CN102716028A - Medicine dispensing robot and medicine dispensing method - Google Patents
Medicine dispensing robot and medicine dispensing method Download PDFInfo
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- CN102716028A CN102716028A CN2012101737711A CN201210173771A CN102716028A CN 102716028 A CN102716028 A CN 102716028A CN 2012101737711 A CN2012101737711 A CN 2012101737711A CN 201210173771 A CN201210173771 A CN 201210173771A CN 102716028 A CN102716028 A CN 102716028A
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Abstract
The invention provides a medicine dispensing robot and a medicine dispensing method. The medicine dispensing robot comprises a frame, a shell module, a medicine frame, a medicine conveying module, a printing module, a laser scanning module, a machine vision module, a clamping manipulator, an injection manipulator, a medicine disinfection module, a medicine opening module, a medicine weighing module and a waste treatment module; the frame and the shell module are used for forming a closed medicine dispensing cavity and controlling the medicine dispensing environment of the medicine dispensing cavity; the frame and the shell module are provided with a medicine placement door; the medicine frame and the medicine conveying module are used for conveying the medicines; the printing module is used for printing dispensed medicine information record lists and labels; the laser scanning module is mainly used for scanning the medicines on the medicine frame and the medicine conveying module; the machine vision module is mainly used for acquiring the shape parameters of the medicines; the clamping manipulator is mainly used for clamping the medicines and coordinating the operations of the modules. According to the medicine dispensing robot and the medicine dispensing method, the medicine dispensing cost is lowered while the medicine dispensing efficiency is improved.
Description
[technical field]
The present invention relates to a kind of robot, particularly relate to a kind of robot and dosage thereof of making up a prescription.
[background technology]
At present, the configuration of the medicine of most of hospitals is accomplished in the Dispensary by the nurse, and its operating process is following: before making up a prescription, operator are ready to treat power dispensers and medical instrument (ampoule bottle, cillin bottle, transfusion bag, syringe etc.); Relevant medicine of inspection and medical instrument information (three inspections and seven verifications); Open drug container (ampoule bottle, cillin bottle, transfusion bag, syringe etc.); The sterilization of contact site (being primarily aimed at ampoule bottle, cillin bottle, transfusion bag); Manual pick is carried out the medicine suction with syringe; Be injected into transfusion bag or infusion bottle to medicine; The filling records card also will be joined transfusion bag and put into the transfusion bag depositing basket.
There is following problem in the above-mentioned manual work process of making up a prescription:
Because dispensing operation environmental bacteria, dust content are generally higher, therefore when opening medicine bottle and suction medicine, easily medicine and medical instrument are polluted, thereby infusion reaction takes place, patient is worked the mischief.
When the deleterious anti-tumor medicine of preparation; When opening medicine bottle and suction medicine, medicine can overflow drug particle through the pin hole opened, syringe needle, liquid bottleneck etc.; Form invisible, the virose microgranule aerosol of naked eyes; Get into the nurse's that makes up a prescription human body through approach such as contact skin, respiratory tract suctions, possibly cause toxic reactions such as leukocyte, platelet decline, menoxenia, alopecia, and the chronic lesion that occurs possibly be cancer, fertility Issue, gene alteration, miscarriage, monster etc.
In the secular work process of making up a prescription, inevitably run into some fortuitous events; Fall to make on the ground medicine to overflow such as vial or ampoule, medicated powder or medicinal liquid splash when breaking ampoule into two with one's hands, and medicinal liquid overflows during the suction air-tight bottle; Syringe needle comes off in operating process; Stabbed by the syringe needle accident, the processing garbage is improper etc., all may damage the personnel of making up a prescription.
At last, nurse institute's every day power dispensers up hundreds of bottle that makes up a prescription, workload is big, has taken the nursing resource of a large amount of preciousnesses, secular repetitive operation, fatiguability is made mistakes.
[summary of the invention]
In view of above-mentioned condition, be necessary to provide a kind of safety, high-efficiency automatic medical preparation robot and dosage thereof.
A kind of robot that makes up a prescription comprises:
Frame and shell module are used to form the cavity that makes up a prescription of sealing, and control the environment that makes up a prescription of the cavity that makes up a prescription, and said frame and shell module have medicine and place door;
Medicine frame and medicine delivery module are used to carry medicine;
Print module is used for printing make up a prescription information label and label;
Laser scanning module is mainly used in the medicine on scanning medicine frame and the medicine delivery module, so that confirm the medicine exact position;
Machine vision module is mainly used in the form parameter of obtaining medicine;
Clamping manipulator is mainly used in the clamping medicine and at each intermodule coordinated manipulation;
The injection machinery hands is mainly used in and carries out injection operation;
The medicine disinfection module is mainly used in before making up a prescription medicine and medical instrument is carried out disinfection;
The medicine opening module is mainly used in and opens the medicine medical instrument;
The medicine Weighing module, the weight that is mainly used in medicine in the process of making up a prescription detects and checks; And
The waste disposal module is mainly used in and deposits the refuse that produces in the process of making up a prescription.
Among embodiment, said frame and shell module comprise therein:
Shell is mainly used in and forms the said cavity that makes up a prescription, and said medicine is placed door and is located on the said shell;
Clean unit is mainly used in the cleanliness factor of controlling the environment that makes up a prescription; And
Temperature conditioning unit is mainly used in temperature and the humidity of controlling the environment that makes up a prescription.
Among embodiment, said medicine frame and medicine delivery module comprise therein:
The medicine fixture unit is mainly used in the medicine that clamping places;
The medicine delivery unit is mainly used in and transmits medicine to assigned address.
Among embodiment, said clamping manipulator comprises the first translational degree of freedom mechanism, the second translational degree of freedom mechanism, rotational freedom mechanism and clamps hands grabs therein; The said first translational degree of freedom mechanism and the second translational degree of freedom mechanism are used to order about said clamping and hold translation on two different directions in hand; Said rotational freedom mechanism is used to drive said clamping and holds rotation in hand; Said clamping is held in hand and is used for clamping medicine and medical instrument.
Therein among embodiment, said injection machinery hands comprises that rotary freedom mechanism, translational degree of freedom mechanism, first hold in hand and second holds in hand; Said rotary freedom mechanism is mainly used in injector-actuated and in the medicine aspiration procedure, turns to; Said translational degree of freedom mechanism is used to drive said first and holds in hand and move up and down; Said first holds the piston that is used for the clamping syringe in hand; Said second holds in hand and is used for the clamping syringe body.
Among embodiment, said medicine opening module comprises opens medicine with cutter head and power set therein, and said power set drive said unlatching medicine and move with cutter head.
A kind of dosage, it adopts the robot of above-mentioned arbitrary selection, and said dosage comprises:
Said medicine frame and medicine delivery module move with respect to said laser scanning module, and said laser scanning module scans medicine and medical instrument and knows the positional information of said medicine and medical instrument;
Said medicine frame and medicine delivery module move with respect to said machine vision module, and said machine vision module scans said medicine and medical instrument and knows the form parameter of said medicine and medical instrument;
Said injection machinery hands and said clamping manipulator interoperation and said medicine is injected in the transfusion bag; And
If said medicine has a plurality of; After completion is all prepared with said medicine in order by the then said robot that makes up a prescription; Said clamping manipulator action is put into said medicine frame and medicine delivery module with the transfusion bag for preparing, and places the door place and the transfusion bag for preparing is sent to said medicine.
Therein among embodiment, if medicine is an ampoule bottle, then said injection machinery hands and said clamping manipulator interoperation and step that said medicine is injected in the transfusion bag further comprises:
Said clamping manipulator is planned the action of its hand according to the information that laser scanning module and machine vision module provide, and takes off syringe from said medicine frame and medicine delivery module, said syringe is put into said injection machinery on hand, and takes off pinhead sleeve;
Said clamping manipulator takes off ampoule bottle from said medicine frame and medicine delivery module, said ampoule bottle is put into said disinfection module place carries out disinfection;
After sterilization was accomplished, said clamping manipulator was put into said Weighing module with said ampoule bottle again and carries out weighing operation;
Weigh after the completion, said clamping manipulator is put into said opening module with said ampoule bottle and carries out the head open operation;
After head was opened, said clamping manipulator was put into said injection machinery hands place with said ampoule bottle and carries out vacuuming operation, tilts while aspirating, so that residual liquor is minimum;
Whether after suction was accomplished, said clamping manipulator was put into said Weighing module with said ampoule bottle again and carries out weighing operation, qualified to judge suction;
Weigh after the completion, said clamping manipulator is put into the ampoule bottle of sky the rubbish Lou of said waste disposal module;
Said clamping manipulator takes off transfusion bag from medicine frame and medicine delivery module, said transfusion bag is put into said disinfection module carries out disinfection;
After sterilization was accomplished, said clamping manipulator was put into said Weighing module with said transfusion bag again and carries out weighing operation;
Weigh after the completion, said clamping manipulator is put into said injection machinery hands place with said transfusion bag and carries out injection operation; And
Whether after injection was accomplished, said clamping manipulator was put into Weighing module with said transfusion bag again and carries out weighing operation, qualified to judge injection.
Among embodiment,, and be powder in the cillin bottle therein if medicine is a cillin bottle, then said injection machinery hands and said clamping manipulator interoperation and step that said medicine is injected in the transfusion bag further comprises:
The information that said clamping manipulator provides according to said laser scanning module and machine vision module; Plan the action of its hand; Take off syringe from said medicine frame and medicine delivery module, said syringe is put into said injection machinery on hand, and take off pinhead sleeve;
Said clamping manipulator takes off transfusion bag from said medicine frame and medicine delivery module, said transfusion bag is put into said disinfection module place carries out disinfection;
After sterilization was accomplished, said clamping manipulator was put into said Weighing module with said transfusion bag again and carries out weighing operation;
Weigh after the completion, said clamping manipulator is put into injection machinery hands place with said transfusion bag and carries out vacuuming operation, and said transfusion bag is handstand state, in order to avoid the suction air;
Whether after suction was accomplished, said clamping manipulator was put into said Weighing module with said transfusion bag again and carries out weighing operation, qualified to judge suction;
Said clamping manipulator takes off cillin bottle from said medicine frame and medicine delivery module, said cillin bottle is put into said disinfection module place carries out disinfection;
After sterilization was accomplished, said clamping manipulator was put into said Weighing module with said cillin bottle again and carries out weighing operation;
Weigh after the completion, said clamping manipulator is put into said opening module with said cillin bottle and carries out the head open operation;
After head was opened, said clamping manipulator was put into said injection machinery hands place with said cillin bottle and carries out injection operation;
Whether after injection was accomplished, said clamping manipulator was put into said Weighing module with said cillin bottle again and carries out weighing operation, qualified to judge injection;
Weigh after the completion, said clamping manipulator shakes operation to said cillin bottle, so that the powder in the said cillin bottle fully dissolves;
After concussion was accomplished, said clamping manipulator was put into said injection machinery hands place with said cillin bottle and carries out vacuuming operation;
Whether after suction was accomplished, said clamping manipulator was put into said Weighing module with said cillin bottle again and carries out weighing operation, qualified to judge suction;
Weigh after the completion, said clamping manipulator is put into the cillin bottle of sky the rubbish Lou of said waste disposal module;
Said clamping manipulator takes off transfusion bag, said transfusion bag is put into said injection machinery hands place carries out injection operation; And
Whether after injection was accomplished, said clamping manipulator was put into said Weighing module with transfusion bag again and carries out weighing operation, qualified to judge injection.
Among embodiment,, and be water preparation in the cillin bottle therein if medicine is a cillin bottle, then said injection machinery hands and said clamping manipulator interoperation and step that said medicine is injected in the transfusion bag further comprises:
Said clamping manipulator is planned the action of its hand according to the information that said laser scanning module machine vision module provides, and takes off syringe from said medicine frame and medicine delivery module, syringe is put into injection machinery on hand, and takes off pinhead sleeve;
Said clamping manipulator takes off cillin bottle from said medicine frame and medicine delivery module, said cillin bottle is put into said disinfection module place carries out disinfection;
After sterilization was accomplished, said clamping manipulator was put into said Weighing module with said cillin bottle again and carries out weighing operation;
Weigh after the completion, said clamping manipulator is put into said opening module with said cillin bottle and carries out the head open operation;
After head was opened, said clamping manipulator was put into said injection machinery hands place with said cillin bottle and carries out vacuuming operation;
Whether after suction was accomplished, said clamping manipulator was put into said Weighing module with said cillin bottle again and carries out weighing operation, qualified to judge suction;
Weigh after the completion, said clamping manipulator is put into the cillin bottle of sky the rubbish Lou of said waste disposal module;
Said clamping manipulator takes off transfusion bag, said transfusion bag is put into injection machinery hands place carries out injection operation; And
Whether after injection was accomplished, said clamping manipulator was put into Weighing module with said transfusion bag again and carries out weighing operation, qualified to judge injection.
Through above-mentioned make up a prescription robot and dosage thereof; Solved the variety of issue that traditional-handwork makes up a prescription and exists; Have the environment of making up a prescription cleaning, process for preparation is aseptic, it is accurately controlled to make up a prescription, both avoided patient's cross infection, protected again that the personnel's that make up a prescription is healthy and safe; When having improved dispensing efficiency, reduced the cost that makes up a prescription.
[description of drawings]
Fig. 1 is the structural representation of the robot that makes up a prescription of this embodiment;
Fig. 2 is the medicine frame of the robot that makes up a prescription shown in Figure 1 and the structural representation of medicine delivery module;
Fig. 3 is the medicine frame of the robot that makes up a prescription shown in Figure 1 and the structural representation at another visual angle of medicine delivery module;
Fig. 4 is the structural representation of the clamping manipulator of the robot that makes up a prescription shown in Figure 1;
Fig. 5 is the structural representation of the injection machinery hands of the robot that makes up a prescription shown in Figure 1;
Fig. 6 is the structural representation at another visual angle of injection machinery hands of the robot that makes up a prescription shown in Figure 1;
Fig. 7 is the structural representation of the medicine opening module of the robot that makes up a prescription shown in Figure 1;
Fig. 8 is the flow chart of the robot dosage that makes up a prescription of this embodiment;
Fig. 9 is the flow chart of the step 206 of the robot dosage that makes up a prescription shown in Figure 8;
Figure 10 is the flow chart of another embodiment of the step 206 of the robot dosage that makes up a prescription shown in Figure 8;
Figure 11 is the flow chart of another embodiment of the step 206 of the robot dosage that makes up a prescription shown in Figure 8.
[specific embodiment]
For the ease of understanding the present invention, will more comprehensively describe the present invention with reference to relevant drawings below.Provided preferred embodiment of the present invention in the accompanying drawing.But the present invention can realize with many different forms, be not limited to embodiment described herein.On the contrary, provide the purpose of these embodiment be make the understanding of disclosure of the present invention comprehensively thorough more.
Need to prove, when element is called as " being fixed in " another element, it can be directly on another element or also can have middle element.When an element is considered to " connection " another element, it can be to be directly connected to another element or possibly to have element placed in the middle simultaneously.Term as used herein " vertical ", " level ", " left side ", " right side " and similar statement are just for illustrative purposes.
Only if definition is arranged in addition, employed all technology of this paper and scientific terminology are identical with the implication that belongs to those skilled in the art's common sense of the present invention.Among this paper in description of the present invention employed term be not intended to be restriction the present invention just in order to describe the purpose of concrete embodiment.Term as used herein " and/or " comprise one or more relevant Listed Items arbitrarily with all combinations.
See also Fig. 1; The robot 100 that makes up a prescription of embodiment of the present invention comprises frame and shell module 110, medicine frame and medicine delivery module 120, laser scanning module 130, machine vision module 140, clamping manipulator 150, injection machinery hands 160, print module, medicine disinfection module, medicine opening module 190, medicine Weighing module and waste disposal module.
Frame and shell module 110 are used to form the cavity that makes up a prescription of sealing, and control the environment that makes up a prescription of the cavity that makes up a prescription, and concrete, frame and shell module 110 comprise frame, shell, clean unit and temperature conditioning unit.Wherein, clean unit is mainly used in the cleanliness factor of controlling the environment that makes up a prescription, and temperature conditioning unit is mainly used in temperature and the humidity of controlling the environment that makes up a prescription.Frame is mainly used in carries other each modules, and shell is mainly used in the cavity that makes up a prescription that forms sealing, and encapsulation frame and other each modules.Shell is provided with medicine and places door, is used for medicine is positioned over medicine frame and medicine delivery module 120.
See also Fig. 2 and Fig. 3, medicine frame and medicine delivery module 120 are used to carry medicine, and be concrete, and medicine frame and medicine delivery module 120 comprise medicine fixture unit 125 and medicine delivery unit 128.Wherein medicine fixture unit 125 is mainly used in the medicine that clamping places, and this medicine fixture unit 125 has the self adaptation regulatory function, can regulate the medicine that size varies in size with clamping automatically; Medicine delivery unit 128 is mainly used in and transmits medicine to assigned address, so that next step operation.Present typical medicine has ampoule bottle 121, cillin bottle (water preparation 122, powder 123, oil preparation 124), syringe 126, transfusion bag 127 etc.
See also Fig. 4, clamping manipulator 150 is mainly used in the clamping medicine and at each intermodule coordinated manipulation, specifically in this embodiment, clamping manipulator 150 is made up of the mechanical arm of a four-degree-of-freedom.Clamping manipulator 150 comprises the first translational degree of freedom mechanism 151, the second translational degree of freedom mechanism 152, rotational freedom mechanism 153 and clamps holds 154 in hand.The first translational degree of freedom mechanism 151 and the second translational degree of freedom mechanism 152 are used to order about clamping and hold 154 translations on two different directions in hand, and it mainly is made up of guide rail, leading screw, shaft coupling, bearing etc. respectively.Rotational freedom mechanism 153 is used for driving clamping and holds 154 rotations in hand, is mainly used in the medicine upset and the concussion that realize in the process of making up a prescription and dissolves.Clamping hold in hand 154 be used for clamping all size model medicine and medical instrument, it has adaptation function, can be applicable to ampoule, cillin bottle, syringe, transfusion bag of all size diameter etc.
See also Fig. 5 and Fig. 6, injection machinery hands 160 is mainly used in and carries out injection operation, and specifically in this embodiment, injection machinery hands 160 is made up of the mechanical arm of a four-degree-of-freedom.Injection machinery hands 160 comprises that rotary freedom mechanism 161, translational degree of freedom mechanism 162, first hold 163 and second in hand and hold 164 in hand.Wherein rotary freedom mechanism 161 is mainly used in injector-actuated and in the medicine aspiration procedure, turns to.Translational degree of freedom mechanism 162 is used to drive first and holds 163 in hand and move up and down, thereby realizes the auto-pumping action.First hold in hand 163 be used for the clamping syringe piston, it is moved up and down, be used to realize suction action.Second holds 164 in hand is used to simulate holding action, in injection process, mainly plays the clamping syringe body.
Print module is the multi-function printer of standard, is used for printing make up a prescription information label and label, for example, and forms such as various forms, label in the system.
The medicine disinfection module is mainly used in before making up a prescription medicine and medical instrument is carried out disinfection, and sterilised liq can be selected for use as required.
See also Fig. 7, medicine opening module 190 is mainly used in opens medicine and medical instrument, like the head of the head of ampoule bottle, cillin bottle, pinhead sleeve etc.Specifically in this embodiment, medicine opening module 190 comprises opens medicine with cutter head 192 and power set 193, and power set 193 drive opens medicine with cutter head 192 actions.In this embodiment, be that example describes with ampoule bottle 191, power set 193 are made up of motor, decelerator, shaft coupling etc., drive cutter head 192 and make high speed rotary motion, hit ampoule bottle 191 heads, always realize breakdown action.
The weight that the medicine Weighing module is mainly used in medicine in the process of making up a prescription detects, checks, for the safe operation of system provides reliable guarantee.
The waste disposal module is mainly used in deposits the refuse that produces in the process of making up a prescription, and it has the refuse of isolation and makes up a prescription environment, avoids the medicine cross-contamination.
See also Fig. 8, the robot dosage that makes up a prescription of this embodiment comprises the steps:
Step S201 opens machine, the preceding preparation of making up a prescription, and the environment that mainly makes up a prescription is regulated, and for example sterilizes, adjustings such as cleaning, temperature, humidity, makes equipment be in SBR;
Step S202; With ready patient's prescription information (ampoule bottle, cillin bottle, transfusion bag; The quantity of syringe, volume etc.) the make up a prescription system of robot of input; The software system of robot of making up a prescription carries out the inspection of basic pharmaceutical incompatibility to medicine, and prints medicine and medical instrument information labels, and printed label is pasted on the corresponding medicine and medical instrument.
Step S203 opens medicine and places door, places medicine and medical instrument (ampoule bottle, cillin bottle, transfusion bag, syringe etc.) according to predetermined rule, closes medicine then and places door.
Step S204, making up a prescription releases the button open after, medicine frame and medicine delivery module move with respect to laser scanning module, laser scanning module scans medicine and medical instrument and knows the positional information of each medicine and medical instrument.
Step S205, medicine frame and medicine delivery module move with respect to machine vision module, and machine vision module scans medicine and medical instrument and knows the form parameter of each medicine and medical instrument.
Step S206, injection machinery hands and clamping manipulator interoperation and medicine is injected in the transfusion bag.
Step S207; If the configuration medicine has a plurality of; Then make up a prescription after robot all prepares completion to the medicine on the complete prescription in order; The clamping manipulator action is put into the transfusion bag for preparing on the medicine frame of medicine frame and medicine delivery module, and the medicine delivery module is sent to medicine with the transfusion bag for preparing and places the door place.
Step S208, system sounds prompting prescription completions of making up a prescription, the print module printing simultaneously information label that makes up a prescription.
Step S209 opens medicine and places door, takes off the medicine that configures and pastes the upward printed information of making up a prescription label.
Need to prove that if according to the practical situation needs, step S201 ~ S203, S208, S209 can omit.
See also Fig. 9, if medicine is an ampoule bottle, then step S206 further comprises the steps:
Step S2061, clamping manipulator is planned the action of its hand according to the information that laser scanning module and machine vision module provide, and takes off syringe from medicine frame and medicine delivery module, syringe is put into injection machinery on hand, and takes off pinhead sleeve;
Step S2062, clamping manipulator takes off ampoule bottle from medicine frame and medicine delivery module, ampoule bottle is put into the disinfection module place carries out disinfection;
Step S2063, after sterilization was accomplished, clamping manipulator was put into Weighing module with ampoule bottle again and carries out weighing operation;
Step S2064 weighs after the completion, and clamping manipulator is put into opening module with ampoule bottle and carries out the head open operation;
Step S2065, after head was opened, clamping manipulator was put into injection machinery hands place with ampoule bottle and carries out vacuuming operation, tilts while aspirating, so that residual liquor is minimum;
Step S2066, whether after suction was accomplished, clamping manipulator was put into Weighing module with ampoule bottle again and carries out weighing operation, qualified to judge suction;
Step S2067 weighs after the completion, and clamping manipulator is put into the ampoule bottle of sky the rubbish Lou of waste disposal module;
Step S2068, clamping manipulator takes off transfusion bag from medicine frame and medicine delivery module, transfusion bag is put into disinfection module carries out disinfection;
Step S2069, after sterilization was accomplished, clamping manipulator was put into Weighing module with transfusion bag again and carries out weighing operation;
Step S20610 weighs after the completion, and clamping manipulator is put into injection machinery hands place with transfusion bag and carries out injection operation;
Step S20611, whether after injection was accomplished, clamping manipulator was put into Weighing module with transfusion bag again and carries out weighing operation, qualified to judge injection.
Seeing also Figure 10, if medicine is a cillin bottle, and is powder in the cillin bottle, and step S206 comprises the steps:
Step S3061, clamping manipulator is planned the action of its hand according to the information that laser scanning module and machine vision module provide, and takes off syringe from medicine frame and medicine delivery module, syringe is put into injection machinery on hand, and takes off pinhead sleeve;
Step S3062, clamping manipulator takes off transfusion bag from medicine frame and medicine delivery module, transfusion bag is put into the disinfection module place carries out disinfection;
Step S3063, after sterilization was accomplished, clamping manipulator was put into Weighing module with transfusion bag again and carries out weighing operation;
Step S3064 weighs after the completion, and clamping manipulator is put into injection machinery hands place with transfusion bag and carries out vacuuming operation, and transfusion bag is handstand state, in order to avoid the suction air;
Step S3065, whether after suction was accomplished, clamping manipulator was put into Weighing module with transfusion bag again and carries out weighing operation, qualified to judge suction;
Step S3066, clamping manipulator takes off cillin bottle from medicine frame and medicine delivery module, cillin bottle is put into the disinfection module place carries out disinfection;
Step S3067, after sterilization was accomplished, clamping manipulator was put into Weighing module with cillin bottle again and carries out weighing operation;
Step S3068 weighs after the completion, and clamping manipulator is put into opening module with cillin bottle and carries out the head open operation;
Step S3069, after head was opened, clamping manipulator was put into injection machinery hands place with cillin bottle and carries out injection operation;
Step S30610, whether after injection was accomplished, clamping manipulator was put into Weighing module with cillin bottle again and carries out weighing operation, qualified to judge injection;
Step S30611 weighs after the completion, and clamping manipulator shakes operation to cillin bottle, so that the powder in the cillin bottle fully dissolves;
Step S30612, after concussion was accomplished, clamping manipulator was put into injection machinery hands place with cillin bottle and carries out vacuuming operation;
Step S30613, whether after suction was accomplished, clamping manipulator was put into Weighing module with cillin bottle again and carries out weighing operation, qualified to judge suction;
Step S30614 weighs after the completion, and clamping manipulator is put into the cillin bottle of sky the rubbish Lou of waste disposal module;
Step S30615, clamping manipulator takes off transfusion bag, transfusion bag is put into injection machinery hands place carries out injection operation;
Step S30616, whether after injection was accomplished, clamping manipulator was put into Weighing module with transfusion bag again and carries out weighing operation, qualified to judge injection.
Seeing also Figure 11, if medicine bottle is a cillin bottle, and is water preparation in the cillin bottle, and then step S206 further comprises:
Step S4061, clamping manipulator is planned the action of its hand according to the information that laser scanning module and machine vision module provide, and takes off syringe from medicine frame and medicine delivery module, syringe is put into injection machinery on hand, and takes off pinhead sleeve;
Step S4062, clamping manipulator takes off cillin bottle from medicine frame and medicine delivery module, cillin bottle is put into the disinfection module place carries out disinfection;
Step S4063, after sterilization was accomplished, clamping manipulator was put into Weighing module with cillin bottle again and carries out weighing operation;
Step S4064 weighs after the completion, and clamping manipulator is put into opening module with cillin bottle and carries out the head open operation;
Step S4065, after head was opened, clamping manipulator was put into injection machinery hands place with cillin bottle and carries out vacuuming operation;
Step S4066, whether after suction was accomplished, clamping manipulator was put into Weighing module with cillin bottle again and carries out weighing operation, qualified to judge suction;
Step S4067 weighs after the completion, and clamping manipulator is put into the cillin bottle of sky the rubbish Lou of waste disposal module;
Step S4068, clamping manipulator takes off transfusion bag, cillin bottle is put into injection machinery hands place carries out injection operation;
Step S4069, whether after injection was accomplished, clamping manipulator was put into Weighing module with cillin bottle again and carries out weighing operation, qualified to judge injection.
Through above-mentioned make up a prescription robot and dosage thereof; Solved the variety of issue that traditional-handwork makes up a prescription and exists; Have the environment of making up a prescription cleaning, process for preparation is aseptic, it is accurately controlled to make up a prescription, both avoided patient's cross infection, protected again that the personnel's that make up a prescription is healthy and safe; When having improved dispensing efficiency, reduced the cost that makes up a prescription.
The above embodiment has only expressed several kinds of embodiments of the present invention, and it describes comparatively concrete and detailed, but can not therefore be interpreted as the restriction to claim of the present invention.Should be pointed out that for the person of ordinary skill of the art under the prerequisite that does not break away from the present invention's design, can also make some distortion and improvement, these all belong to protection scope of the present invention.Therefore, the protection domain of patent of the present invention should be as the criterion with accompanying claims.
Claims (10)
1. the robot that makes up a prescription is characterized in that, comprising:
Frame and shell module are used to form the cavity that makes up a prescription of sealing, and control the environment that makes up a prescription of the cavity that makes up a prescription, and said frame and shell module have medicine and place door;
Medicine frame and medicine delivery module are used to carry medicine;
Print module is used for printing make up a prescription information label and label;
Laser scanning module is mainly used in the medicine on scanning medicine frame and the medicine delivery module, so that confirm the medicine exact position;
Machine vision module is mainly used in the form parameter of obtaining medicine;
Clamping manipulator is mainly used in the clamping medicine and at each intermodule coordinated manipulation;
The injection machinery hands is mainly used in and carries out injection operation;
The medicine disinfection module is mainly used in before making up a prescription medicine and medical instrument is carried out disinfection;
Medicine opening module: be mainly used in and open the medicine medical instrument;
The medicine Weighing module, the weight that is mainly used in medicine in the process of making up a prescription detects and checks; And
The waste disposal module is mainly used in and deposits the refuse that produces in the process of making up a prescription.
2. the robot that makes up a prescription as claimed in claim 1 is characterized in that, said frame and shell module comprise:
Shell is mainly used in and forms the said cavity that makes up a prescription, and said medicine is placed door and is located on the said shell;
Clean unit is mainly used in the cleanliness factor of controlling the environment that makes up a prescription; And
Temperature conditioning unit is mainly used in temperature and the humidity of controlling the environment that makes up a prescription.
3. the robot that makes up a prescription as claimed in claim 1 is characterized in that, said medicine frame and medicine delivery module comprise:
The medicine fixture unit is mainly used in the medicine that clamping places;
The medicine delivery unit is mainly used in and transmits medicine to assigned address.
4. the robot that makes up a prescription as claimed in claim 1 is characterized in that, said clamping manipulator comprises the first translational degree of freedom mechanism, the second translational degree of freedom mechanism, rotational freedom mechanism and clamps hands grabs; The said first translational degree of freedom mechanism and the second translational degree of freedom mechanism are used to order about said clamping and hold translation on two different directions in hand; Said rotational freedom mechanism is used to drive said clamping and holds rotation in hand; Said clamping is held in hand and is used for clamping medicine and medical instrument.
5. the robot that makes up a prescription as claimed in claim 1 is characterized in that, said injection machinery hands comprises that rotary freedom mechanism, translational degree of freedom mechanism, first hold in hand and second holds in hand; Said rotary freedom mechanism is mainly used in injector-actuated and in the medicine aspiration procedure, turns to; Said translational degree of freedom mechanism is used to drive said first and holds in hand and move up and down; Said first holds the piston that is used for the clamping syringe in hand; Said second holds in hand and is used for the clamping syringe body.
6. the robot that makes up a prescription as claimed in claim 1 is characterized in that, said medicine opening module comprises opens medicine with cutter head and power set, and said power set drive said unlatching medicine and move with cutter head.
7. dosage, it adopts like each described robot of claim 1 ~ 6, and said dosage comprises:
Said medicine frame and medicine delivery module move with respect to said laser scanning module, and said laser scanning module scans medicine and medical instrument and knows the positional information of said medicine and medical instrument;
Said medicine frame and medicine delivery module move with respect to said machine vision module, and said machine vision module scans said medicine and medical instrument and knows the form parameter of said medicine and medical instrument;
Said injection machinery hands and said clamping manipulator interoperation and said medicine is injected in the transfusion bag; And
If said medicine has a plurality of; After completion is all prepared with said medicine in order by the then said robot that makes up a prescription; Said clamping manipulator action is put into said medicine frame and medicine delivery module with the transfusion bag for preparing, and places the door place and the transfusion bag for preparing is sent to said medicine.
8. dosage as claimed in claim 7 is characterized in that, if medicine is ampoule bottle, and then said injection machinery hands and said clamping manipulator interoperation and step that said medicine is injected in the transfusion bag further comprises:
Said clamping manipulator is planned the action of its hand according to the information that laser scanning module and machine vision module provide, and takes off syringe from said medicine frame and medicine delivery module, said syringe is put into said injection machinery on hand, and takes off pinhead sleeve;
Said clamping manipulator takes off ampoule bottle from said medicine frame and medicine delivery module, said ampoule bottle is put into said disinfection module place carries out disinfection;
After sterilization was accomplished, said clamping manipulator was put into said Weighing module with said ampoule bottle again and carries out weighing operation;
Weigh after the completion, said clamping manipulator is put into said opening module with said ampoule bottle and carries out the head open operation;
After head was opened, said clamping manipulator was put into said injection machinery hands place with said ampoule bottle and carries out vacuuming operation, tilts while aspirating, so that residual liquor is minimum;
Whether after suction was accomplished, said clamping manipulator was put into said Weighing module with said ampoule bottle again and carries out weighing operation, qualified to judge suction;
Weigh after the completion, said clamping manipulator is put into the ampoule bottle of sky the rubbish Lou of said waste disposal module;
Said clamping manipulator takes off transfusion bag from medicine frame and medicine delivery module, said transfusion bag is put into said disinfection module carries out disinfection;
After sterilization was accomplished, said clamping manipulator was put into said Weighing module with said transfusion bag again and carries out weighing operation;
Weigh after the completion, said clamping manipulator is put into said injection machinery hands place with said transfusion bag and carries out injection operation; And
Whether after injection was accomplished, said clamping manipulator was put into Weighing module with said transfusion bag again and carries out weighing operation, qualified to judge injection.
9. dosage as claimed in claim 7 is characterized in that, if medicine is cillin bottle, and is powder in the cillin bottle, then said injection machinery hands and said clamping manipulator interoperation and step that said medicine is injected in the transfusion bag further comprises:
The information that said clamping manipulator provides according to said laser scanning module and machine vision module; Plan the action of its hand; Take off syringe from said medicine frame and medicine delivery module, said syringe is put into said injection machinery on hand, and take off pinhead sleeve;
Said clamping manipulator takes off transfusion bag from said medicine frame and medicine delivery module, said transfusion bag is put into said disinfection module place carries out disinfection;
After sterilization was accomplished, said clamping manipulator was put into said Weighing module with said transfusion bag again and carries out weighing operation;
Weigh after the completion, said clamping manipulator is put into injection machinery hands place with said transfusion bag and carries out vacuuming operation, and said transfusion bag is handstand state, in order to avoid the suction air;
Whether after suction was accomplished, said clamping manipulator was put into said Weighing module with said transfusion bag again and carries out weighing operation, qualified to judge suction;
Said clamping manipulator takes off cillin bottle from said medicine frame and medicine delivery module, said cillin bottle is put into said disinfection module place carries out disinfection;
After sterilization was accomplished, said clamping manipulator was put into said Weighing module with said cillin bottle again and carries out weighing operation;
Weigh after the completion, said clamping manipulator is put into said opening module with said cillin bottle and carries out the head open operation;
After head was opened, said clamping manipulator was put into said injection machinery hands place with said cillin bottle and carries out injection operation;
Whether after injection was accomplished, said clamping manipulator was put into said Weighing module with said cillin bottle again and carries out weighing operation, qualified to judge injection;
Weigh after the completion, said clamping manipulator shakes operation to said cillin bottle, so that the powder in the said cillin bottle fully dissolves;
After concussion was accomplished, said clamping manipulator was put into said injection machinery hands place with said cillin bottle and carries out vacuuming operation;
Whether after suction was accomplished, said clamping manipulator was put into said Weighing module with said cillin bottle again and carries out weighing operation, qualified to judge suction;
Weigh after the completion, said clamping manipulator is put into the cillin bottle of sky the rubbish Lou of said waste disposal module;
Said clamping manipulator takes off transfusion bag, said transfusion bag is put into said injection machinery hands place carries out injection operation; And
Whether after injection was accomplished, said clamping manipulator was put into said Weighing module with transfusion bag again and carries out weighing operation, qualified to judge injection.
10. dosage as claimed in claim 7 is characterized in that, if medicine is cillin bottle, and is water preparation in the cillin bottle, then said injection machinery hands and said clamping manipulator interoperation and step that said medicine is injected in the transfusion bag further comprises:
Said clamping manipulator is planned the action of its hand according to the information that said laser scanning module machine vision module provides, and takes off syringe from said medicine frame and medicine delivery module, syringe is put into injection machinery on hand, and takes off pinhead sleeve;
Said clamping manipulator takes off cillin bottle from said medicine frame and medicine delivery module, said cillin bottle is put into said disinfection module place carries out disinfection;
After sterilization was accomplished, said clamping manipulator was put into said Weighing module with said cillin bottle again and carries out weighing operation;
Weigh after the completion, said clamping manipulator is put into said opening module with said cillin bottle and carries out the head open operation;
After head was opened, said clamping manipulator was put into said injection machinery hands place with said cillin bottle and carries out vacuuming operation;
Whether after suction was accomplished, said clamping manipulator was put into said Weighing module with said cillin bottle again and carries out weighing operation, qualified to judge suction;
Weigh after the completion, said clamping manipulator is put into the cillin bottle of sky the rubbish Lou of said waste disposal module;
Said clamping manipulator takes off transfusion bag, said transfusion bag is put into injection machinery hands place carries out injection operation; And
Whether after injection was accomplished, said clamping manipulator was put into Weighing module with said transfusion bag again and carries out weighing operation, qualified to judge injection.
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