CN102430363A - Automatic dispensing device and automatic dispensing method - Google Patents

Automatic dispensing device and automatic dispensing method Download PDF

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Publication number
CN102430363A
CN102430363A CN2011102800934A CN201110280093A CN102430363A CN 102430363 A CN102430363 A CN 102430363A CN 2011102800934 A CN2011102800934 A CN 2011102800934A CN 201110280093 A CN201110280093 A CN 201110280093A CN 102430363 A CN102430363 A CN 102430363A
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unit
information
ampoule
position
dispensing
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CN2011102800934A
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CN102430363B (en
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吴新宇
彭安思
熊国刚
陈春杰
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中国科学院深圳先进技术研究院
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Abstract

The invention discloses an automatic dispensing device. The automatic dispensing device can automatically take out drugs from a sealed bottle and/or an ampoule bottle and then mix the drugs and mother liquor so that a desired drug solution is obtained. The automatic dispensing device comprises an image control unit, an image processing unit and a sensing unit. The image control unit can control the image processing unit and the sensing unit to work according to image analysis results fed back by the image processing unit, and positional information and cleanliness information fed back by the sensing unit. The invention also provides an automatic dispensing method. Through the automatic dispensing device or the automatic dispensing method, high-precision control of a dispensing process is realized.

Description

自动化配药设备及方法 Automated dispensing equipment and methods

【技术领域】 TECHNICAL FIELD

[0001] 本发明涉及自动化设备领域,尤其是涉及一种自动化配药设备及方法。 [0001] The present invention relates to the field of automation device, in particular relates to an automated dispensing apparatus and method. 【背景技术】 【Background technique】

[0002] 目前国内绝大多数医院静脉输液配药模式均是在医师下完医嘱,护士负责配制并完成对患者的输液操作。 [0002] At present, the vast majority of hospital intravenous infusion preparation mode are done under doctor's orders physicians, nurses responsible for the preparation and completion of the infusion operating on patients. 由于时间和空间的限制,护士配药通常都是在开放的、空气净化装置不完善的治疗室或配药室手动进行。 Due to time and space, usually a nurse dispensing in the open, the air cleaning device or dispenser incomplete treatment room chamber manually.

[0003] 一直以来,医学界都认为,现广泛实施的手动配药过程及配药环境存在以下三大问题:配药操作环境菌尘含量普遍偏高、调配有害药品的保护设备不专业及占用大量人力资源且人工操作难免出错。 [0003] All along, the medical profession believe that the following three issues are widely implemented manual dispensing and dispensing process environment: Dispensing Practice bacteria generally high dust levels in the environment, the deployment of harmful drugs and protective equipment does not take up a lot of professional human resources and manual fallible.

[0004] 目前输液配药由人工进行,加上输液配药工作量十分巨大,占用了大量人力资源即护理资源,从而降低了护理工作质量。 [0004] The infusion preparation is currently performed by hand, with an infusion preparation workload is huge, taking up a lot of human resources, ie care resources, thereby reducing the quality of care.

[0005] 为了解决输液配药中存在的问题,国际上一些著名医疗自动化设备公司进行了创新性研究开发,现有的自动化配药设备结构复杂,实现过程复杂,实现的精度也没达到使用要求。 [0005] In order to solve the problems of the infusion preparation, some famous international medical equipment automation company conducted innovative research and development, complex structure existing automated dispensing equipment, realization of complex, precision implementation did not achieve the requirements.

【发明内容】 [SUMMARY]

[0006] 有鉴于此,有必要提供一种高精度的自动化配药设备。 [0006] In view of this, it is necessary to provide a high-precision automatic dispensing equipment.

[0007] 此外,还提供了一种自动化配药方法。 [0007] Further, there is provided a method of automated dispensing.

[0008] 一种自动化配药设备,其特征在于,包括配药室,在所述配药室内提取密封瓶和/ 或安瓿瓶的药品与母液混合,形成所需药液;所述自动化配药设备包括层流洁净单元、密封瓶输送单元、安瓿瓶输送单元、安瓿瓶开启单元、药品抽取单元、母液容器定位单元、配药信息单元、驱动单元、感应单元、图像处理单元及控制单元,其中,层流洁净单元,用于为所述配药室进行洁净度检测与警报、提供符合要求的洁净新风源及消毒;密封瓶输送单元,用于输送及定位所述密封瓶,及对难溶性药品进行震荡混合;安瓿瓶输送单元,用于输送及定位所述安瓿瓶;安瓿瓶开启单元,用于开启所述安瓿瓶;药品抽取单元,用于抽取所述药品与母液容器的所述母液,并进行混合;母液容器定位单元,用于定位所述母液容器;配药信息单元,用于输入、读取及显示 [0008] An automated dispensing apparatus comprising dispensing chamber, said dispensing chamber in sealed bottles extraction / or mixed and the mother liquor drug ampoule, to form the desired liquid; the automated dispensing apparatus comprises a laminar flow clean unit, sealed container feeding means ampoule conveying unit ampoules open cells, drugs extraction unit, the mother liquor container positioning unit, dispensing information unit, a drive unit, a sensing unit, an image processing unit and a control unit, wherein the laminar flow element , for said dispensing chamber cleanliness detection and alarm, to meet the requirements of new clean and disinfect air source; sealed container conveying unit, for conveying and positioning the sealed vial, and shaking of sparingly soluble drugs for mixing; ampoule bottle delivery means for delivering and positioning the ampoule; ampoule opening means for opening the ampoule; pharmaceuticals extraction means for extracting the mother liquor with the medicine container, and mixed; the mother liquor container positioning means for positioning the mother liquor receptacle; Pharmaceuticals information unit to input, display and read 述药品、母液及药液的信息;感应单元,与所述层流洁净单元、密封瓶输送单元、安瓿瓶输送单元、安瓿瓶开启单元、药品抽取单元、母液容器定位单元压力调整单元及输液瓶加温单元连接,用于获取所述密封瓶输送单元、安瓿瓶输送单元、安瓿瓶开启单元、药品抽取单元及母液容器定位单元的位置信息,获取层流洁净单元的洁净度信息,获取压力调整单元的压力信息,获取输液瓶加温单元的温度信息,并将位置信息、洁净度信息、压力信息及温度信息发送到所述控制单元;驱动单元,用于驱动层流洁净单元、密封瓶输送单元、安瓿瓶输送单元、安瓿瓶开启单元、药品抽取单元、母液容器定位单元、压力调整单元及输液瓶输出单元工作;图像处理单元,用于采集所述安瓿瓶的图像信息,分析所述图像信息得图像分析结果,并将所述图像分析结果 Said information drugs, and the mother liquor of liquid; sensing unit, and the laminar flow means sealed bottle conveying unit, the conveying unit ampoule, ampoule unit is turned on, drugs extraction unit, a positioning unit mother container and an infusion bottle pressure adjusting means heating unit is connected, configured to obtain the sealed container conveying unit, the conveying unit ampoule, an ampoule open position information unit, extraction unit and the drug container is positioned liquor unit acquires information cleanliness laminar flow unit, acquires pressure adjustment pressure information unit acquires temperature information infusion bottle heating unit, and transmits the position information, cleanliness information, temperature information, and pressure information to the control unit; a drive unit for driving the laminar flow unit, sealed container transport unit, conveying unit ampoule, ampoule unit is turned on, the extraction unit drugs, liquor container positioning means, and pressure adjusting means outputs an infusion bottle unit of work; an image processing unit for acquiring image information of the ampoule bottle, analyzing the image information obtained image analysis result, and the image analysis results 送到所述控制单元;及控制单元,与其他各单元连接,且根据所述图像处理单元反馈的所述图像分析结果和感应装置反馈的位置信息、洁净度信息,控制单元其他各个单元工作。 To said control unit; and a control unit connected to each of the other units, and according to the position information of the image processing unit of the image analysis results of the feedback and the feedback sensing device, cleanliness information, the control unit operates each of the other units.

[0009] 优选地,所述图像处理单元包括:便于成像的背景板;采集所述图像信息的摄像机,所述安瓿瓶位于所述背景板与摄像机之间;提供光源的LED阵列;以及图像处理模块, 用于分析所述图像信息得图像分析结果,并将所述图像分析结果发送到所述控制单元。 [0009] Preferably, the image processing unit comprises: an imaging facilitates background plate; camera to capture the image information, the ampoule is positioned between the camera and the background plate; providing a light source of the LED array; and an image processing means for analyzing the image information obtained image analysis result, and the image analysis result to the control unit.

[0010] 优选地,所述分析结果包括所述安瓿瓶的倾角、颈部位置、顶面位置、底面位置及所述药品的液面高度;所述控制单元根据所述图像分析结果校正所述安瓿瓶的倾角、确定所述液面高度及控制抽取所述药品量。 [0010] Preferably, the analysis of the results of the liquid level tilt ampoules, neck position, the position of the top surface, a bottom surface and a position of the drug; correcting the analysis result of the control unit based on the image ampoules inclination, determining the liquid level and controlling the amount of extraction of the drugs.

[0011] 优选地,所述图像处理模块还用于根据所述图像信息计算所述安瓿瓶的倾角,判断所述倾角是否小于预设角度,并在所述倾角小于预设角度时,计算所述安瓿瓶的水平边缘和竖直边缘并将所述水平边缘和竖直边缘二值化,将所述水平边缘和竖直边缘投影成Y 轴和X轴的直方图,并根据所述直方图找出所述安瓿瓶的底面位置、顶面位置、颈部位置及所述药液的液面位置,以及根据所述底面位置、顶面位置、及液面位置计算液面高度;当所述倾角大于等于预设角度时,所述控制单元调整所述安瓿瓶以使所述倾角小于所述预设角度。 [0011] Preferably, the image processing module is further configured to tilt angle is smaller than the predetermined angle according to the image information calculation of the ampoule, the tilt angle is determined, and when the angle is less than a predetermined angle, calculates said ampoule horizontal edges and vertical edges and horizontal edges and vertical edges of the binarized, the vertical edges and the horizontal edge histogram projected into the X-axis and Y-axis, and according to the histogram identify the position of the bottom surface of the ampoule, the top position, the neck position and the position of the liquid level, and according to the position of the bottom surface, the top position, and the liquid level position calculating liquid level; when the when the inclination angle is greater than equal to a preset angle, the control unit adjusts the ampoule is such that the angle is less than the predetermined angle.

[0012] 优选地,所述配药信息单元包括:操控面板,与所述控制单元、图像处理单元及感应单元相连,提供人机交互界面;药品信息读取模块,用于读取被放入所述配药室的所述药品的数量及规格并将所述数量及规格,并发送到所述控制单元;药品信息显示模块,用于显示被放入所述配药室的所述药品的数量及规格,以供配药人员核对;以及药品信息输出模±夬,用于打印输出所述所需药液的药品信息条,以供核对、分配及存档。 [0012] Preferably, the information dispensing unit comprising: a control panel, with the control unit, and a processing unit connected to the image sensing unit provides man-machine interface; drug information reading module for reading into the number and specifications and the specifications of the drug and the number of said dispensing chamber, and sent to the control unit; drug information display module for displaying the medication is placed in the dispensing chamber and the number of specifications to check for dispensing art; and an information output mode ± Jue drugs, drugs for printing out the desired chemical pieces of information for verification, and distribution archive.

[0013] 优选地,所述安瓿瓶开启单元包括:定位模块,用于固定安瓿瓶;开启位置感应模块,用于获取所述安瓿瓶的开启位置信息,并将所述开启位置信息发送到所述控制单元;切割模块,用于根据所述开启位置信息,对准所述开启位置切割所述开启位置;顶部位置感应模块,用于获取所述安瓿瓶的顶部位置的顶部位置信息,并将所述顶部位置信息发送到所述控制单元;以及掰折模块,用于根据所述顶部位置信息,将所述顶部位置掰折,使所述顶部与瓶身分离。 [0013] Preferably, the ampule opening means comprising: a positioning means for fixing ampoules; open position sensing module, configured to obtain location information of the open ampoule, and transmits the position information to the opening said control unit; cutting module, according to the position information of the opening, aligning said open position of said cutting opening; top position sensing module, for acquiring the position information of the top position of the top of the ampoule, and the top position information to the control unit; and breaking off module for a top according to the location information, breaking off the top position, the top of the separation bottle.

[0014] 优选地,所述药品抽取单元设有:夹持模块,用于从所述安瓿瓶开启单元夹持开启后的所述安瓿瓶并将其定位;注射器,用于抽取和注入所述药品;注射调节模块,用于调节所述注射器拉升、旋转及移动动作;以及瓶口位置感应模块,用于获取所述母液、安瓿瓶及密封瓶的瓶口位置信息,并将所述瓶口位置信息发送到所述控制单元。 [0014] Preferably, the pharmaceutical extraction unit is provided with: holding means for opening the ampoule is opened and the holding means from said positioned ampoules; syringes, for extracting and injecting the drugs; injection adjustment module for adjusting the syringe pulled, rotating and moving operation; and a finish position sensing module configured to obtain the mother liquor, and the finish position information ampoules sealed bottle, and the bottle port position information to the control unit.

[0015] 优选地,所述药品抽取单元设有:夹持模块,用于从所述安瓿瓶开启单元夹持开启后的所述安瓿瓶并将其定位;换液泵,所述驱动单元抽气和打气,形成正负压,以抽取和注入所述药品;换液泵调节模块,用于调节所述换液泵拉升、旋转及移动动作;以及瓶口位置感应模块,用于获取所述母液、安瓿瓶及密封瓶的瓶口位置信息,并将所述瓶口位置信息发送到所述控制单元。 [0015] Preferably, the pharmaceutical extraction unit is provided with: holding means for opening the ampoule is opened and the holding means from said positioned ampoules; exchange pump, the pump drive unit and a gas pump, a positive negative pressure to extract and inject the drugs; exchange pump adjustment module for adjusting the liquid pump transducer pulled, rotation and moving operation; and a finish position sensing module, for acquiring the position information of said mother liquor bottle, sealed ampoules and bottles, and a finish position information to the control unit.

[0016] 优选地,所述密封瓶输送单元还包括与所述驱动单元连接的震荡稀释模块,所述震荡稀释模块用于震荡密封瓶,以使注入所述密封瓶的所述母液与药粉充分稀释混合。 [0016] Preferably, the transport unit further comprises a sealed bottle shocks dilution module connected to the driving unit, the means for shock shock diluted sealed vial, injected into the sealed container so that the mother liquor with sufficient powder diluting and mixing.

[0017] 优选地,还包括药品输出单元,用于输出装有所述所需药液的输液瓶,将所述药品信息条贴在所述输液瓶上。 [0017] Preferably, further comprising a pharmaceutical output unit for outputting the desired infusion bottle containing liquid medicine, the medicine information of the bar attached to the infusion bottle. [0018] 优选地,还包括压力调节单元,用于调节所述配药室内的压力,所述压力调节单元包括:压力感应模块,用于获取所述配药室内的压力信息,并将其发送到所述控制单元;正压调节模块,用于根据控制单元的控制进行调节,以使所述配药室体内的压力大于所述配药室体外的压力;以及负压调节模块,用于根据控制单元的控制进行调节,以使所述配药室内的压力小于所述配药室外的压力。 [0018] Preferably, further comprising a pressure adjusting means for adjusting a pressure of the dispensing chamber, said pressure regulating unit comprises: a pressure sensing module, configured to obtain pressure information of said dispensing chamber, and sends it to the said control unit; pressure adjusting means for adjusting in accordance with control of the control unit, so that the pressure within the dispensing chamber of the dispensing chamber greater than the pressure outside the body; and the negative pressure regulating module for control of the control unit is adjusted so that the pressure in the dispensing chamber is smaller than the outside pressure dispensing.

[0019] 优选地,还包括输液瓶加温单元,用于对装有所需药品的所述输液瓶加温。 [0019] Preferably, the heating unit further comprising an infusion bottle, said infusion bottles used for containing medicines required for heating.

[0020] 优选地,还包括澄清度检验单元,用于检验所述输液瓶内的药液的澄清度,将所述澄清度发送到所述控制单元。 [0020] Preferably, further comprising a checking unit clarity, for clarity of the test drug solution infusion bottle, the clarity is sent to the control unit.

[0021] 一种自动化配药方法,用于利用自动配药设备将密封瓶和/或安瓿瓶内的药品与母液容器内的母液混合,以形成所需药液,所述自动配药方法包括以下步骤:层流洁净单元对配药室进行清洁和消毒;利用配药信息单元进行配药信息输入、读取、显示及人工校对; 利用母液容器定位单元定位所述母液容器;利用安瓿瓶输送单元完成所述安瓿瓶的输送及定位;利用密封瓶输送单元完成所述密封瓶的输送及定位;利用图像处理单元校对所述安瓿瓶的和颈部位置信息,并将顶部位置信息和颈部位置信息发送到控制单元;控制单元根据所述颈部位置信息,控制安瓿瓶开启单元进行工作;层流洁净单元对安瓿瓶颈部和/或密封瓶的瓶塞和颈部消毒;控制单元根据所述顶部位置信息,控制安瓿瓶开启单元去除安瓿瓶顶端;药品抽取单元抽取所述安瓿瓶中的药液 [0021] An automated method of dispensing, utilizing automated dispensing device sealed vial / or drug mixed liquor within the ampule and the mother liquor container, to form the desired liquid, said method comprising the steps of automated dispensing: dispensing means for laminar flow chamber for cleaning and disinfection; dispensing information using the information input dispensing unit, read, display and artificial proofreading; container mother liquor by the positioning of the positioning means of the container; the use of the complete delivery unit ampoules ampule conveying and positioning; sealed container conveyed using conveying and positioning unit completes the seal of the vial; proofing using the ampoule neck and the image processing unit location information, and transmits the position information and a top neck position information to the control unit ; neck control unit according to the position information, the control unit operates ampoule opening; laminar flow unit ampoule neck part and / or sealing the bottle neck and cork disinfection; top position control means according to the information, the control open top ampoule ampoule removal unit; Drug extraction unit extracts the drug solution ampules 和所述母液注入到输液瓶中混合;判断所述密封瓶中是否为药粉,若是,则药品抽取单元抽取所述母液注入到所述密封瓶中,与药粉混合形成稀释液,再抽取所述稀释液和所述母液注入到所述输液瓶中混合;若否,则药品抽取单元抽取所述密封瓶中的药液和所述母液注入到所述输液瓶中混合;是否还需要配药,若是则重新配药,若否,所述层流洁净单元进行清洁消毒。 The mother liquor was injected into the mixing and infusion bottles; determining whether said powder in a sealed vial, if so, the extracting means extracts the pharmaceutical mother liquor into said sealed vial, mixed powder is formed with a diluent, and then extracting the diluent and the mother liquor into said mixing infusion bottles; if not, the extraction unit extracts the drugs sealed vial and the drug solution is injected into the mother liquor mixed infusion bottles; if needed dispensing, if re-dispensing, if not, the laminar flow cleaning and disinfection unit.

[0022] 优选地,在判断是否还需配药的步骤之前还包括步骤:利用澄清度检验单元对所述输液瓶内的药液检验,若澄清则输出所述输液瓶;若不澄清则重新配药。 [0022] Preferably, prior to the step of determining whether the dispensing needs further comprising the step of: using a test liquid Clarity checking unit the infusion bottle, if the output of the infusion bottle is clarified; clarify if re Pharmaceuticals .

[0023] 优选地,所述图像处理单元处理图像信息具体包括以下步骤:读取所述图像信息; 计算所述安瓿瓶的倾角;判断所述倾角是否小于预设角度,若否,将所述图像信息进行旋转至所述倾角小于预设角度;若是,计算所述安瓿瓶的水平边缘和竖直边缘并将所述水平边缘和竖直边缘二值化;将所述水平边缘和竖直边缘投影成Y轴和X轴的直方图;根据所述直方图找出所述安瓿瓶的底面位置、顶面位置、颈部位置及所述药液的液面位置;根据所述底面位置及液面位置计算液面高度。 [0023] Preferably, the image processing unit processing the image information comprises the steps of: reading the image information; calculating the angle of inclination of the ampule; determining whether the tilt angle is less than a predetermined angle, and if not, the image information to the rotation angle is less than a predetermined angle; if yes, calculating the ampoule and horizontal edges and vertical edges of said vertical edges and horizontal edges binarization; the horizontal edges and vertical edges projected into the X-axis and Y-axis of the histogram; according to the histogram to find the position of a bottom surface of the ampoule, the top position, and the neck position of the liquid surface position of liquid; and according to the position of the bottom surface of the liquid the surface position of the liquid level is calculated.

[0024] 上述自动化配药设备中,控制单元根据图像处理单元反馈图像分析结果和感应装置反馈的位置信息能精确控制其他各个单元工作,使药品与母液混合形成所述药液。 [0024] The automated dispensing apparatus, the control unit based on the position information of the image analysis result of the image processing unit and the feedback sensing device can be precisely controlled feedback means each of the other work, the medicine mixed to form the liquid mother liquor.

【附图说明】 BRIEF DESCRIPTION

[0025] 图1为一个实施例中自动化配药设备的模块图; [0025] Figure 1 is a block diagram of the automated dispensing equipment embodiment;

[0026] 图2为图像处理单元的示意图; [0026] FIG. 2 is a schematic diagram of an image processing unit;

[0027] 图3为安瓿瓶药品抽取及配药过程示意图; [0027] FIG. 3 is a schematic view of the process of extracting and dispensing drugs ampoules;

[0028] 图4为自动化配药设备的配药过程示意图 [0028] FIG. 4 is a pharmaceutical dispensing device schematic process automation

[0029] 图5为一个实施例中自动化配药方法的流程示意图; [0029] FIG. 5 is an embodiment schematic view of automated dispensing process flow embodiments;

[0030] 图6为图像处理单元处理图像信息的具体流程图。 [0030] FIG 6 is a flowchart illustrating specific processing of the image information to the image processing unit. 【具体实施方式】 【Detailed ways】

[0031] 为了使本发明的目的、技术方案及优点更清楚明白,以下结合附图及实施例,对本发明进一步详细说明。 [0031] To make the objectives, technical solutions and advantages of the present invention is more clearly understood, the accompanying drawings and the following embodiments, the present invention is further described in detail. 应当理解,此处所描述的具体实施例仅用以解释本发明,并不用于限定本发明。 It should be understood that the specific embodiments described herein are merely used to explain the present invention and are not intended to limit the present invention.

[0032] 如图1所示,在一个实施例中,一种自动化配药设备包括配药室,在配药室内提取密封瓶和/或安瓿瓶的药品与母液混合,形成所需药液;自动化配药设备包括控制单元20、 感应单元30、图像处理单元40、层流洁净单元50、母液容器定位单元60、密封瓶输送单元70、安瓿瓶输送单元80、安瓿瓶开启单元90、药品抽取单元100、配药信息单元110、驱动单元120、压力调节单元130、澄清度检测单元140、输液瓶加温单元150及输液瓶输出单元160。 [0032] Figure 1, in one embodiment, an automated dispensing apparatus comprising a dispensing chamber, the dispensing chamber sealed vial extraction / or mixed and the mother liquor drug ampoule, to form the desired liquid; automated dispensing equipment including 20, sensing unit 30, the image processing unit control unit 40, a laminar flow unit 50, the mother liquor container positioning unit 60, sealing the bottle conveying unit 70, an ampoule conveying unit 80, the ampule opening means 90, medicine extraction unit 100, the dispensing information element 110, a driving unit 120, a pressure adjustment unit 130, the clarity of the detection unit 140, infusion bottles and infusion bottles heating unit 150 output unit 160.

[0033] 感应单元30与层流洁净单元50、母液容器定位单元60密封瓶输送单元70、安瓿瓶输送单元80、安瓿瓶开启单元90、药品抽取单元100、压力调整单元130及输液瓶加温单元150连接,用于获取母液容器定位单元60、密封瓶输送单元70、安瓿瓶输送单元80、安瓿瓶开启单元90及药品抽取单元100的位置信息,获取层流洁净单元50的洁净度信息,获取压力调整单元130的压力信息,获取输液瓶加温单元150的温度信息,并将位置信息、洁净度信息、压力信息及温度信息发送到控制单元20。 [0033] The sensing unit 30 and the laminar flow means 50, the positioning unit mother liquor vessel 60 sealed container feeding unit 70, conveying unit 80 ampoule, ampoule opening means 90, medicine extracting unit 100, a pressure adjustment unit 130 and the warmed infusion bottle unit 150 is connected, the positioning unit configured to obtain the mother liquor vessel 60, sealed container feeding unit 70, conveying unit 80 ampoule, an ampoule open pharmaceutical unit 90 and the position information extraction unit 100 acquires information about the cleanliness of the laminar flow element 50, pressure information acquiring pressure regulating unit 130 acquires temperature information infusion bottle heating unit 150 transmits the location information, cleanliness information, pressure information and temperature information to the control unit 20. 利用控制单元20根据感应单元30反馈的各种信息以控制其他各单元运行,此过程响应速度快,精度高,大大提高了配药流程的效率。 The control unit 20 using the sensing unit 30 based on various information feedback to control operation of other units, this procedure fast response, high accuracy, greatly improving the efficiency of the dispensing process.

[0034] 在一实施例中,感应单元30可为霍尔元件。 [0034] In one embodiment, the sensing unit 30 may be a Hall element. 霍尔元件安装在母液容器定位单元60、密封瓶输送单元70、安瓿瓶输送单元80、安瓿瓶开启单元90及药品抽取单元100上,用于检测密封瓶和/或安瓿瓶在各个单元中的位置信息。 Hall element positioning unit mounted in the mother liquor vessel 60, sealed container feeding unit 70, conveying unit 80 ampoule, ampoule opening extracting unit 90 and drug unit 100, for detecting a sealed vial and / or ampoules in each unit location information. 霍尔元件结构牢固、体积小、安装方便、功耗小、频率高、耐震动、不怕灰尘、油污、水汽及盐雾等的污染或腐蚀,因而在自动化配药系统上使用霍尔元件不但能太高配药系统的精度,而且能确保系统的长期稳定运行。 Hall elements firm structure, small size, easy installation, low power consumption, high frequency, shock resistance, pollution, afraid of dust, oil, moisture and salt spray corrosion or the like, thus using a Hall element on an automated dispensing system not only too high precision dispensing systems, but also to ensure long-term stable operation of the system.

[0035] 图像处理单元40用于采集安瓿瓶的图像信息,分析图像信息得图像分析结果,并将图像分析结果发送到控制单元20。 [0035] The image processing unit 40 for acquiring image information ampoules, analyzes the image information obtained image analysis result, and the image analysis result to the control unit 20. 在一实施例中,如图2所示,图像处理单元40包括摄像机402、背景板404、LED阵列406及图像处理模块408。 In one embodiment, shown in Figure 2, the image processing unit 40 includes a camera 402, background plate 404, LED array 406 and the image processing module 408.

[0036] 摄像机402选择高速摄像机,用于采集图像信息,拍照时安瓿瓶位于摄像机402与背景板404之间,在安瓿瓶后加装背景板404便于成像,减轻图像处理难度。 [0036] Camera 402 selects the high-speed camera, for acquiring image information, an ampoule located between the camera 402 and the plate 404 when the background pictures, background plate after the installation of the ampule 404 to facilitate imaging, reduce the difficulty of image processing. 在本实施例中,背景板404选择黑色,经过试验黑色背景较蓝色、红色等背景可以更好使用索贝尔算子(sobel算子,一种用作边缘检测的方法)提取边缘,提取图像中的直线。 In the present embodiment, the plate 404 selects the black background, the background is dark blue after testing, and other red background may be better to use a Sobel operator (Sobel operator, as a method of edge detection) extracts an edge image is extracted in a straight line. LED阵列406,位于摄像机402的上方,LED阵列406的灯光用于提供拍照光源,选择阵列的原因是光源冗余,防止其中一个灯损坏造成整个图像处理单元系统瘫痪,并且防止安瓿出现阴影,对图像信息分析带来误差。 LED array 406, the camera 402 is located above, the LED array light source 406 for providing a camera, a light source is chosen because the redundant array, wherein a lamp to prevent damage caused by the entire system of the image processing unit paralysis and prevent shadows ampoule of The image information analysis result in errors. 图像处理模块408用于分析图像信息得图像分析结果,并将图像分析结果发送到控制单元20,其中,图像分析结果包括安瓿瓶的倾角、颈部位置、顶面位置、底面位置及安瓿瓶内药品(液体)的液面高度;控制单元20根据图像分析结果校正安瓿瓶的倾角、 确定液面高度及控制抽取药品量。 The image processing module 408 for analyzing the image information obtained image analysis result, and the image analysis result to the control unit 20, wherein the image analysis results including tilt ampoules, neck position, the position of the top surface, a bottom surface and the position of the ampule drugs liquid level (liquid); tilt correction control unit of the ampule 20 according to the results of image analysis, to determine the liquid level and controlling the amount of extraction of drugs.

[0037] 图像处理模块408根据图像信息计算安瓿瓶的倾角,判断倾角是否小于预设角度,在本实施例中,预设角为5度,在其他实施例中,预设角可根据系统需要设置不同的角度。 [0037] The image processing module 408 according to the inclination of the image information calculation ampoule, is smaller than a predetermined inclination angle is determined, in the present embodiment, the predetermined angle of 5 degrees, in other embodiments, the predetermined angle according to the system needs setting different angles. 并在倾角小于预设角度时,计算安瓿瓶的水平边缘和竖直边缘并将水平边缘和竖直边缘二值化,将水平边缘和竖直边缘投影成Y轴和X轴的直方图,并根据直方图找出安瓿瓶的底面位置、顶面位置、颈部位置及药液的液面位置,以及根据底面位置、顶面位置、及液面位置计算液面高度;当倾角大于等于预设角度时,采用Hough变换找出图像中安瓿瓶的边缘直线,通过计算直线的倾角,将图像信息旋转至倾角小于预设角度,在图像信息旋转的同时控制单元20将同步控制安瓿瓶输送单元80配合,将安瓿瓶跟随图像信息旋转倾角小于预设角度。 And when the angle is less than a predetermined angle, ampoules calculated horizontal edges and vertical edges and horizontal edges and vertical edges binarized, the vertical edge and horizontal edge histogram projected into the X-axis and Y-axis, and the histogram to find the position of the bottom surface of the ampoule, the top position, and the position of the liquid surface position of the neck, and the liquid level is calculated according to the position of the bottom surface, the top position, and the liquid level position; when the inclination angle is greater than equal to a preset when the angle, the linear Hough transform to find the image edges ampoules, calculated by the inclination of a straight line, the image information is rotated to a predetermined angle less than the angle of inclination, while the rotation of the image information control unit 20 the synchronization control unit 80 conveying ampoule fitting, ampoule image information follow the rotation angle is less than a predetermined angle.

[0038] 在一实施例中,图像处理单元40除上述功能外还能用于配合药品抽取单元110精确抽取药物,图像处理单元40经过读取和处理图像信息后,控制单元20可根据图像分析结果精确控制药品抽取单元110抽取药品。 [0038] In one embodiment, the image processing unit 40 in addition to the functions described above can also be used with drugs extracting unit 110 extracts a pharmaceutical precise, the image processing unit 40 after reading and processing image information, the control unit 20 according to image analysis results precise control of the drug extraction unit 110 extracts drugs.

[0039] 如图1所示,层流洁净单元50用于为配药室进行洁净度检测,若是洁净度不符合预设标准则会发出警报,同时提供符合要求的洁净新风源及消毒。 [0039] 1, the laminar flow means 50 for detecting the cleanliness of the dispensing chamber, if it does not meet the preset criterion cleanliness alarm is issued, while providing new clean air source to meet the requirements and disinfection. 在本实施例中,层流洁净单元50使配药室具有百级净化标准,其设有清水和酒精的自动喷洒装备52,完成自我清洁和消毒;紫外线消毒装置M ;过滤器56,从外部吸取空气,经高效过滤器过滤后,把新风注入配药室,保持配药室的良好洁净度。 In the present embodiment, the laminar flow chamber dispensing unit 50 having one hundred purification standards, with which water and alcohol automatic sprinkler equipment 52, to complete the self-cleaning and disinfection; M ultraviolet disinfection device; filter 56, drawn from the outside air, high efficiency filter after filtration, fresh air injected into the dispensing chamber to maintain a good cleanliness of the dispensing chamber.

[0040] 层流洁净单元50还可以在安瓿瓶开启前对安瓿瓶的颈部进行消毒,在安瓿瓶的顶部被除去后,层流洁净单元50再进行瓶口的消毒,同时收集安瓿瓶被切下顶部。 [0040] The laminar flow element 50 may also be turned on before the neck of the ampoule ampoule sterilization, ampoules after the top is removed, laminar flow unit 50 then sterilized bottle, is also collected ampoules cut top.

[0041] 母液容器定位单元60用于定位母液容器。 [0041] The mother liquor positioning unit 60 for positioning the container vessel liquor. 如图3、4所示,母液容器601固定在传动轮801 —侧与传动轮801轴心水平的位置上(如图3所示的D点)。 3 and 4, the container 601 is fixed to the mother liquor transmission wheel 801 - Location of the drive gear 801 side of the horizontal axis (point D shown in FIG. 3). 在本实施例中,母液容器可以为母液瓶或母液袋,母液容器定位单元60可夹持母液瓶或母液袋驱动其移动或翻转。 In the present embodiment, the mother liquor may be a bottle or container bags liquor, liquor container positioning unit 60 may be clamped mother liquor bottles or bags driven to move or turn.

[0042] 密封瓶输送单元70用于输送及定位密封瓶,及对难溶性药品进行震荡混合。 [0042] The sealed bottle conveying unit 70 for conveying and positioning the bottle was sealed and sparingly soluble drugs for oscillation mixing. 如图3和图5所示,密封瓶输送单元70将密封瓶输送至药品抽取单元100。 As shown in FIGS. 3 and 5, the sealed bottle sealed vial conveyance unit 70 to transport the drug extraction unit 100. 密封瓶输送单元70 还包括与驱动单元120连接的震荡稀释模块710,震荡稀释模块710用于震荡密封瓶,以使注入密封瓶的母液与药粉充分稀释混合。 The sealed bottle conveying unit 70 further includes a shock dilution module connected to the driving unit 120 710, 710 for dilution module shock shock sealed bottle, so that the injection liquid to the powder mixture is diluted sufficiently sealed bottle. 在本实施例中,密封瓶的稀释摇勻,在驱动单元120中采用低速离心旋转的电机实现驱动。 In the present embodiment, the shake sealed bottle was diluted using low speed centrifugation to rotate the drive motor to achieve the driving unit 120.

[0043] 安瓿瓶输送单元80用于输送及定位安瓿瓶。 [0043] ampoule conveying unit 80 for conveying and positioning the ampoule. 安瓿瓶输送单元80将安瓿瓶输送至安瓿瓶开启单元90及药品抽取单元100。 Ampoule ampoule conveying unit 80 conveyed to the ampoule opening extracting unit 90 and drug unit 100. 在本实施例中,如图5所示,安瓿瓶输送单元80 设有传动轮801和输送带802,用于将安瓿瓶进行流水线式传输至安瓿瓶开启单元90及药品抽取单元100。 In the present embodiment, as shown in FIG, 5 the ampoule conveying unit 80 is provided with the belt driving gear 801 and 802, for a pipeline for transport ampoule ampoule to open extraction unit 90 and drug unit 100.

[0044] 安瓿瓶开启单元90包括定位模块902、开启位置感应模块904、切割模块906、顶部位置感应模块907及掰折模块908。 [0044] ampoule opening module 902 includes a positioning unit 90, the open position sensing module 904, a cutting module 906, a top position sensing module 907 module 908 and breaking off.

[0045] 定位模块902用于固定安瓿瓶。 [0045] The location module 902 for securing the ampoule. 在本实施例中,定位模块902设有软质材料的抵顶块(例如,橡胶等),用于抵顶安瓿瓶以便切割和掰折。 In the present embodiment, the positioning module 902 is provided with the abutting block of soft material (e.g., rubber), for abutting ampoules for cutting and breaking off.

[0046] 开启位置感应模块904,用于获取安瓿瓶的开启位置信息,并将开启位置信息发送到控制单元20。 [0046] open position sensing module 904, configured to obtain location information of open ampoules, and transmits the position information to the opening control unit 20. 在本实施例中,参图2,通常安瓿瓶颈上设有开启标志401,利用高精度传感器或图像处理单元40识别开启标志401所在的位置。 In the present embodiment, the reference 2, the ampoule typically provided bottleneck flag 401 is turned on, the high precision sensor or image processing unit 40 identifies an open position where the mark 401.

[0047] 切割模块906用于对安瓿瓶的开启位置进行切割。 [0047] The cutting means 906 for cutting the open position of the ampoule. 控制单元20根据开启位置信息控制驱动单元120驱动切割模块906对准开启位置进行切割。 The cutting drive control unit 20 controls the driving unit open position information module 906 aligned with the opening position 120 is cut. 本实施例中,在切割材料上,采用合金材质刀具代替传统手工使用的砂轮片,能使切割的过程更顺利,同时采用合金材质刀具切割不会产生如砂轮片切割会产生的微尘。 In this embodiment, on the cutting material, instead of using the alloy tool traditional manual grinding wheel used to make the cutting process more smoothly, while using a cutting tool not produce alloy sheet, such as cutting wheel will produce dust.

[0048] 顶部位置感应模块907用于获取安瓿瓶的顶部位置的顶部位置信息,并将顶部位置信息发送到控制单元。 [0048] The sensing module 907 to a top position at the top of the position information acquisition ampoule top position, and transmits the position information to the top of the control unit. 在本实施例中,利用高精度传感器或图像处理模块40识别安瓿瓶的顶部位置,控制单元20根据顶部位置信息控制掰折模块908套入安瓿瓶的顶部以掰折。 In the present embodiment, by using high-precision position sensor or the top of the image processing module 40 identifies the ampoule, the control unit 20 controls the module 908 sets of breaking off into the top of the ampule breaking off top according to the location information.

[0049] 掰折模块908,控制单元20根据顶部位置信息,控制驱动单元120驱动掰折模块908将顶部位置掰折,使顶部与瓶身分离。 [0049] The breaking off module 908, the control unit 20 drives the top position information, controls the driving unit 120 according to breaking off the top location module 908 breaking off, so the top of the separation bottle.

[0050] 此外,本实施例中,在安瓿瓶的开启技术上,除了对切割材料上作出改进外,在开启方式上,通过软件设计算法来实现空间曲线运动,使设备能虚拟人手操作的柔性,有效防止了安瓿瓶的碎裂。 [0050] Further, in this embodiment, in the open technical ampoules, in addition to the cut material to make improvements in the open mode, to achieve movement through space curve design software algorithm allows devices to a virtual hand operated flexible effectively prevent fragmentation ampoules.

[0051] 药品抽取单元100设有夹持模块101、注射器102、注射调节模块103、换液泵104、 换液泵调节模块105及瓶口位置感应模块106。 [0051] Drug extraction unit 100 is provided with clamping module 101, the injector 102, the injection adjustment module 103, for pump 104, for adjusting the pump module 105 and the finish position sensing module 106. 其中, among them,

[0052] 夹持模块101用于从安瓿瓶输送单元90夹持开启后的安瓿瓶并将其定位;注射器102用于抽取和注入药品,其中药品可包括安瓿瓶的药液、密封瓶的药液或粉剂及母液;注射调节模块103用于调节注射器拉升、旋转及移动动作;瓶口位置感应模块106用于获取母液、安瓿瓶及密封瓶的瓶口位置信息,并将瓶口位置信息发送到控制单元20。 [0052] The ampoule clamping module 101 for holding open the delivery unit 90 and the ampules positioned; 102 for extracting a syringe and injecting the drug, wherein the drug may include a liquid, sealed ampoules medicine bottle solutions or powders and a mother liquor; adjustment module 103 for adjusting the injection syringe to move up, rotating and moving operation; finish position sensing module 106 is configured to obtain the mother liquor bottle and a sealing position information ampoule bottles and bottle position information 20 to the control unit. 采用注射器102的优点是更换比较方便,由于一次配药只需一个注射器102,穿刺造成的微粒可以采用侧孔针来减少。 The advantage of using the syringe 102 is convenient replacement, since the only time a dispensing syringe 102, resulting microparticles puncture needle may be employed to reduce the side hole. 由于药瓶的数量和角度变化比较多,可以以注射器为中心进行设计,其主要方案如图4所示。 As more quantity and angle variation vial, the syringe may be designed as the center, the main program shown in FIG. 其中,注射器102可旋转、其针头可插入/抽出药瓶、抽液/送液的三种操作,后两操作由注射调节模块103通过丝杆驱动注射器102实现。 Wherein the syringe 102 can be rotated, which can be the needle insertion / extraction vial, pumping liquid / liquid feeding three operations, after the two operations the syringe driver 102 is implemented by adjusting the injection module 103 through the screw.

[0053] 在一个实施例中,还可以采用换液泵104替换注射器102抽取和注入药品,由驱动单元120驱动换液泵104抽气和打气,形成正负压,以抽取和注入药品;换液泵调节模块105,由驱动单元120驱动,用于调节换液泵拉升、旋转及移动动作。 [0053] In one embodiment, pump 104 may also be employed In other alternative injection syringe 102 extraction and pharmaceuticals, the drive unit 120 by the transducer and pump suction pump 104, negative pressure is formed, to extract and inject drugs; change adjusting the pump module 105, driven by a drive unit 120 for adjusting the pump pulled change, rotate, and move operation. 在本实施中,换液泵104 可以使用气泵或蠕动泵。 In the present embodiment, the transducer 104 may use an air pump or pump a peristaltic pump. 气泵是利用驱动单元120的电机转动来抽气、打气,而形成负压或正压,来抽入液体或者推出液体形成换液的。 Pump unit using the drive motor 120 is rotated to exhaust, pump, to form a negative or positive pressure to pump the liquid or the introduction of a liquid form was changed. 用气泵做的吸引器在医学治疗中是很常用的。 With a suction pump to do in medical treatment it is very common. 药瓶和输液瓶之间是用导管和针头相连,该部分一次性更换相应简单。 Between the infusion bottle and the bottle is connected with a catheter and needle, which replace a corresponding portion of the disposable simple. 蠕动泵是通过旋转的滚柱使胶管蠕动来输送液体,被输送的液体只在胶管里流动,不与泵的其它零件相接触, 避免了液体受泵体的污染。 A peristaltic pump is that the roller by rotation of the peristaltic hose to transport liquid, the liquid flows only be transported in the rubber tube, in contact with the other components of the pump, to avoid contamination of the liquid by the pump. 蠕动泵可以作流量的精确测量。 Peristaltic pump can be used for accurate flow measurement.

[0054] 在本实施例中,药品抽取单元100可以与图像处理单元40配合,用于获取注射器102或换液泵104与安瓿瓶和/或密封瓶的图像信息并将该图像信息发送到控制单元20, 以供控制单元控制注射器102或换液泵104插入安瓿瓶和/或密封瓶的深度。 [0054] In the present embodiment, the medicament extraction unit 100 may cooperate with the image processing unit 40, configured to obtain the syringe pump 102 or transducer 104 with image information ampoules and / or sealed container and transmits the image information to the control unit 20, for the control unit 102 controls the syringe pump 104 or transducer ampoule insertion depth and / or sealed container.

[0055] 如图3所示,在对安瓿瓶中的液体进行抽取时,一般需要将安瓿瓶倾斜,把针头插入到安瓿瓶的底部才能将其中的液体抽取干净。 [0055] As shown, when the liquid ampoules extraction, typically requires inclination ampoule 3, the needle can be inserted at the bottom of the ampoule in which the liquid extraction cleaner. 如图3所示,安瓿瓶在最低点A点位置被夹持后经传动轮801带动到B点的位置之间,安瓿瓶倾斜,此时可以将注射器102或换液泵104的针头插入安瓿瓶的底部可实现药液的完全抽取;在位于传动轮801 —侧的母液容器中抽取母液,随后将抽取的母液注入位于传动轮801相对另一侧(如图3中的B点位置) 的密封瓶中。 As shown in FIG between After the ampoule at the lowest point position A 3 is sandwiched by the drive transmission wheel 801 to the position of point B, ampoules inclined, this time the needle of the syringe pump 102 or transducer 104 may be inserted into the ampoule bottom of the bottle may be implemented entirely liquid extraction; transmission wheel located 801-- mother liquor extraction side of the container, followed by the extraction mother liquor is injected at the opposite side of the other drive wheel 801 (B position in FIG. 3) of the sealed bottle. 被注入母液的密封瓶在震荡稀释模块710的驱动下使其内的粉剂与母液稀释摇勻,稀释摇勻后的密封瓶经传动轮801到传动轮801的最高点(如图3中的C点位置) 后注射器102和/或换液泵104将密封瓶内的经稀释摇勻后的稀释液抽取。 The mother liquor is injected into a sealed bottle in the powder to dilute the mother liquor in the driving shaken shock dilution module 710, sealed bottle was shaken after the dilution peak transmission wheel transmission wheel 801 to 801 (in FIG. 3 C by extraction after dilution of the diluted position) injectors 102 and / or pump 104 to change shake sealed bottle. 在安瓿瓶和/或密封瓶抽取后的药液和/或稀释液在D点注入输入瓶中。 In the liquid ampoules and / or extraction sealed bottle and / or vial diluent injection point D input.

[0056] 配药信息单元110包括操控面板1102、药品信息读取模块1104、药品信息显示模块1106及药品信息输出模块1108。 [0056] Pharmaceutical information unit 110 includes a control panel 1102, the drug information reading module 1104, display module 1106 drug information and drug information output module 1108.

[0057] 操控面板1102,与控制单元20、图像处理单元40及感应单元30相连,提供人机交互界面。 [0057] The control panel 1102, and the control unit 20, the image processing unit 40 and sensing unit 30 is connected to provide a man-machine interface. 配药人员通过操控面板1102的人机交互界面输入将要进行配药的药品清单、药品属性、药品的配药参数、药品所属病人及配药人员的信息。 Drug dispensing parameter list dispensary staff man-machine interface input 1102 will be dispensed through the control panel, pharmaceutical properties of drugs, the information belongs to the patient and the drug dispensing staff.

[0058] 药品信息读取模块1104,用于读取被放入配药室的药品的数量及规格并将数量及规格(药品清单、药品属性),并发送到控制单元20。 [0058] Drug information reading module 1104, for reading the number of drugs into the dispensing chamber and the quantity and specifications and specifications (list of drugs, pharmaceuticals attributes), sent to the control unit 20. 在此前,配药人员可在药品贴上条形码药品信息读取模块1104通过扫描装置(例如,RTID射频识别)读取被放置进配药室的药品清单、药品属性。 Previously, the drug dispensing art can paste the barcode information read by the read module 1104 disposed in the drug dispensing chamber into the list of drugs by the scanning means (e.g., radio frequency identification RTID), pharmaceutical properties.

[0059] 药品信息显示模块1106,设有显示器,用于显示被放入配药室的药品的数量及规格(药品清单、药品属性),以供配药员核对。 [0059] Drug information display module 1106, provided with a display for displaying the drug is placed into the dispensing chamber and a number of specifications (list of drugs, pharmaceuticals property), for checking dispensers. 配药人要输入和药品信息读取模块1104读取的药品数量及规格(药品清单、药品属性)均能在显示器上显示,此时配药人员就能将两者的数据进行参照对比,若是两者信息不同,则需要检查再重新配药,若是两者信息对应,则配药可以顺利进行。 To enter human pharmaceuticals and drug information reading module 1104 reads the number and size of the drug (drug list, pharmaceutical attributes) can display on the display, then dispensing the art will be able to perform both the reference data comparison, if the two different information, it is necessary to check and re-dispensing, if both information correspond, the dispensing can be carried out smoothly.

[0060] 药品信息输出模块1108,用于打印输出所需药液的药品信息条,以在完成配药输出输液瓶时将信息条帖在输液瓶上,以供核对、分配及存档。 [0060] Drug information output module 1108, a desired print bar liquid drug information to the output upon completion of the infusion bottle dispensing the pieces of information posted on the infusion bottle, for verification, and distribution archive.

[0061] 驱动单元120,在控制单元20的控制下,用于驱动层流洁净单元50、母液容器定位单元60、密封瓶输送单元70、安瓿瓶输送单元80、安瓿瓶开启单元90、药品抽取单元100、压力调整单元130及输液瓶输出单元160工作。 [0061] The driving unit 120, under control of the control unit 20 for driving the laminar flow unit 50, the positioning unit mother liquor vessel 60, sealed container feeding unit 70, conveying unit 80 ampoule, ampoule opening means 90, medicine extract unit 100, a pressure adjustment unit 130 and output unit 160 work infusion bottle.

[0062] 压力调节单元130用于调节配药室内的压力,包括压力感应模块1302、正压调节模块1304及负压调节模块1306。 [0062] The pressure regulating unit 130 for regulating the pressure of the dispensing chamber, comprising a pressure sensing module 1302, module 1304 and a negative pressure adjusting regulator module 1306.

[0063] 压力感应模块1302,用于获取配药室内的压力信息,并将其发送到控制单元20, 以供控制单元20处理;正压调节模块1304,用于根据控制单元20的控制进行调节,以使配药室体内的压力大于配药室体外的压力;负压调节模块1306,用于根据控制单元20的控制进行调节,以使配药室内的压力小于配药室外的压力。 [0063] The pressure sensor module 1302, configured to obtain pressure information of the dispensing chamber, and transmits it to the control unit 20, the control unit 20 for processing; pressure regulating module 1304 configured to be adjusted according to the control of the control unit 20, such that the dispensing chamber pressure greater than the pressure within the dispensing chamber vitro; the negative pressure regulating module 1306 configured to be adjusted according to the control of the control unit 20, so that the pressure chamber is less than the pressure dispensing dispensing outside. 通常,安瓿瓶中还包括一些有毒液体,人若吸入该有的毒液体的气味,身体会产生不良反应,因此在配药时,为了防止有毒气体从配药室中排出,可利用负压调节模块1306在各个单元开始工作之前从配药室中抽风, 使配药室内的保持负压,从而使配药时气体不会排出。 Typically, ampoules further comprising a number of toxic liquid, if the human body odor and some venom intake, the body will have adverse reactions, so at the time of dispensing, in order to prevent toxic gas from the dispensing chamber, the negative pressure adjustment module 1306 before each ventilation unit begins operating the dispensing chamber, the dispensing chamber so that a negative pressure is maintained, so that the gas is not discharged during dispensing. 而配制普通药物时,配药室应具有正压,则可通过正压调节模块1304向配药室内输入层流空气,使其内部的空气压力大于其外部空气压力。 When formulated generic drugs, dispensing chamber should have a positive pressure, the positive pressure may be by adjusting the input module 1304 to the dispensing chamber laminar air flow, the air pressure inside it is greater than the external air pressure. 配药室的压力状态根据需要可通过压力感应模块1302进行感应并反馈至控制单元20,以供控制单元20控制正压调节模块1304或负压调节模块1306调节配药室内的空气压力。 Dispensing chamber pressure state may be required by the pressure sensor sensing module 1302 and back to the control unit 20, the control unit 20 controls for adjusting the positive pressure or the negative pressure regulating module 1304 module 1306 adjust the air pressure in the dispensing chamber.

[0064] 澄清度检验单元140用于检验输液瓶内的药液澄清度并将澄清度发送到控制单元20。 Chemical Clarity [0064] Clarity checking unit 140 for checking the infusion bottle and clarity to the control unit 20. 澄清度的检测,由国家标准,澄清度是将试品溶液和浊度标准液,在暗室内垂直置于lOOOlux照度的灯下,从水平方向观察比较。 Detecting clarity, the national standard, is the clarity of the test solution and the turbidity standard solution was placed in a dark room lamp lOOOlux vertical illuminance observed and compared from the horizontal direction. 这可以用视觉识别解决。 This can be solved by visual recognition. 在前期工作中,建议先提供足够亮度的光照,由人工完成。 In previous work, it is recommended to provide sufficient brightness of light, complete by hand.

[0065] 输液瓶加温单元150用于对装有所需药品的输液瓶加温。 [0065] The heating unit 150 for infusion bottles for infusion bottle containing medicines required for heating. 感应单元30检测输液瓶的温度信息并将温度信息反馈到控制单元20,控制单元20控制输液瓶加温单元150将输液瓶加温到预设的温度,在本实施例中,加温预设温度为35度,在其他实施例中,预设温度可以根据用户需要设置不同的温度。 Temperature information and the temperature information detecting unit 30 detects the infusion bottle 20 is fed back to the control unit, the control unit 20 controls the heating unit 150 the infusion bottle infusion bottle warmed to a predetermined temperature, in the present embodiment, the preset heating temperature of 35 degrees, in other embodiments, the preset temperature may be set according to a user different temperatures.

[0066] 药品输出单元160用于输出装有所需药液的输液瓶,同时将药品信息条贴在输液瓶上。 [0066] Drug output unit 160 for outputting a desired infusion bottle containing liquid medicine, drug information while the bar attached to the infusion bottle. 药品配制完毕且负荷规格后,设备将输液瓶输送出配药室,此时药品信息输出模块1108将打印输出相应输液瓶的药品信息条,并将其粘贴在输液瓶上。 After completion of the drug formulation and a load specification, the transfusion bottle conveyed out of the device dispensing chamber, when the drug information output module 1108 will be printed drug information pieces corresponding infusion bottle, and paste it to the infusion bottle.

[0067] 图5所示一个实施方式中自动化配药方法的流程。 [0067] FIG 5 showing an embodiment of a method automated dispensing process. 此自动化配药方法基于上述自动化配药设备,包括以下步骤: This method is based on the above-described automated dispensing automated dispensing apparatus, comprising the steps of:

[0068] S10,利用母液容器定位单元定位母液容器。 [0068] S10, using the mother liquor container positioning unit positioning the container. 在一实施例中,可先将配药室打开,然后将母液容器定位到母液容器定位单元60。 In one embodiment, the first dispensing chamber is opened, and then the mother liquor receptacle vessel positioned to the positioning unit 60.

[0069] S20,洁净单元对配药室进行清洁和消毒。 [0069] S20, clean dispensing unit for cleaning and disinfection chamber. 在一实施例中,配药员提前30分钟打开配药室层流洁净单元50的净化系统,并确认其处于正常工作状态;配药员提前30分钟打开自动化配药设备自动清洁系统和紫外线消毒系统;30分钟后关闭自动清洁系统和紫外线消毒系统,然后用75%乙醇擦拭机器人的四个入口,对其进行彻底消毒; In one embodiment, the dispensers 30 minutes before opening the dispensing chamber laminar flow unit purification system 50, and confirm that it is in proper working condition; dispensers 30 minutes before opening automated dispensing equipment automatic cleaning system and a UV disinfection system; 30 minutes after closing the automatic cleaning system and a UV disinfection system, then four inlet robot wiping with 75% ethanol, subjected to thorough disinfection;

[0070] S30,利用配药信息单元进行配药信息输入、读取、显示及人工校对。 [0070] S30, using the dispensing unit dispensing the information input information, read, display and artificial proofreading. 配药人要输入和药品信息读取模块1104读取的药品数量及规格(药品清单、药品属性)均能在显示器上显示,此时配药人员就能将两者的数据进行参照对比,若是两者信息不同,则需要检查再重新配药,若是两者信息对应,则配药可以顺利进行。 To enter human pharmaceuticals and drug information reading module 1104 reads the number and size of the drug (drug list, pharmaceutical attributes) can display on the display, then dispensing the art will be able to perform both the reference data comparison, if the two different information, it is necessary to check and re-dispensing, if both information correspond, the dispensing can be carried out smoothly.

[0071] S40,利用安瓿瓶输送单元完成安瓿瓶的输送及定位。 [0071] S40, by using the transport unit completes an ampoule conveying and positioning ampoules. 在配药室闭合后,可通过控制单元20控制驱动单元120驱动传输带802将安瓿瓶输送到安瓿瓶开启单元90定位;利用密封瓶输送单元完成密封瓶的输送及定位。 After the dispensing chamber is closed, may control the driving unit 20 drives the transfer belt 802 to 120 ampoules conveyed through the control unit 90 to the ampule opening means is positioned; sealed container conveyed using conveying and positioning unit completes a sealed container. 在配药室闭合后,可通过控制单元20控制驱动单元120驱动传输带802将密封瓶输送到药品抽取单元100定位。 After the dispensing chamber is closed by the control unit 120 controls the driving unit 20 drives the transfer belt 802 to the sealed container conveyed drugs extraction unit 100 is positioned.

[0072] S50,利用图像处理单元40计算得出安瓿瓶的顶部位置信息和颈部位置信息,并将顶部位置信息和颈部位置信息发送到控制单元20。 [0072] S50, the image processing unit 40 using the calculated position information and the top of the neck of the ampoule position information and transmits the position information and a top neck position information to the control unit 20.

[0073] S60,控制单元20根据图像处理单元40计算得出安瓿瓶的颈部位置信息,控制安瓿瓶开启单元90进行工作。 [0073] S60, the control unit 20 the position information derived ampoule neck portion 40 of the image processing unit according to calculation, the control unit 90 for opening the ampoule work. 控制单元20根据颈部位置信息结合定位模块902、开启位置感应模块904及切割模块906对安瓿瓶开启位置进行切割。 The control unit 20 according to the neck conjunction with the positioning position information module 902, and an open position sensing module 904 module 906 ampoules cutting position for cutting open the bottle.

[0074] S70,层流洁净单元50对安瓿瓶颈部和/或密封瓶的瓶塞和颈部消毒,同时还收集被切下的安瓿瓶颈部。 [0074] S70, a laminar flow clean unit 50 ampoule neck part and / or sealing the bottle neck and cork disinfection, while also collecting the ampoule neck portion is cut.

[0075] S80,控制单元20根据顶部位置信息,控制安瓿瓶开启单元去除安瓿瓶顶端。 [0075] S80, the control unit 20 according to information of the top position, the control unit removes the top opening ampoules ampoules. 控制单元20根据颈部位置信息结合定位模块902、顶部位置感应模块907及掰折模块908对安瓿瓶顶部进行掰折。 The control unit 20 according to the neck conjunction with the positioning position information module 902, a top position sensing module 907 module 908 and a pair of top folded breaking ampoule for breaking off.

[0076] S90,药品抽取单元20抽取安瓿瓶中的药液和母液注入到输液瓶中混合。 [0076] S90, the extraction unit 20 extracts pharmaceutical ampoules mother liquid is injected into infusion bottles and mixed. 控制单元20结合图像处理单元40、感应单元30根据系统设定值对药液和母液定量抽取后输液瓶中混合。 The control unit 20 in conjunction with the image processing unit 40, the sensing unit 30 after mixing of the liquid infusion bottles and a mother liquor quantitative suction system according to the set value.

[0077] S100,判断密封瓶中是否为药粉,若是,则执行步骤S110,否则执行步骤S120。 [0077] S100, it determines whether the powder sealed bottle, if yes, perform step S110, the otherwise, execute step S120.

[0078] 步骤Sl 10,药品抽取单元抽取母液注入到密封瓶中,与药粉混合形成稀释液,再抽取稀释液和母液注入到输液瓶中混合。 [0078] Step Sl 10, the drug is injected into the mother liquid extraction unit extracts a sealed vial, the diluent and powder mixture is formed, and then extracting the diluent and mixing the mother liquor poured into infusion bottles.

[0079] 步骤S120,则药品抽取单元抽取密封瓶中的药液和母液注入到输液瓶中混合。 [0079] step S120, the extraction unit extracts the drugs sealed vial and a mother liquor of liquid injected into the mixing infusion bottles.

[0080] 在一个实施例中,上述自动化配药方法,在步骤SllO和步骤S120之后还包括:进一步判断是否还需要配药,若是则重新配药,若否,层流洁净单元进行清洁消毒。 [0080] In one embodiment, said automated dispensing method, after step S120 and step SllO further comprising: determining whether further dispensing required, if the re-dispensing, if not, the laminar flow cleaning and disinfection unit.

[0081] 在判断是否还需配药的步骤之前还包括步骤:利用澄清度检验单元对输液瓶内的药液检验,若澄清则输出输液瓶;若不澄清则重新配药。 [0081] Before determining whether or dispensing needs further comprising the step of: using a test unit Clarity liquid infusion bottle test, a clear output if the infusion bottle; if clarification is dispensed again.

[0082] 如图6所示,步骤S50包括以下步骤: [0082] As shown in FIG. 6, Step S50 comprises the steps of:

[0083] S501,读取图像信息,即摄像机402拍下的照片上传到图像处理模块408。 [0083] S501, the read image information, i.e., the camera 402 captured photos uploaded to the image processing module 408.

[0084] S502,计算安瓿瓶图像的倾角。 [0084] S502, the image inclination calculation ampoules. 先对图像进行Hough变换(图像中检测直线),求出图像中满足最小长度的直线段,并计算每条直线段的倾角。 Hough transform to the image (linear image detector), a minimum length of straight line segments satisfy the determined image, and calculating the inclination of each straight line segment.

[0085] S503,判断倾角是否小于预设角度,若是,则执行步骤S504,若否,执行步骤S508。 [0085] S503, the inclination angle is smaller than a predetermined angle is determined, if yes, performs step S504, and if not, to step S508.

[0086] 将180度划分为16等分,将求出的直线段倾角分别映射到对应的角度范围内,构建直线倾角直方图,根据试验表明,安瓿瓶的边缘信息及光照产生的边缘倾角占绝大多数, 因此从倾角直方图中,很容易找出频数最大的组,进而确定图像需要旋转的角度。 [0086] A 180 is divided into 16 equal portions, the straight line segment are mapped to the determined tilt angle within an angle range corresponding to construct straight angle histogram, according to the test show that the edge information and the edge angle of the light generated accounted ampoule the vast majority, so from the angle of the histogram, it is easy to find out the frequency of the largest group, determines the angle of the image you want to rotate.

[0087] S504,计算安瓿瓶的水平边缘和竖直边缘并将水平边缘和竖直边缘二值化。 [0087] S504, ampoules calculated vertical edges and horizontal edges and vertical edges and horizontal edges binarization. 先用Sobel算子,分别找出图像中的水平边缘和竖直边缘,并进行二值化。 First Sobel operator, respectively, to find horizontal edges and vertical edges in the image, and binarization. 例如,确定安瓿瓶竖直边缘时,先从左向各搜索,确定出第一条满足条件的边缘即是安瓿瓶的左边缘位置,再从右向左搜索,确定出第二条满足条件的边缘即是安瓿瓶的右边缘位置。 For example, when determining the ampoule vertical edges, each search start left, it is determined that the first condition is satisfied i.e. the edge is a left edge position ampoule, and then searches from right to left, it is determined that the second condition is satisfied i.e., the position of the edge is the right edge of the ampoule. 用同样的方法可以找出底面位置、顶面位置、颈部位置及液面位置的 The same method can be used to identify the position of the bottom surface, the top position, and the position of the liquid level of the neck

[0088] S505,将水平边缘和竖直边缘投影成Y轴和X轴的直方图。 [0088] S505, the vertical edge and horizontal edge histogram projected into the X-axis and Y-axis. 水平边缘和竖直边缘转化成平面坐标,从而使数据的显示更直观,读取更简便。 Horizontal edges and vertical edges is converted into a coordinate plane, so that the display data is more intuitive, easier to read.

[0089] S506,根据直方图找出安瓿瓶的底面位置、顶面位置、颈部位置及药液的液面位置。 [0089] S506, the histogram to identify the position of the bottom surface of the ampoule, the top position, and the position of the liquid surface position of the neck. 用步骤S404中的方法可以找出安瓿瓶的底面位置、顶部位置、颈部位置及液面位置。 The method used in step S404 can find the position of the bottom surface of the ampoule, the top position, and the position of the liquid level position of the neck. 图像处理模块408跟根据直方图找出安瓿瓶的底面位置、顶面位置及液面位置用以计算液面尚度。 The image processing module 408 with the position of the bottom surface of the ampule, the liquid level position and the top position is still used for calculating the level of the histogram to find.

[0090] S507,根据底面位置及液面位置计算液面高度。 [0090] S507, is calculated in accordance with the liquid level and the liquid level position of the bottom surface. 液面位置-底面位置=液面高度。 Level position - position = bottom surface of the liquid level. 图像处理模块40计算得出的液面高度发送到控制单元20,控制单元20根据药品信息单元110读取的药品数量及规格与液面高度比较,并控制药品抽取单元100根据预设需要抽取所需药液。 The image processing module 40 calculated liquid level to the control unit 20, the control unit 20 according to the number of drugs height comparison unit 110 read the drug information and specifications and level, and the control unit 100 extracts the drug needs to be extracted according to the preset need liquid.

[0091] 步骤S508,将图像信息进行旋转,然后返回步骤S503。 [0091] step S508, the rotation of the image information, and then returns to step S503. 采用Hough变换找出图像中安瓿瓶的边缘直线,通过计算直线的倾角,将图像信息旋转至倾角小于预设角度,在图像信息旋转的同时控制单元20将同步控制安瓿瓶输送单元80配合,将安瓿瓶跟随图像信息旋转倾角小于预设角度。 Hough transform to find the edge in a straight line image ampoules, calculated by the inclination of a straight line, the angle is less than the image information is rotated to a predetermined angle, while the image information 80 with the rotation synchronization control unit 20 controls the conveying unit ampoules, the Follow the image information ampoule rotation angle is less than a predetermined angle.

[0092] 以上所述实施例仅表达了本发明的几种实施方式,其描述较为具体和详细,但并不能因此而理解为对本发明专利范围的限制。 [0092] The above embodiments are only expressed several embodiments of the present invention, and detailed description thereof is more specific, but can not therefore be understood as limiting the scope of the present invention. 应当指出的是,对于本领域的普通技术人员来说,在不脱离本发明构思的前提下,还可以做出若干变形和改进,这些都属于本发明的保护范围。 It should be noted that those of ordinary skill in the art, without departing from the spirit of the present invention, can make various changes and modifications, which fall within the protection scope of the present invention. 因此,本发明专利的保护范围应以所附权利要求为准。 Therefore, the protection scope of the present invention should be subject to the appended claims.

Claims (16)

1. 一种自动化配药设备,其特征在于,包括配药室,在所述配药室内提取密封瓶和/或安瓿瓶的药品与母液混合,形成所需药液;所述自动化配药设备包括层流洁净单元、密封瓶输送单元、安瓿瓶输送单元、安瓿瓶开启单元、药品抽取单元、母液容器定位单元、配药信息单元、驱动单元、感应单元、图像处理单元及控制单元,其中,层流洁净单元,用于为所述配药室进行洁净度检测与警报、提供符合要求的洁净新风源及消毒;密封瓶输送单元,用于输送及定位所述密封瓶,及对难溶性药品进行震荡混合; 安瓿瓶输送单元,用于输送及定位所述安瓿瓶; 安瓿瓶开启单元,用于开启所述安瓿瓶;药品抽取单元,用于抽取所述药品与母液容器的所述母液,并进行混合; 母液容器定位单元,用于定位所述母液容器; 配药信息单元,用于输入、读取及显示 1. An automated dispensing apparatus comprising dispensing chamber, said dispensing chamber in sealed bottles extraction / or mixed and the mother liquor drug ampoule, to form the desired liquid; the automated dispensing apparatus comprises a laminar flow means sealed bottle conveying unit ampoules conveying unit ampoules open cells, drugs extraction unit, the mother liquor container positioning unit, dispensing information unit, a drive unit, a sensing unit, an image processing unit and a control unit, wherein the laminar flow element, for said dispensing chamber cleanliness detection and alarm, providing a source of clean fresh air to meet the requirements and disinfection; sealed bottle conveying unit, for conveying and positioning the sealed vial, and shaking of sparingly soluble drugs for mixing; ampoules conveying means for conveying and positioning the ampoule; ampoule opening means for opening the ampoule; pharmaceuticals extraction means for extracting the mother liquor with the medicine container, and mixing; mother vessel positioning means for positioning the mother liquor receptacle; Pharmaceuticals information unit to input, display and read 述药品、母液及药液的信息; 感应单元,与所述层流洁净单元、密封瓶输送单元、安瓿瓶输送单元、安瓿瓶开启单元、 药品抽取单元、母液容器定位单元压力调整单元及输液瓶加温单元连接,用于获取所述密封瓶输送单元、安瓿瓶输送单元、安瓿瓶开启单元、药品抽取单元及母液容器定位单元的位置信息,获取层流洁净单元的洁净度信息,获取压力调整单元的压力信息,获取输液瓶加温单元的温度信息,并将位置信息、洁净度信息、压力信息及温度信息发送到所述控制单元;驱动单元,用于驱动层流洁净单元、密封瓶输送单元、安瓿瓶输送单元、安瓿瓶开启单元、药品抽取单元、母液容器定位单元、压力调整单元及输液瓶输出单元工作;图像处理单元,用于采集所述安瓿瓶的图像信息,分析所述图像信息得图像分析结果, 并将所述图像分析结果 Said information drugs, and the mother liquor of liquid; sensing unit, and the laminar flow means sealed bottle conveying unit, the conveying unit ampoule, ampoule unit is turned on, drugs extraction unit, a positioning unit mother container and an infusion bottle pressure adjusting means heating unit is connected, configured to obtain the sealed container conveying unit, the conveying unit ampoule, an ampoule open position information unit, extraction unit and the drug container is positioned liquor unit acquires information cleanliness laminar flow unit, acquires pressure adjustment pressure information unit acquires temperature information infusion bottle heating unit, and transmits the position information, cleanliness information, temperature information, and pressure information to the control unit; a drive unit for driving the laminar flow unit, sealed container transport unit, conveying unit ampoule, ampoule unit is turned on, the extraction unit drugs, liquor container positioning means, and pressure adjusting means outputs an infusion bottle unit of work; an image processing unit for acquiring image information of the ampoule bottle, analyzing the image information obtained image analysis result, and the image analysis results 发送到所述控制单元;及控制单元,与其他各单元连接,且根据所述图像处理单元反馈的所述图像分析结果和感应装置反馈的位置信息、洁净度信息,控制单元其他各个单元工作。 Sent to the control unit; and a control unit connected to each of the other units, and according to the position information of the image processing unit of the image analysis results of the feedback and the feedback sensing device, cleanliness information, the control unit operates each of the other units.
2.根据权利要求1所述的自动化配药设备,其特征在于,所述图像处理单元包括: 便于成像的背景板;采集所述图像信息的摄像机,所述安瓿瓶位于所述背景板与摄像机之间; 提供光源的LED阵列;以及图像处理模块,用于分析所述图像信息得图像分析结果,并将所述图像分析结果发送到所述控制单元。 The automated dispensing device according to claim 1, wherein said image processing unit comprising: an imaging facilitates background plate; camera to capture the image information, the ampoule is positioned with the plate background video camera Room; LED array providing a light source; and an image processing module for analyzing the image information obtained image analysis result, and the image analysis result to the control unit.
3.根据权利要求2所述的自动化配药设备,其特征在于,所述图像分析结果包括所述安瓿瓶的倾角、颈部位置、顶面位置、底面位置及所述药品的液面高度;所述控制单元根据所述图像分析结果校正所述安瓿瓶的倾角、确定所述液面高度及控制抽取药品量。 3. The automated dispensing apparatus according to claim 2, characterized in that the liquid level of the image analysis results including the angle of inclination of the ampoule, the position of the neck, the top position, and a bottom surface position of the drug; the said control unit according to the inclination of the image analysis result of the correction of the ampoule, to determine the liquid level and controlling the amount of extraction of drugs.
4.根据权利要求3所述的自动化配药设备,其特征在于,所述图像处理模块还用于根据所述图像信息计算所述安瓿瓶的倾角,判断所述倾角是否小于预设角度,并在所述倾角小于预设角度时,计算所述安瓿瓶的水平边缘和竖直边缘并将所述水平边缘和竖直边缘二值化,将所述水平边缘和竖直边缘投影成Y轴和X轴的直方图,并根据所述直方图找出所述安瓿瓶的底面位置、顶面位置、颈部位置及所述药液的液面位置,以及根据所述底面位置、 顶面位置、及液面位置计算液面高度;当所述倾角大于等于预设角度时,所述控制单元调整所述安瓿瓶以使所述倾角小于所述预设角度。 4. The automated dispensing apparatus according to claim 3, wherein said image processing module is further configured to tilt the image information calculation according to the angle of inclination of the ampoule, is smaller than a predetermined angle is determined, and when the angle is less than a predetermined angle, calculating the ampoule and horizontal edges and vertical edges of said vertical edges and horizontal edges binarized, the vertical edge and horizontal edge projection into X-axis and Y histogram axis, and according to the histogram to find the position of a bottom surface of the ampoule, the top position, the neck position and the position of the liquid level, and according to the position of the bottom surface, the top position, and calculating the liquid level height level position; when the angle of inclination is greater than equal to a preset angle, the control unit adjusts the ampoule is such that the angle is less than the predetermined angle.
5.根据权利要求1所述的自动化配药设备,其特征在于,所述配药信息单元包括: 操控面板,与所述控制单元、图像处理单元及感应单元相连,提供人机交互界面;药品信息读取模块,用于读取被放入所述配药室的所述药品的数量及规格并将所述数量及规格,并发送到所述控制单元;药品信息显示模块,用于显示被放入所述配药室的所述药品的数量及规格,以供配药人员核对;以及药品信息输出模块,用于打印输出所述所需药液的药品信息条,以供核对、分配及存档。 The automated dispensing apparatus according to claim 1, wherein said dispensing means information comprising: a control panel, with the control unit, and an image processing unit connected to the sensing unit, man-machine interface; drug information read take module, for reading the amount of the drug into the dispensing chamber and the quantity and specifications and specifications sent to the control unit; drug information display module for displaying are placed in the the number of drug and specifications of said dispensing chamber, the dispensing art for verification; drug information, and an output module for outputting the print strip of the drug information required chemical solution, for verification, and distribution archive.
6.根据权利要求1所述的自动化配药设备,其特征在于,所述安瓿瓶开启单元包括: 定位模块,用于固定安瓿瓶;开启位置感应模块,用于获取所述安瓿瓶的开启位置信息,并将所述开启位置信息发送到所述控制单元;切割模块,用于根据所述开启位置信息,对准所述开启位置切割所述开启位置; 顶部位置感应模块,用于获取所述安瓿瓶的顶部位置的顶部位置信息,并将所述顶部位置信息发送到所述控制单元;以及掰折模块,用于根据所述顶部位置信息,将所述顶部位置掰折,使所述顶部与瓶身分1¾ O The automated dispensing device according to claim 1, characterized in that the ampule opening means comprising: a positioning means for fixing ampoules; open position sensing module, configured to obtain location information of the open ampoule and said open position information transmitted to the control unit; cutting module, according to the position information of the opening, aligning said open position of said cutting opening; top position sensing module, for acquiring the ampoule position information of the top position at the top of the bottle, and the top position information to the control unit; and breaking off module, according to the information for the top position, breaking off the top position, the top portion bottle identity 1¾ O
7.根据权利要求1所述的自动化配药设备,其特征在于,所述药品抽取单元设有: 夹持模块,用于夹持开启后的所述安瓿瓶并将所述安瓿瓶定位;注射器,用于抽取和注入所述药品;注射调节模块,用于调节所述注射器拉升、旋转及移动动作;以及瓶口位置感应模块,用于获取所述母液、安瓿瓶及密封瓶的瓶口位置信息,并将所述瓶口位置信息发送到所述控制单元。 The automated dispensing apparatus according to claim 1, wherein said extraction unit is provided with the drug: holding means for holding the ampoule after the opening of the ampoule and positioning; syringe, for extracting and injecting the drugs; injection adjustment module for adjusting the syringe pulled, rotating and moving operation; and a finish position sensing module configured to obtain the mother liquor, and the finish position of the ampoule sealed container information and the position information to finish the control unit.
8.根据权利要求1所述的自动化配药设备,其特征在于,所述药品抽取单元设有: 夹持模块,用于从所述安瓿瓶开启单元夹持开启后的所述安瓿瓶并将其定位;换液泵,所述驱动单元驱动所述换液泵抽气和打气,形成正负压,以抽取和注入所述药Pm ;换液泵调节模块,用于调节所述换液泵拉升、旋转及移动动作;以及瓶口位置感应模块,用于获取所述母液、安瓿瓶及密封瓶的瓶口位置信息,并将所述瓶口位置信息发送到所述控制单元。 The automated dispensing apparatus according to claim 1, wherein said extraction unit is provided with the drug: holding means for opening the clamping means the ampoule from the ampoule is opened and positioning; exchange pump, the drive unit drives the pump and suction pump transducer, forming positive and negative pressure to extract and inject the drug Pm is; transducer pump adjustment module for adjusting the pump to pull transducer l, the rotation and the moving operation; and a finish position sensing module configured to obtain the mother liquor, ampoules and bottles sealed bottle location information, and sends the finish information to the position control unit.
9.根据权利要求1所述的自动化配药设备,其特征在于,所述密封瓶输送单元还包括与所述驱动单元连接的震荡稀释模块,所述震荡稀释模块用于震荡密封瓶,以使注入所述密封瓶的所述母液与药粉充分稀释混合。 9. The automated dispensing device according to claim 1, wherein the delivery unit further comprises a sealed bottle shocks dilution module connected to the driving unit, the means for shock shock diluted sealed bottle, so that injection the sealed bottle and the mother liquor was diluted well mixed powder.
10.根据权利要求1所述的自动化配药设备,其特征在于,还包括药品输出单元,用于输出装有所述所需药液的输液瓶,将所述药品信息条贴在所述输液瓶上。 10. The automated dispensing apparatus according to claim 1, wherein the pharmaceutical further comprises an output unit for outputting the desired infusion bottle containing liquid medicine, the drug information affixed to said article infusion bottle on.
11.根据权利要求1所述的自动化配药设备,其特征在于,还包括压力调节单元,用于调节所述配药室内的压力,所述压力调节单元包括:压力感应模块,用于获取所述配药室内的压力信息,并将其发送到所述控制单元;正压调节模块,用于根据控制单元的控制进行调节,以使所述配药室体内的压力大于所述配药室体外的压力;以及负压调节模块,用于根据控制单元的控制进行调节,以使所述配药室内的压力小于所述配药室外的压力。 11. The automated dispensing device according to claim 1, characterized by further comprising a pressure regulating means for regulating the pressure of said dispensing chamber, said pressure regulating unit comprises: a pressure sensing module, for acquiring the dispensing chamber pressure information, and sends it to the control unit; pressure adjusting means for adjusting in accordance with control of the control unit, so that the pressure within the dispensing chamber of the dispensing chamber greater than the pressure outside the body; and a negative pressure regulator means for adjusting according to the control of the control unit, so that the pressure in the dispensing chamber is smaller than the outside pressure dispensing.
12.根据权利要求1所述的自动化配药设备,其特征在于,还包括输液瓶加温单元,用于对装有所需药品的所述输液瓶加温。 12. The automated dispensing device according to claim 1, wherein the heating means further comprises an infusion bottle, said infusion bottles used for containing medicines required for heating.
13.根据权利要求1所述的自动化配药设备,其特征在于,还包括澄清度检验单元,用于检验所述输液瓶内的药液的澄清度,将所述澄清度发送到所述控制单元。 13. The automated dispensing apparatus according to claim 1, characterized by further comprising a checking unit clarity, for clarity of the test drug solution infusion bottle, the clarity is sent to the control unit .
14. 一种自动化配药方法,用于利用自动配药设备将密封瓶和/或安瓿瓶内的药品与母液容器内的母液混合,以形成所需药液,所述自动配药方法包括以下步骤:层流洁净单元对配药室进行清洁和消毒; 利用配药信息单元进行配药信息输入、读取、显示及人工校对; 利用母液容器定位单元定位所述母液容器; 利用安瓿瓶输送单元完成所述安瓿瓶的输送及定位; 利用密封瓶输送单元完成所述密封瓶的输送及定位;利用图像处理单元校对所述安瓿瓶的和颈部位置信息,并将顶部位置信息和颈部位置信息发送到控制单元;控制单元根据所述颈部位置信息,控制安瓿瓶开启单元进行工作; 层流洁净单元对安瓿瓶颈部和/或密封瓶的瓶塞和颈部消毒; 控制单元根据所述顶部位置信息,控制安瓿瓶开启单元去除安瓿瓶顶端; 药品抽取单元抽取所述安瓿瓶中的药 14. An automated method of dispensing, using an automatic dispensing device for sealing bottles or mixed liquor and / or drug within the ampule container mother liquor, to form the desired liquid, said method comprising the steps of automated dispensing: layer flow clean dispensing unit for cleaning and disinfection chamber; dispensing information using the information input dispensing unit, read, display and artificial proofreading; mother container by using a positioning unit positioning the mother liquor receptacle; use ampoule conveying unit completes the ampoule transporting and positioning; complete utilization of the sealed container sealed container conveying unit conveying and positioning; proofreading by the image processing unit of the ampoule neck and the position information, and transmits the position information and a top neck position information to the control unit; the control unit according to the neck position information, the control unit operates ampoule opening; laminar flow unit ampoule neck part and / or sealing the bottle neck and cork disinfection; top position control means according to the information, the control ampule bottle opener unit ampoules top removed; extraction unit extracts the pharmaceutical drug ampoules 液和所述母液注入到输液瓶中混合; 判断所述密封瓶中是否为药粉,若是,则药品抽取单元抽取所述母液注入到所述密封瓶中,与药粉混合形成稀释液,再抽取所述稀释液和所述母液注入到所述输液瓶中混合;若否,则药品抽取单元抽取所述密封瓶中的药液和所述母液注入到所述输液瓶中混合; 是否还需要配药,若是则重新配药,若否,所述层流洁净单元进行清洁消毒。 The mother liquor was injected into the mixing and infusion bottles; determining whether said powder in a sealed vial, if so, the extracting means extracts the pharmaceutical mother liquor into said sealed vial, the diluent and powder mixture is formed, and then extracting the said diluent and said mother liquor into said mixing infusion bottles; if not, the extraction unit extracts the drugs sealed vial and the drug solution is injected into the mother liquor mixed infusion bottles; if needed dispensing, If the re-dispensing, if not, the laminar flow cleaning and disinfection unit.
15.根据权利要求14所述的自动化配药方法,其特征在于,在判断是否还需配药的步骤之前还包括步骤:利用澄清度检验单元对所述输液瓶内的药液检验,若澄清则输出所述输液瓶;若不澄清则重新配药。 15. The automated method of dispensing according to claim 14, characterized in that, prior to the step of determining whether the dispensing needs further comprising the step of: using a test liquid Clarity checking unit the infusion bottle, and if the output clarifying the infusion bottle; if clarification is dispensed again.
16.根据权利要求14所述的自动化配药方法,其特征在于,所述图像处理单元处理图像信息具体包括以下步骤:读取所述图像信息; 计算所述安瓿瓶的倾角;判断所述倾角是否小于预设角度,若否,将所述图像信息进行旋转至所述倾角小于预设角度;若是,计算所述安瓿瓶的水平边缘和竖直边缘并将所述水平边缘和竖直边缘二值化; 将所述水平边缘和竖直边缘投影成Y轴和X轴的直方图;根据所述直方图找出所述安瓿瓶的底面位置、顶面位置、颈部位置及所述药液的液面位置;根据所述底面位置及液面位置计算液面高度。 16. The automated method of dispensing according to claim 14, wherein the image processing unit processing the image information comprises the steps of: reading the image information; calculating the angle of inclination of the ampule; determining whether the tilt angle is less than the predetermined angle, if not, the image information to the rotation angle is less than a predetermined angle; if the level is calculated and the vertical edge of the ampoule and the horizontal edges and vertical edges binary edge of; the vertical edge and horizontal edge histogram projected into the X-axis and Y-axis; according to the histogram to find the position of a bottom surface of the ampoule, the top position, and the position of the neck of the chemical level position; calculated according to the liquid level of the bottom surface and the liquid level position.
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