While clamping the portion of the syringe above the needle cap may be performed in the same manner as clamping the neck of a vial. The preset clamping state is also a piecewise function related to the speed, and the preset clamping force can be 3N, 5N and other values.

More specifically, the injector is driven to deviate from the cover removing unit along the axial direction of the injector, the cover removing unit can be kept still, and the injector clamping part moves along the direction deviating from the cover removing unit; it is also possible that the cap removal unit is moved in a direction away from the syringe holding section, while the syringe holding section is stationary; it is also possible that the cap removal unit and the syringe holding section are both moved in directions away from each other.

Further, in the dispensing method according to the present invention, which is suitable for use in an intravenous medicament dispensing apparatus, step S5 includes:

s55: the syringe holding section inserts the syringe into the second medicine bottle in the second predetermined direction and injects the liquid medicine in the withdrawn first medicine bottle into the second medicine bottle.

More specifically, in step S51, the first vial is held from the intermediate position in the same manner as the first vial is held in step S1. In step S52, the gripping mechanism rotates around the horizontal axis by a first preset angle, that is, rotates around the horizontal axis with respect to the frame based on the horizontal axis. The first preset angle may range from 135 ° to 225 °. That is, at an initial position of 0 °, typically 0 ° in a vertically downward direction, 135 ° to 225 ° about a horizontal axis, i.e., 135 °, 180 °, 225 ° or other angles. The first predetermined direction is within a range of ±45° with respect to the vertically upward direction, that is, 0 ° in the vertically upward direction, positive to the left, negative to the right, and may be in the vertically upward direction, or may be at a position 45 ° to the left in the vertical direction, or may be at a position 45 ° to the right in the vertical direction, or may be at other positions within the range. The predetermined dose of the medical fluid may be 3.5ml, 5ml or other doses, and may be determined in particular by the volume of the second vial and the dose of the solution in the second vial. In step S53, the syringe is pulled out of the first vial, and the vial may be stationary, the syringe may be moved in a direction away from the vial, the vial may be moved in a direction away from the syringe, or the syringe and the vial may be moved in directions away from each other, respectively. The range of the second preset angle may be determined according to the first preset angle, since the gripping mechanism may be rotated from the current position in a positive direction, i.e. to the right, or in a negative direction, i.e. to the left. Thus, if the return to the original position is to be made, the second preset angle equal to the first preset angle can be rotated rightward, and the second preset angle of the first preset angle can be rotated rightward. Of course, the second preset angle may also be another angle, which is determined according to the second predetermined direction. The second predetermined direction may be at an angle of 90 deg. to 135 deg. from the first predetermined direction, which may be 90 deg., 120 deg., 135 deg. or other angles, particularly assuming that in the first predetermined direction When the vial is in a +45° (positive to the right and negative to the left) position relative to the vertical upward direction, the syringe is in a-45 ° position relative to the vertical downward direction, and if the gripping mechanism is rotated by a second predetermined angle such that the second predetermined direction is at an angle of 90 ° to the first predetermined direction, the syringe is in a-45 ° (positive to the right and negative to the left) position relative to the vertical upward direction, and the vial is in a +45° position relative to the vertical downward direction. In step S54, the first medicine bottle is returned to the transfer position in the same manner as the first medicine bottle is placed in step S2, and the second medicine bottle is clamped in the same manner as the second medicine bottle is clamped in step S3. Preferably, in step S55, when the liquid medicine in the first medicine bottle is drawn out, a predetermined volume of air may be injected first, and when the liquid medicine is injected into the second medicine bottle, a predetermined volume of air may be drawn out first. The preset volume of air may be 1cm ³ 、2cm ³ . The method comprises the step of injecting air with a preset volume when the liquid medicine in the first medicine bottle is pumped out, so that the pressure in the first medicine bottle can be increased to facilitate the liquid medicine to be pumped out by the injector. When the liquid medicine is injected into the second medicine bottle, the air with the preset volume is pumped out, so that the pressure inside the second medicine bottle can be reduced, and the liquid medicine can be injected by the injector conveniently.

Further, in the dispensing method according to the present invention, which is applicable to the intravenous medicament dispensing apparatus, the shaking unit includes at least one storage tank. The storage groove is used for containing the second medicine bottle which needs to be shaken evenly, and at least one, namely one, two and even five medicine bottles are arranged. This is because in actual use, mixing of the liquid medicine in the plurality of second vials into the first vial may be encountered. Thus, the number of second vials is generally equal to or greater than the number of first vials. The plurality of storage grooves are formed, so that a plurality of second medicine bottles can be uniformly shaken at the same time, and the shaking efficiency is improved.

Further, in the dispensing method according to the present invention, which is suitable for use in an intravenous medicament dispensing apparatus, step S6 includes:

s62: the medicine bottle clamping part moves the current second medicine bottle in a direction close to the object placing groove in a preset moving state until the contact force between the current second medicine bottle and the bottom of the object placing groove reaches the preset contact force, releases the current second medicine bottle, and enables the medicine bottle clamping part to deviate from the current second medicine bottle along the axial direction of the current second medicine bottle.

More specifically, in step S61, the preset distance is the distance between the bottom surface of the storage tank and the bottom of the second medicine bottle, and may be a value of 5cm, 8cm, or the like. In step S62, the predetermined movement state may be a piecewise function with respect to the speed, and the speed may be set to be 2cm/S or 4cm/S when the medicine bottle is not in contact with the bottom surface of the storage tank, and the speed may be set to be 1cm/S or 0.8cm/S or slower after the cover of the medicine bottle is in contact with the clamping tank. The predetermined contact force may be 8N or 10N. With such a step, robustness can be enhanced, and even if the second vial is not strictly vertically oriented above the transfer position, the large vial can be pushed into the slot smoothly by the contact force of the circular face of the slot with the second vial. The medicine bottle clamping part releases the second medicine bottle and slowly leaves the large medicine bottle along the axial direction of the second medicine bottle, so that the medicine bottle cannot be knocked down when the medicine bottle clamping part leaves the medicine bottle.

Further, in the dispensing method according to the present invention, which is suitable for use in an intravenous medicament dispensing apparatus, step S7 includes:

S73: the syringe clamping part pulls out the syringe from the second medicine bottle, and the clamping mechanism rotates around the horizontal axis from the current position by a fourth preset angle so as to enable the syringe to face a fourth preset direction and move the second medicine bottle to a second preset position; wherein the fourth predetermined direction is within ±45° with respect to the vertically downward direction and forms an angle of 90 ° to 135 ° with the third predetermined direction.

The manner of extracting the mixed liquid medicine from the second medicine bottle in the present step is not substantially different from the manner of extracting the liquid medicine from the first medicine bottle in the step S5, and will not be described again here. In step S73, the second medicine bottle is not used since the mixed medicine liquid in the second medicine bottle is withdrawn, and the second medicine bottle may be classified and discarded. Thus, the second designated location may be a location such as a trash can. In a preferred embodiment of the present invention, the predetermined volume of air may be injected first when the liquid medicine in the second medicine bottle is withdrawn. The method comprises the step of injecting a predetermined volume of air when the mixed liquid medicine in the second medicine bottle is withdrawn, so that the pressure in the second medicine bottle can be increased to facilitate the withdrawal of the liquid medicine by the syringe.

Further, in the dispensing method according to the present invention, which is suitable for use in an intravenous medicament dispensing apparatus, step S8 includes:

s82: the syringe clamping part inserts the syringe into the first medicine bottle along a fourth preset direction, extracts air in the first medicine bottle with a preset volume, injects mixed medicine liquid in the extracted second medicine bottle into the first medicine bottle, and moves the first medicine bottle to a third designated position.

More specifically, in step S81, the manner in which the first vial is held by the vial holding section is not substantially different from the manner in which the first vial is held in step S1. In a preferred embodiment of the present invention, in step S82, when the mixed liquid medicine is injected into the first medicine bottle, the air with the preset volume is first pumped out, so that the pressure inside the first medicine bottle can be reduced, and the mixed liquid medicine can be injected by the injector. The third designated location the present invention is not particularly limited and may be any location that facilitates manual access to the first vial of the prepared liquid.

It should be noted that the movement performed in the preset movement state referred to in the present invention is actually a movement performed in the force control mode. And judging or deciding whether to finish the corresponding flow according to the sensing and feedback of the force. Meanwhile, the speed is controlled in a matched mode, so that the medicine bottle and the syringe can move more stably, and are not easy to damage.

It should also be explained that in a preferred embodiment according to the present invention, the first preset angle and the third preset angle are equal; the second preset angle is equal to the fourth preset angle; the first predetermined direction is the same as the third predetermined direction; the second predetermined direction is the same as the fourth predetermined direction. Of course, the first preset angle may be an angle different from the third preset angle, the third preset direction may be a direction different from the first preset direction, and the fourth preset angle and the fourth preset direction are the same, which can be set by those skilled in the art according to actual requirements.

In the invention, when the syringe is taken out, the air with the preset volume is required to be pumped into the syringe, and the step can be finished when the syringe is placed at the storage position of the syringe, in other words, when the syringe clamping part successfully takes out the syringe, the air with the preset volume is pumped into the syringe, so that the time can be saved, and the working efficiency of the system can be improved. Of course, after the syringe clamping part takes out the syringe, the syringe clamping part draws in the air with the preset volume and then carries out the subsequent steps, and at this time, the syringe clamping part can determine the proper air volume according to the dosage of the liquid medicine in the medicine bottle, so that the subsequent operation accuracy is higher.

Still further, in a preferred embodiment according to the present invention, the intravenous medicament dispensing apparatus further comprises an alarm unit. The alarm unit can adopt a buzzer and a photoelectric alarm mode, and is not limited herein. In the invention, the corresponding alarm units can be respectively arranged for the units needing to alarm, so that the alarm efficiency is improved, and the signal collision is avoided. Only one alarm unit can be arranged and connected with each unit needing to be alarmed respectively, so that the effect of saving cost is achieved.

More specifically, in the dispensing method applicable to the intravenous medicament dispensing apparatus according to the present invention, based on the alarm unit, after step S2, further includes:

if yes, executing step S3;

if not, triggering an alarm unit according to the visual detection result.

That is, when the first medicine bottle is not located at the preset transfer position after the bottle cap is removed, an alarm is triggered.

Further, after step S42, the method further includes:

If yes, executing step S5;

if not, triggering an alarm unit according to the visual detection result.

That is, when the syringe is not successfully removed, an alarm is triggered. Also, the step of removing the needle cover of the syringe may be completed before performing step S5.

Still further, after step S62, the method further includes:

if yes, shaking up the second medicine bottle;

if not, triggering an alarm unit according to the visual detection result.

That is, after the second vial is mixed with the drug solution of the first vial, it is necessary to put it into a shaking unit for shaking. And if the second medicine bottle is not successfully placed in the shaking unit, an alarm is triggered.

Still further, in a dispensing method for an intravenous medicament dispensing apparatus according to another embodiment of the present invention, the second medicine bottle is at least one second medicine bottle. And in particular one, two, three or even more, depending on the number of doses required.

More specifically, in the dispensing method applicable to the intravenous medicament dispensing apparatus according to the present invention, after step S3', based on the plurality of second vials, it further comprises:

That is, the bottle cap removing and sterilizing operations are performed for each of the second vials.

Further, after step S55, the method further includes:

That is, the liquid medicine in the first medicine bottle is injected into each of the second medicine bottles.

Still further, after step S82, the method further includes:

That is, all of the liquid medicine in the second medicine bottle is required to be mixed into the first medicine bottle to complete the dispensing.

Still further, after step S62, the method further includes:

if not, triggering an alarm unit according to the visual detection result.

That is, after the liquid medicine in the first medicine bottle is mixed into each of the second medicine bottles, it is necessary to shake all of the second medicine bottles.

Still further, in a dispensing method suitable for an intravenous medicament dispensing apparatus according to another embodiment of the present invention, a case will be described in which a first vial is a large vial, a second vial is a small vial, and the number is greater than one.

As shown in fig. 3, the dispensing method suitable for the intravenous medicament dispensing device comprises the following steps:

first, taking a big medicine bottle. Specifically, the recognition unit sends the position of the bottleneck of the large medicine bottle to the mechanical arm of the clamping unit 2 through the detection algorithm and the depth information, the mechanical arm of the clamping unit 2 moves to a transition position at a certain distance (for example, 3 cm) from the bottleneck of the large medicine bottle, then slowly moves to the bottleneck of the large medicine bottle, and the medicine bottle clamping part 21 of the clamping unit 2 is combined to clamp the large medicine bottle. This has the advantage of enhancing robustness, even when the position provided by the identification unit is not very accurate, the vial clamping portion 21 of the gripping unit 2 can smoothly deliver the bottleneck of the vial to the inside of the vial clamping portion 21 through the interaction force between itself and the vial. Then, the medicine bottle clamping part 21 lifts up the large medicine bottle according to the axis direction of the bottle, so that the large medicine bottle and the medicine bottle clamping part 21 can be prevented from being contacted with each other with larger force, and convenience is provided for the movement of the subsequent mechanical arm.

And secondly, removing the bottle cap of the large medicine bottle. Specifically, the large medicine bottle is moved to the lower part of the cap removing unit 3, the angle of the bottle cap is kept parallel to the groove surface of the clamping groove of the cap removing unit 3, then the mechanical arm of the clamping unit 2 moves in the preset moving state according to the opposite direction of the normal vector of the groove surface, and when the clamping force between the bottle cap and the clamping groove reaches a certain value (such as 5N), the mechanical arm of the clamping unit 2 is kept still. Then, the clamping groove clamps the bottle cap of the large medicine bottle according to a certain force, and the mechanical arm of the clamping unit 2 moves downwards according to the axial direction of the large medicine bottle, so that the large medicine bottle cap is removed. The recognition unit detects whether the bottle cap is removed or not, and if the bottle cap is not removed for the first time, the recognition unit instructs the mechanical arm of the gripping unit 2 to remove the bottle cap for the second time until the bottle cap is removed.

And thirdly, sterilizing the large medicine bottle. Specifically, the big medicine is moved to the disinfection unit, and then the disinfection liquid electric cylinder is started to spray the disinfection liquid to the bottle mouth of the big medicine for disinfection in an atomized state.

Fourth, the large medicine bottle is put to the transfer position. Specifically, the identification unit sends a command to the mechanical arm of the gripping unit 2, and the mechanical arm of the gripping unit 2 places the large medicine bottle above the corresponding transit position (for example, 5 cm) according to the command. Then, the mechanical arm of the gripping unit 2 slowly moves the large medicine bottle downwards in a preset moving state until the contact force between the large medicine bottle and the bottom surface of the storage groove at the transfer position reaches a certain value (for example, 10N), and at the moment, the medicine bottle clamping part 21 of the gripping unit 2 is loosened. The advantage of this is that the robustness is enhanced, and even if the big medicine bottle is not strictly vertical above the transfer position, the big medicine bottle can be smoothly pushed into the groove through the contact force of the round surface of the storage groove and the big medicine bottle. The medicine bottle clamping part 21 of the clamping unit 2 of the mechanical arm of the clamping unit 2 releases the big medicine bottle and slowly leaves the big medicine bottle along the vertical direction with the axis of the big medicine bottle, so that the advantages are that: the large medicine bottle cannot be knocked down when the medicine bottle clamping part 21 leaves the large medicine bottle. The identification unit detects whether the big medicine bottle is placed at the transfer position, and if not, the alarm is given.

And fifthly, a small medicine bottle process. Specifically, the recognition unit sends the position of the vial bottleneck (the vial may be in a slot of a conveyor belt) to the mechanical arm of the gripping unit 2 through the detection algorithm and the depth information, and the mechanical arm of the gripping unit 2 moves to a transition position at a certain distance (for example, 3 cm) above the vial bottleneck and then slowly moves down to the vial bottleneck, and the vial is gripped by the vial gripping portion 21 of the gripping unit 2. The vials are then lifted upwardly away from the slot opening of the conveyor and subjected to a subsequent de-capping and sterilization operation similar to that of the large vials.

And sixthly, if a plurality of small medicine bottles participate in the medicine dispensing, repeating the step of the fifth step until all small medicine bottles finish the corresponding process.

Seventh, taking the injector. Specifically, the identifying unit sends the position of the syringe or the serial number of the syringe to the mechanical arm of the gripping unit 2, the mechanical arm of the gripping unit 2 moves to a position away from the syringe, and then the mechanical arm of the gripping unit 2 moves towards the syringe according to a preset moving state until the contact force between the mechanical arm of the gripping unit 2 and the bracket of the syringe, i.e. the syringe gripping unit, reaches a certain value (for example, 10N). The robot arm of the gripping unit 2 is then slowly withdrawn backwards. The identifying unit will detect whether the needle tube is taken out or not, if not, the alarm is given.

Eighth, removing the cover of the injector. Specifically, the two clamping portions of the cap-removing unit are opened, and the syringe clamping portion 22 moves the syringe to the notch of the clamping groove, taking care that the syringe cap is secured below the notch. Then, the syringe is brought into contact with the clamping groove in a force-controlled mode, i.e. in a predetermined movement, and when the force reaches a certain value (e.g. 5N), the syringe is moved upwards by a certain distance (e.g. 1 cm), and the cap of the syringe is removed. Finally, the syringe is withdrawn from the notch of the clamping groove.

And ninth, pumping liquid from the big medicine bottle. Specifically, the robot arm of the gripping unit 2 moves to the vicinity of the large medicine bottle, and the large medicine bottle is taken out from the transit position in a direction perpendicular to the axis of the large medicine bottle and moved to another transit position. The robot arm end of the gripping unit 2 is then rotated through an angle (e.g. 135 degrees) such that the large vial is above the syringe, i.e. the gripping mechanism is turned over. After that, the injector firstly extracts a part of air into the needle tube, then the needle point of the injector is inserted into the big medicine bottle, and the air in the needle tube is injected into the big medicine bottle to increase the internal pressure of the big medicine bottle, so that the injector can conveniently extract the medicine liquid from the big medicine bottle. And then pulling the needle tube piston to draw the liquid medicine into the needle tube, completing the process, rotating the mechanical arm of the clamping unit 2 back to the original position again, and placing the large medicine bottle into the transfer position according to the flow in the fourth step.

Tenth, the liquid medicine in the injector is injected into the small medicine bottle. Specifically, the recognition unit sends the position of the vial bottleneck (the vial is in the groove of the conveyor belt) to the mechanical arm of the gripping unit 2 through the detection algorithm and the depth information, the mechanical arm of the gripping unit 2 moves to a transition position at a certain distance (for example, 3 cm) above the vial bottleneck, then slowly moves down to the vial bottleneck, and the vial is gripped by the vial gripping portion 21 of the gripping unit 2. And then lifting the small medicine bottle, inserting the needle of the injector into the small medicine bottle, lifting the piston for a certain distance to extract the air of the small medicine bottle so as to reduce the internal pressure of the small medicine bottle and facilitate injection, and then injecting the liquid medicine in the injector. The excess air portion of the syringe interior is vented after the syringe needle is withdrawn from the vial.

Eleventh, put the vial into the shaking unit. Specifically, as shown in fig. 4, the shaking unit includes a plurality of storage tanks, which can shake the mixed liquid medicine in the vial in a rotating manner. The vial (inside is a mixture of a large vial liquid medicine and a small vial medicine) is placed above the shaking unit 4, and then the vial is lowered in a preset moving state by force control, and when the contact force between the vial and the bottom of the trough of the shaking unit 4 reaches a certain value (for example, 10N), the vial is released. The identification unit will detect if the vial is placed in the shaking unit 4 and if not, alarm.

And a twelfth step, repeating the ninth step to the eleventh step until all the medicine vials participating in the medicine preparation are placed in the shaking unit 4.

Thirteenth, the shaking unit 4 is started. Specifically, the mixture in the vial is homogenized (e.g., 300 revolutions).

Fourteenth step, the liquid is pumped out from the small medicine bottle. Specifically, the shaken vials are taken out from the shaking unit 4, and then the medicine liquid is extracted from the vials to the syringe according to a ninth step similar operation, and the vials are sorted to garbage and thrown away.

Fifteenth, injecting the mixed liquid medicine into a big medicine bottle. Specifically, the mixed liquid medicine in the injector is injected into the big medicine bottle according to the tenth step. So far, the whole dispensing process is finished.

While the invention has been shown and described with reference to certain preferred embodiments thereof, it will be understood by those skilled in the art that the foregoing is a further detailed description of the invention with reference to specific embodiments, and it is not intended to limit the practice of the invention to those descriptions. Various changes in form and detail may be made therein by those skilled in the art, including a few simple inferences or alternatives, without departing from the spirit and scope of the present invention.

Claims

1. The dispensing method suitable for the intravenous injection medicament dispensing equipment is characterized in that the intravenous injection medicament dispensing equipment is used for mixing liquid medicines in a first medicine bottle and a second medicine bottle and comprises an identification unit, a clamping unit, a cover removing unit, a shaking unit and a syringe clamping unit; wherein the method comprises the steps of

The clamping unit comprises a clamping mechanism, wherein the clamping mechanism comprises a medicine bottle clamping part and a syringe clamping part; and is also provided with

The dispensing method comprises the following steps:

s1: the identification unit acquires attribute information of the first medicine bottle, the medicine bottle clamping part clamps the first medicine bottle according to the attribute information of the first medicine bottle, the first medicine bottle is moved to a position corresponding to the cover removing unit, the cover removing unit clamps the bottle cover of the first medicine bottle with preset clamping force, and the first medicine bottle is driven to deviate from the medicine bottle clamping part along the axis direction of the first medicine bottle so as to separate the bottle cover and the bottle body of the first medicine bottle;

s3: the identification unit acquires attribute information of the second medicine bottle, the medicine bottle clamping part clamps the second medicine bottle according to the attribute information of the second medicine bottle, the second medicine bottle is moved to a position corresponding to the cover removing unit, the cover removing unit clamps a bottle cover of the second medicine bottle with preset clamping force, the second medicine bottle is driven to deviate from the medicine bottle clamping part along the axis direction of the second medicine bottle, so that the bottle cover and the bottle body of the second medicine bottle are separated, and the second medicine bottle is placed at a first designated position;

s5: the medicine bottle clamping part clamps the first medicine bottle from the transit position, the syringe clamping part inserts the syringe into the first medicine bottle to sample, the first medicine bottle is put back to the transit position after the sampling is completed, the second medicine bottle is clamped from the first appointed position, the syringe is inserted into the second medicine bottle, and sample liquid in the syringe is injected into the second medicine bottle;

s7: the medicine bottle clamping part clamps the second medicine bottle from the shaking unit, and the injector clamping part inserts the injector into the second medicine bottle to extract the mixed medicine liquid in the second medicine bottle and move the second medicine bottle to a second designated position;

s8: the medicine bottle clamping part clamps the first medicine bottle from the transferring position, and the injector clamping part inserts the injector into the first medicine bottle so as to inject the mixed medicine liquid into the first medicine bottle and move the first medicine bottle to a third appointed position.

2. A dispensing method adapted for use with an intravenous medicament dispensing apparatus as in claim 1, wherein the attribute information of the first vial includes a type, shape, placement location of the first vial;

the cover removing unit comprises two clamping parts which are oppositely arranged in the horizontal direction, and at least one clamping part is provided with a clamping groove on one surface close to the other clamping part; and is also provided with

The step S1 includes:

s11: the identification unit obtains attribute information of the first medicine bottle by utilizing visual detection, obtains a bottleneck position of the first medicine bottle by utilizing a detection algorithm and depth information, and the medicine bottle clamping part moves to a preset transition position according to the bottleneck position of the first medicine bottle; the transition position is a position higher than a preset distance of a bottle neck in the axial direction of the first medicine bottle;

s12: the medicine bottle clamping part moves from the transition position to the bottleneck of the first medicine bottle at a preset moving speed, clamps the bottleneck of the first medicine bottle, and moves the first medicine bottle to a position corresponding to the cover removing unit;

s13: the medicine bottle clamping part moves the first medicine bottle in a direction approaching the clamping groove in a preset moving state, and controls the two clamping parts to clamp the bottle caps of the first medicine bottle according to the actual clamping force of the bottle caps of the first medicine bottle and the clamping groove and the preset clamping force;

S14: the cover body removing unit drives the first medicine bottle to deviate from the medicine bottle clamping part along the axial direction of the first medicine bottle so as to separate the bottle cover and the bottle body of the first medicine bottle; and is also provided with

After the step S14, the method further includes:

if yes, executing the step S2;

3. A dispensing method for an intravenous medicament dispensing apparatus according to any of claims 1-2, wherein said intravenous medicament dispensing apparatus further comprises a disinfection unit; and is also provided with

After the step S1, the method further includes:

4. A dispensing method for an intravenous medicament dispensing apparatus as recited in claim 1, wherein said intermediate location is provided with a storage slot; and is also provided with

The step S2 includes:

the medicine bottle clamping part moves the first medicine bottle to a position higher than the bottom surface of the storage tank by a preset distance;

the medicine bottle clamping part moves the first medicine bottle in a direction close to the storage groove in a preset moving state until the contact force between the first medicine bottle and the bottom of the storage groove reaches a preset contact force, the first medicine bottle is released, and the medicine bottle clamping part is deviated from the first medicine bottle along the axial direction of the first medicine bottle; and is also provided with

The intravenous injection medicament dispensing device further comprises an alarm unit; and is also provided with

After the step S2, the method further includes:

the identification unit performs visual detection on the storage groove and judges whether the first medicine bottle is positioned at a preset transfer position according to a visual detection result;

if yes, executing the step S3;

if not, triggering the alarm unit according to the visual detection result.

5. A dispensing method for an intravenous medicament dispensing apparatus as recited in claim 1, wherein said second vial is at least one second vial, and wherein said attribute information of said second vial includes a type, shape, placement location of said second vial;

The step S3 includes:

s31: the identification unit obtains attribute information of the second medicine bottle currently through visual detection, obtains the bottleneck position of the second medicine bottle currently through a detection algorithm and depth information, and the medicine bottle clamping part moves to a preset transition position according to the bottleneck position of the second medicine bottle currently; the transition position is a position higher than a preset bottleneck distance in the axial direction of the second medicine bottle at present;

s32: the medicine bottle clamping part moves from the transition position to the bottleneck of the second medicine bottle at present at a preset moving speed, clamps the bottleneck of the second medicine bottle at present, and moves the second medicine bottle at present to a position corresponding to the cover removing unit;

s33: the medicine bottle clamping part moves the current second medicine bottle in a direction approaching the clamping groove in a preset moving state, and controls the two clamping parts to clamp the current second medicine bottle cap according to the actual clamping force of the current second medicine bottle cap and the clamping groove and the preset clamping force;

S34: the cover body removing unit drives the current second medicine bottle to deviate from the medicine bottle clamping part along the axis direction of the current second medicine bottle so as to separate the bottle cover from the bottle body of the current second medicine bottle, and the second medicine bottle is placed at the first appointed position; and is also provided with

After the step S34, the method further includes:

if yes, executing the step S4;

if not, repeating the steps S33 to S34 until the cap of the second medicine bottle is removed.

6. A dispensing method for an intravenous medicament dispensing apparatus as recited in claim 5, wherein said second vial is at least one second vial;

the intravenous medicament dispensing apparatus further comprises a sterilizing unit; and is also provided with

After the step S3, the method further includes:

s3': the medicine bottle clamping part moves the current second medicine bottle with the bottle cap removed to a position corresponding to the sterilizing unit, and sterilizes the bottle mouth of the current second medicine bottle; and is also provided with

After the step S3', the method further includes:

s35: repeating the steps S31 to S34 'and S3' until all the mouths of the second medicine bottles are completely disinfected.

7. A dispensing method adapted for use in an intravenous medicament dispensing apparatus as in claim 1, wherein said syringe attribute information includes a storage location of said syringe, a serial number of said syringe;

the syringe clamping part also comprises a limit groove matched with the fixing part of the syringe clamping unit; and is also provided with

The step S4 includes:

s41: the identification unit obtains the attribute information of the injector by utilizing visual detection, and the injector clamping part moves to a preset transition position according to the attribute information of the injector; wherein the transition position is a position which is a preset distance away from the side wall of the injector in the radial direction of the injector;

s42: the syringe clamping part is close to the syringe in the radial direction of the syringe in a preset moving state, and the syringe is taken out from the fixing part of the syringe clamping unit with a preset contact force and falls into the limit groove; and is also provided with

After the step S42, the method further includes:

s43: the identification unit performs visual detection on the syringe clamping part and judges whether the syringe is taken out or not according to the visual detection result;

if yes, executing the step S5;

if not, triggering the alarm unit according to the visual detection result.

8. A dispensing method for an intravenous medicament dispensing apparatus as recited in claim 7, wherein said cover removal unit includes two clamping portions disposed opposite each other, and at least one clamping portion is provided with a clamping groove on a face thereof adjacent to the other clamping portion; and is also provided with

In the step S43, before executing the step S5, the method further includes:

s431: the injector clamping part moves the injector to the corresponding position of the clamping groove, and controls the two clamping parts to clamp the corresponding position of the needle cover of the injector in a preset clamping state until the clamping force of the clamping groove and the needle cover reaches the preset clamping force, and then the injector is driven to deviate from the cover removing unit along the axial direction of the injector, so that the needle cover of the injector is separated from the body of the injector;

S432: visual detection is carried out on the injector, and whether the needle cover of the injector is removed is judged according to the visual detection result;

if yes, continuing to drive the injector to deviate from the cover removing unit along the axial direction of the injector so as to enable the injector to leave the cover removing unit;

if not, repeating the step S431 until the needle cover of the syringe is removed.

9. A dispensing method for an intravenous medicament dispensing apparatus as recited in claim 1, wherein said second vial is at least one of said second vials;

the intravenous injection dispensing equipment further comprises a rack, the clamping unit is fixed on the rack, and the clamping mechanism can rotate around a horizontal axis relative to the rack; and is also provided with

The step S5 includes:

s51: the medicine bottle clamping part clamps the first medicine bottle from the transferring position;

s52: the clamping mechanism rotates around a horizontal axis by a first preset angle to insert the syringe into the first medicine bottle along a first preset direction and withdraw a preset dosage of medicine liquid in the first medicine bottle, wherein the first preset direction is within +/-45 degrees relative to a vertical upward direction;

S53: the syringe clamping part pulls out the syringe from the first medicine bottle, and the clamping mechanism rotates around a horizontal axis from the current position by a second preset angle so that the syringe faces a second preset direction, and the second preset direction is within +/-45 degrees relative to the vertical downward direction and forms an included angle of 90-135 degrees with the first preset direction;

s54: the medicine bottle clamping part returns the first medicine bottle to the transfer position and moves to the first appointed position to clamp the second medicine bottle;

s55: the syringe holding section inserts the syringe into the second medicine bottle in the second predetermined direction and injects the medicine liquid in the first medicine bottle withdrawn into the second medicine bottle; and is also provided with

After the step S55, the method further includes:

s56: the steps S51 to S55 are repeated until all the second vials are filled with the liquid medicine in the first vial.

10. A dispensing method for an intravenous medicament dispensing apparatus as recited in claim 9, wherein said second vial is at least one of said second vials;

the shaking unit comprises at least one storage groove; and is also provided with

The step S6 includes:

s61: the medicine bottle clamping part moves the second medicine bottle to a preset transition position; the transition position is a position higher than the preset distance of the bottom of the storage tank in the axial direction of the storage tank;

s62: the medicine bottle clamping part moves the current second medicine bottle in a direction close to the storage groove in a preset moving state until the contact force between the current second medicine bottle and the bottom of the storage groove reaches the preset contact force, releases the current second medicine bottle, and enables the medicine bottle clamping part to deviate from the current second medicine bottle along the axial direction of the current second medicine bottle; and is also provided with

After the step S62, the method further includes:

s63: visual detection is carried out on the storage groove, and whether the second medicine bottle is positioned in the storage groove is judged according to the visual detection result;

if yes, executing the steps from S61 to S62 on the rest of the second medicine bottles, and shaking up all the second medicine bottles;

if not, triggering the alarm unit according to the visual detection result.

11. A dispensing method for an iv administration dosage device according to claim 9, further comprising a housing, the gripping unit being secured to the housing, the gripping mechanism being rotatable about a horizontal axis relative to the housing;

The second medicine bottle is at least one second medicine bottle; and is also provided with

The step S7 includes:

s71: the medicine bottle clamping part clamps the second medicine bottle from the shaking unit;

s72: the clamping mechanism rotates around a horizontal axis by a third preset angle so as to insert the syringe into the current second medicine bottle along a third preset direction and extract all mixed medicine liquid in the second medicine bottle, wherein the third preset direction is within +/-45 degrees relative to the vertical upward direction;

s73: the syringe clamping part pulls out the syringe from the second medicine bottle, and the clamping mechanism rotates around a horizontal axis from the current position by a fourth preset angle so as to enable the syringe to face a fourth preset direction and move the second medicine bottle to the second specified position; wherein the fourth predetermined direction is within ±45° relative to the vertically downward direction and forms an angle of 90 ° to 135 ° with the third predetermined direction; and is also provided with

The step S8 includes:

s81: the medicine bottle clamping part clamps the first medicine bottle from the transferring position;

s82: the syringe holding section inserts the syringe into the first medicine bottle in the fourth predetermined direction, and injects the mixed medicine liquid in the drawn second medicine bottle into the first medicine bottle, and moves the first medicine bottle to the third specified position;

S83: and repeating the steps S71 to S73, S81 and S82 until all the mixed liquid medicine in the second medicine bottles is injected into the first medicine bottle.

12. A dispensing method for an intravenous medicament dispensing apparatus as recited in claim 11, wherein said first preset angle and said third preset angle are equal;

the second preset angle is equal to the fourth preset angle;

the first predetermined direction and the third predetermined direction are the same;

the second predetermined direction is the same as the fourth predetermined direction.

13. A dispensing method for an intravenous medicament dispensing apparatus as recited in claim 1, wherein said intravenous medicament dispensing apparatus further comprises a controller;

the controller is respectively connected with the identification unit and the clamping mechanism, and controls the clamping mechanism according to the attribute information of the first medicine bottle, the second medicine bottle and the injector acquired by the identification unit.