CN103070772A - Automatic medicine dispersing robot and control system thereof - Google Patents
Automatic medicine dispersing robot and control system thereof Download PDFInfo
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- CN103070772A CN103070772A CN2011103273632A CN201110327363A CN103070772A CN 103070772 A CN103070772 A CN 103070772A CN 2011103273632 A CN2011103273632 A CN 2011103273632A CN 201110327363 A CN201110327363 A CN 201110327363A CN 103070772 A CN103070772 A CN 103070772A
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Abstract
The invention discloses an automatic medicine dispersing robot and a control system thereof, which are used for preparing medicine liquid for venous transfusion. The control system comprises a storage module, a video detection unit, a processor, a movement control unit, a control panel and a man-machine interaction device, wherein the man-machine interaction device is arranged on the control panel; the video detection unit is arranged inside the automatic medicine dispersing robot; the video detection unit is used for collecting medicine image information, position information of medicines and image information of each device of the automatic medicine dispersing robot, and transmitting the information to the storage module and the processor; and the processor receives the information of the man-machine interaction device, processes the information and sends out a control instruction to the movement control unit of the automatic medicine dispersing robot, so that executing units including a driving servo motor and the like are driven to operate. The control system can realize automation of a medicine dispersing process and prevents the medicine liquid from being polluted in a preparation process.
Description
Technical field
The present invention relates to configure transfusion with the technical field of medicinal liquid, specifically, refer to a kind of automated dispensing machine people and control system thereof.
Background technology
As everyone knows, when people are sick, need to cure by medical treatment, existing medical procedure except drinking medicine, having an injection, also has transfusion etc., when patient is infused, medicated powder in medicinal liquid in the ampoule bottle, the powder powder need to be mixed with mother solution, then, in the input of the medicine in mother solution patient body.
At present, China substantially all is manually to make up a prescription in the technical field of preparation medicine, that is, patient removes first pharmaceutical drug taking after the doctor writes a prescription, need the medicine of injection, take injection section and go, the nursing staff is according to doctor's prescription, check first prescription whether consistent with medicine, then, reexamine the quality of medicine, have or not gas leakage and so on, again ampoule bottle is cut, sterilization, retrieve injector package again, utilize syringe to extract, the medicine that is about in the ampoule bottle is injected in the mother solution; If also have powder bottle, it can carry out disinfection powder bottle again, and mother solution is injected powder bottle, rock evenly after, again medicine is injected mother solution.
As from the foregoing, because present making up a prescription by manually finishing easily causes liquid medicine contamination.
Summary of the invention
The object of the present invention is to provide and a kind ofly can automatically control ampoule bottle, powder bottle and mother solution bag (bottle), with the medicinal liquid in the ampoule bottle and the medicated powder in the powder bottle, in the input mother solution, make make up a prescription robot and the control system thereof of the process implementation automatization of making up a prescription.
For achieving the above object, the present invention adopts following technical scheme:
A kind of control system for automated dispensing machine people, it is used for that automated dispensing machine people is prepared venous transfusion controls with the process of medicinal liquid, and this control system includes memory module, video detecting unit, processor, motion control unit, control panel and human-computer interaction device;
Described human-computer interaction device is located on the described control panel, and it is inner that described video detecting unit is located at described automated dispensing machine people;
Described human-computer interaction device is used for receiving the medicine information input, and gives described processor with the information transmission of reception;
Described video detecting unit is used for gathering positional information and each image information of installing of automated dispensing machine people at medicine image information, medicine place, and gives described memory module, processor with the described information transmission;
Described processor receives the medicine information of described human-computer interaction device, and the medicine image information that itself and described video detecting unit are gathered compares; Described processor receives positional information and each image information of installing of automated dispensing machine people at the medicine place of described video detecting unit, and after described information processed, by described motion control unit, described automated dispensing machine Crinis Carbonisatus is gone out control instruction.
Preferably, above-mentioned control system also includes display device, and the information exchange that video detecting unit collects is crossed display device and shown, makes the operator understand automated dispensing machine people internal information.
Preferably, above-mentioned human-computer interaction device is used for receiving the user profile input, and gives described processor with the information transmission of reception; Described processor receives the information of described human-computer interaction device, and the information of itself and described processor inside is compared, and takes a decision as to whether authorized user.
Preferably, above-mentioned video detecting unit is used for gathering the medicine image information, and processes according to described image information, determines the capacity information of medicine, and the capacity information of described medicine is transferred to described processor.
Preferably, above-mentioned processor receives the positional information at the medicine place of described video detecting unit, and after described information processed, instruction is sent to described motion control unit, by described motion control unit described automated dispensing machine Crinis Carbonisatus is gone out the control instruction that described medicine is grabbed the another one station.
Preferably, above-mentioned medicine comprises powder bottle, ampoule bottle and mother solution, and described processor receives described video detecting unit about the positional information at described ampoule bottle place, and described information is processed, and determines the switch out position of described ampoule bottle.
The above-mentioned control system that is used for automated dispensing machine people, it also further includes photoelectric sensor, it is used for the leakage detection, and gives described processor with the information transmission, and described processor sends by described motion control unit and continues or no-operation instruction.
A kind of automated dispensing machine people, be used for preparation venous transfusion medicinal liquid, it comprises openable closed cavity, is provided with in the described closed cavity that input module, powder bottle shake up module, ampoule bottle is broken disconnected module, sterilization module, quantitative suction module and above-mentioned control system off with the fingers and thumb, wherein
Input module is used for installing powder bottle, ampoule bottle and mother solution bag;
Described control system links to each other with other module, receives the signal that other module sends and processes, to control the duty of other module;
Powder bottle shakes up module, is used for the powder bottle of putting on it is back and forth rocked, and makes medicated powder and mother solution mix homogeneously in the powder bottle;
Ampoule bottle is broken disconnected module off with the fingers and thumb, according to the information of vision-based detection and motion-control module, the nearly top of ampoule bottle is broken off with the fingers and thumb disconnected so that its in medicinal liquid mix with mother solution;
Sterilization module is used for the bottleneck of bottleneck, ampoule bottle and mother solution bag or the mother liquid multi-cavity bottle of powder bottle is carried out disinfection;
Quantitatively the suction module according to the information of control system, is inputted the medicine in the ampoule bottle on the described input module in the mother solution; And according to the control of control system, the powder bottle on the described input module is installed in described powder bottle shakes up on the module, and mother solution is inputted in the powder bottle, the medicine in the powder bottle after then will shaking up mixes with mother solution.
After adopting technique scheme, utilize this control system, it can make the process implementation automatization of making up a prescription, and avoids medicinal liquid to be polluted at process for preparation.
Description of drawings
Fig. 1 is automated dispensing machine people's of the present invention structural representation;
Fig. 2 is the structured flowchart that the present invention is used for automated dispensing machine people's control system embodiment one;
Fig. 3 is the structured flowchart that the present invention is used for automated dispensing machine people's control system embodiment two;
Fig. 4 is detailed implementation process figure of the present invention.
The specific embodiment
In order to make this automated dispensing machine Crinis Carbonisatus bright purpose, technical scheme and advantage distincter, distinct, below in conjunction with drawings and Examples, the present invention is further elaborated.Should be appreciated that specific embodiment described herein only in order to explain the present invention, is not intended to limit the present invention.
As shown in Figure 1, the invention discloses a kind of automated dispensing machine people, be used for preparation venous transfusion medicinal liquid, it comprises openable closed cavity A, being provided with supporter B, input module C, powder bottle in the closed cavity shakes up module D, ampoule bottle and breaks disconnected module E, sterilization module F, quantitatively suction module G and control system H off with the fingers and thumb, wherein
Closed cavity A, the position that it is corresponding with input module C is provided with window A1, and its handled easily person is by the situation in the interior observation cavity;
Supporter B, it is for each device that supports automated dispensing machine people, and input module C, powder bottle shake up module D, ampoule bottle is broken disconnected module E, sterilization module F, quantitative suction module G and control system H off with the fingers and thumb and all is arranged on the supporter B;
Input module C is used for installing powder bottle, ampoule bottle and mother solution bag;
Powder bottle shakes up module D, is used for the powder bottle of putting on it is back and forth rocked, and makes medicated powder and mother solution mix homogeneously in the powder bottle;
Ampoule bottle is broken disconnected module E off with the fingers and thumb, according to the information of vision-based detection and motion-control module, the nearly top of ampoule bottle is broken off with the fingers and thumb disconnected so that its interior medicinal liquid mixes with mother solution;
Sterilization module F is used for the bottleneck of bottleneck, ampoule bottle and mother solution bag or the mother liquid multi-cavity bottle of powder bottle is carried out disinfection;
Control system H links to each other with other module, receives the signal that other module sends and processes, to control the duty of other module;
Quantitatively suction module G according to the information of control system H, inputs the medicine in the ampoule bottle on the described input module C in the mother solution; And according to the control of control system H, the powder bottle on the described input module C is installed in described powder bottle shakes up on the module D, and mother solution is inputted in the powder bottle, the medicine in the powder bottle after then will shaking up mixes with mother solution.
Control system embodiment one:
Cooperate shown in Figure 2, the invention also discloses a kind of control system for automated dispensing machine people, it is used for that automated dispensing machine people is prepared vein controls with the process of medicinal liquid in turn, and this control system includes memory module 1, video detecting unit 2, processor 3, control panel 4, human-computer interaction device 5, display device 6 and motion control unit 7; Wherein:
Human-computer interaction device 5 is located on the control panel 4 with display device 6, by human-computer interaction device 5, makes the operator can carry out input information;
It is inner that video detecting unit 2 is located at automated dispensing machine people; Video detecting unit 2 is used for gathering positional information and each image information of installing of automated dispensing machine people at medicine image information, medicine place, and gives described memory module 1, processor 3 and display device 6 with the described information transmission;
Human-computer interaction device 5 is used for receiving the medicine information input, and gives described processor 3 with the information transmission of reception; Operator are by human-computer interaction device 5 configuration prescription data messages (the present embodiment is to adopt this mode, and it also can adopt the modes such as RFID) and to the operation of equipment.
The image information that display device 6 receiver, video detecting units 2 gather also shows, namely thereon, can directly browse and the demonstration of data message the Video Detection picture.
This control system in use, at first, by the human-computer interaction device 5 on the control panel 4, the operator inputs first its user name and password or fingerprint or smart card or identification card number and password, after the input, this input message is transferred to processor 3, after processor 3 receives the information of human-computer interaction device, its information with inside is compared, take a decision as to whether authorized user, and according to the grade of judging authorized user, automatically open corresponding authorization function.
Then, the operator will write out a prescription and input by human-computer interaction device 5, and with the prescription the information transmission to processor 3, prescription information, it can be inputted by two-dimensional bar code scanning, also can be by manual entry, and this prescription information, comprise patient identity information, the data messages such as intravenous administration kind, model, quantity.Simultaneously, the operator passes through window A1 with medicine and syringe, and medicine comprises ampoule bottle, powder bottle and mother solution bag (bottle), is installed on the input module C.Processor 3 compares the medicine on the input module C and prescription information, and is corresponding one by one, can accurately, carry out suction action automatically to guarantee robot.
With reference to shown in Figure 4, by the button on the control panel 4, start the automated dispensing button.Video detecting unit 2 first opens the visual pattern that gathers powder bottle, processes according to image information, determines the capacity information of medicine, and the capacity information of powder bottle is transferred to processor 3.
In addition, the image information of the powder bottle that gathers according to video detecting unit 2, can detect the positional information of each powder bottle, it is position coordinate etc., and this positional information is transferred to processor 3,3 couples of quantitative suction module G of processor send control instruction, shake up on the module D thereby can make quantitative suction module G powder bottle can accurately be grabbed powder bottle from input module C; In addition, the framing of the syringe that gathers according to video detecting unit 2, the quantitative suction module G crawl syringe of robot, and from mother solution bag (bottle), extract mother solution, inject successively powder bottle and dilute, then, processor 3 sends control instruction, make powder bottle shake up module D and move, make the medicine in the powder bottle fully be dissolved in the mother solution; After shaking up, by the location of video detecting unit 2, processor 3 sends extraction instruction, makes quantitative suction module G extract medicinal liquid from powder bottle, and is injected in the mother solution bag (bottle).Then, again by video detecting unit 2, detect on the input module C on the automatic robot whether also have powder bottle, if having, continue to detect the judgement capacity, if nothing.
The image information of the ampoule bottle that gathers according to video detecting unit 2, process according to image information, determine the capacity information of ampoule bottle, and the capacity information of ampoule bottle is transferred to processor, simultaneously, can also detect the positional information of ampoule bottle, it is position coordinate etc., and this positional information is transferred to processor 3, the positional information at 3 pairs of ampoule bottle places of processor is processed, and determines the switch out position of ampoule bottle, and 3 couples of quantitative suction module G of processor send control instruction, thereby can make quantitative suction module G powder bottle can accurately be grabbed ampoule bottle from input module C and break disconnected module E off with the fingers and thumb, then, 3 couples of sterilization module F of processor send the sterilization instruction, then, again ampoule bottle is broken off with the fingers and thumb disconnected module E and send control instruction, make ampoule bottle break disconnected module E off with the fingers and thumb ampoule bottle is carried out the switch out operation; By the information that video detecting unit 2 gathers, processor 3 sends instruction, by quantitative suction module G, makes syringe extract the interior medicinal liquid of ampoule bottle, and it is injected in the mother solution bag (bottle).In addition, also by video detecting unit 2, whether also have ampoule bottle on detection automatic robot's the input module C, if having, further detect the image information of ampoule bottle, to determine capacity etc.
Control system embodiment two:
With reference to shown in Figure 3, compare with embodiment one, its difference is, it also further includes photoelectric sensor 8, this photoelectric sensor 8, being to detect for leakage, specifically, is to break disconnected module E off with the fingers and thumb for detection of automated dispensing machine people's ampoule bottle, in breaking disconnected process off with the fingers and thumb, whether the medicinal liquid in the ampoule bottle spills, and whether leakage is arranged, if do not detected leakage, then automated dispensing machine people normally moves, if detected leakage, then with the information transmission to processor 3, send no-operation instruction by processor 3 by motion control unit 7.
The above; only for the better specific embodiment of the present invention, but protection scope of the present invention is not limited to this, anyly is familiar with those skilled in the art in the technical scope that the present invention discloses; the variation that can expect easily or replacement all should be encompassed within protection scope of the present invention.
Claims (9)
1. control system that is used for automated dispensing machine people, it is used for that automated dispensing machine people is prepared venous transfusion controls with the process of medicinal liquid, and it is characterized in that: this control system includes memory module, video detecting unit, processor, motion control unit, control panel and human-computer interaction device;
Described human-computer interaction device is located on the described control panel, and it is inner that described video detecting unit is located at described automated dispensing machine people;
Described human-computer interaction device is used for receiving the medicine information input, and gives described processor with the information transmission of reception;
Described video detecting unit is used for gathering positional information and each image information of installing of automated dispensing machine people at medicine image information, medicine place, and gives described memory module, processor with the described information transmission;
Described processor receives the medicine information of described human-computer interaction device, and the medicine image information that itself and described video detecting unit are gathered compares; Described processor receives positional information and each image information of installing of automated dispensing machine people at the medicine place of described video detecting unit, and after described information processed, by described motion control unit, described automated dispensing machine Crinis Carbonisatus is gone out control instruction.
2. the control system for automated dispensing machine people according to claim 1, it is characterized in that: it also further includes display device, described display device is located on the described control panel, and it receives the image information that described video detecting unit gathers and shows.
3. the control system for automated dispensing machine people according to claim 1 is characterized in that: described human-computer interaction device is used for receiving the user profile input, and with the information transmission that receives to described processor; Described processor receives the information of described human-computer interaction device, and the information of itself and described processor inside is compared, and takes a decision as to whether authorized user.
4. the control system for automated dispensing machine people according to claim 3, it is characterized in that: the information that described user inputs is user name and password, fingerprint, smart card or identification card number and password.
5. according to claim 1,2 or 3 described control system for automated dispensing machine people, it is characterized in that: described video detecting unit is used for gathering the medicine image information, and process according to described image information, determine the capacity information of medicine, and the capacity information of described medicine is transferred to described processor.
6. the control system for automated dispensing machine people according to claim 5, it is characterized in that: described processor receives the positional information at the medicine place of described video detecting unit, and after described information processed, instruction is sent to described motion control unit, by described motion control unit described automated dispensing machine Crinis Carbonisatus is gone out the control instruction that described medicine is grabbed the another one station.
7. the control system for automated dispensing machine people according to claim 6, it is characterized in that: described medicine comprises powder bottle, ampoule bottle and mother solution, described processor receives described video detecting unit about the positional information at described ampoule bottle place, and described information processed, determine the switch out position of described ampoule bottle.
8. according to claim 1,2 or 3 described control system for automated dispensing machine people, it is characterized in that: it also further includes photoelectric sensor, it is used for leakage and detects, and give described processor with the information transmission, described processor sends by described motion control unit and continues or no-operation instruction.
9. automated dispensing machine people, be used for preparation venous transfusion medicinal liquid, it is characterized in that: it comprises openable closed cavity, being provided with input module, powder bottle in the described closed cavity shakes up module, ampoule bottle and breaks disconnected module, sterilization module, quantitatively suction module and the arbitrary described control system of claim 1～8 off with the fingers and thumb, wherein
Input module is used for installing powder bottle, ampoule bottle and mother solution bag;
Described control system links to each other with other module, receives the signal that other module sends and processes, to control the duty of other module;
Powder bottle shakes up module, is used for the powder bottle of putting on it is back and forth rocked, and makes medicated powder and mother solution mix homogeneously in the powder bottle;
Ampoule bottle is broken disconnected module off with the fingers and thumb, according to the information of vision-based detection and motion-control module, the nearly top of ampoule bottle is broken off with the fingers and thumb disconnected so that its in medicinal liquid mix with mother solution;
Sterilization module is used for the bottleneck of bottleneck, ampoule bottle and mother solution bag or the mother liquid multi-cavity bottle of powder bottle is carried out disinfection;
Quantitatively the suction module according to the information of control system, is inputted the medicine in the ampoule bottle on the described input module in the mother solution; And according to the control of control system, the powder bottle on the described input module is installed in described powder bottle shakes up on the module, and mother solution is inputted in the powder bottle, the medicine in the powder bottle after then will shaking up mixes with mother solution.
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| CN201110327363.2A CN103070772B (en) | 2011-10-25 | Automated dispensing machine people and control system thereof |
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| CN201110327363.2A CN103070772B (en) | 2011-10-25 | Automated dispensing machine people and control system thereof |
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| CN107126888A (en) * | 2017-06-26 | 2017-09-05 | 段建英 | Industrial liquid automatic lifting and the combination mixer structure of control |
| CN108231155A (en) * | 2018-02-11 | 2018-06-29 | 深圳市刚竹医疗科技有限公司 | Automatic dispensation apparatus and automated dispensing method |
| CN108629217A (en) * | 2018-05-10 | 2018-10-09 | 云南扬帆科技有限公司 | A kind of Pharmacy Intravenous Admixture Service medicine information intelligent scanner |
| CN111557818A (en) * | 2020-05-27 | 2020-08-21 | 昆山炘吉川金属科技有限公司 | Multifunctional medical device based on 5G equipment |
| CN113001564A (en) * | 2021-03-11 | 2021-06-22 | 中国科学院自动化研究所 | Automatic liquid distribution system and method based on industrial robot |
| CN113001564B (en) * | 2021-03-11 | 2021-12-21 | 中国科学院自动化研究所 | Automatic liquid distribution system and method based on industrial robot |
| CN114604478A (en) * | 2022-03-25 | 2022-06-10 | 南京杰逊机械设备有限公司 | Syringe detects equipment for packing |
| CN114604478B (en) * | 2022-03-25 | 2023-08-04 | 青岛市中心医院 | Syringe detects equipment for packing |
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