CN102716028B - Medicine dispensing robot and medicine dispensing method - Google Patents
Medicine dispensing robot and medicine dispensing method Download PDFInfo
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- CN102716028B CN102716028B CN201210173771.1A CN201210173771A CN102716028B CN 102716028 B CN102716028 B CN 102716028B CN 201210173771 A CN201210173771 A CN 201210173771A CN 102716028 B CN102716028 B CN 102716028B
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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 completes in Dispensary by nurse, and its operating process is as follows: before making up a prescription, operator are ready to treat power dispensers and medical instrument (ampoule bottle, cillin bottle, transfusion bag, syringe etc.); Check relevant medicine 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 (mainly for ampoule bottle, cillin bottle, transfusion bag); The artificial syringe that adopts carries out medicine suction; Medicine is injected into transfusion bag or infusion bottle; Fill in registration card and put into transfusion bag depositing basket by joining transfusion bag.
The above-mentioned process of manually making up a prescription, there are the following problems:
Because dispensing operation environmental bacteria, dust content are generally higher, therefore, when opening medical bottle and suction medicine, easily medicine and medical instrument are polluted, thereby infusion reaction occurs, patient is worked the mischief.
When preparing poisonous anti-tumor medicine, when opening medical bottle and suction medicine, medicine can be through opening pin hole, syringe needle, liquid bottle mouth etc., drug particle is overflowed, form invisible, the virose microgranule aerosol of naked eyes, by approach such as contact skin, respiratory tract suctions, enter the nurse's that makes up a prescription human body, may cause the toxic reactions such as leukocyte, platelet decline, menoxenia, alopecia, and the chronic lesion occurring may be cancer, fertility Issue, gene alteration, miscarriage, monster etc.
In the long-term work process of making up a prescription, inevitably run into some fortuitous events, such as vial or ampoule fall to make on the ground medicine to overflow, when breaking ampoule into two with one's hands, medicated powder or medicinal liquid splash, liquid medicine spill during suction air-tight bottle, in operating process, syringe needle comes off, by syringe needle, surprisingly stabbed, processing garbage is improper etc., all may damage the personnel of making up a prescription.
Finally, nurse institute's every day power dispensers quantity of making up a prescription reaches hundreds of bottle, and workload is large, has taken the nursing resource of a large amount of preciousnesses, long-term repetitive operation, and fatiguability is made mistakes.
[summary of the invention]
In view of above-mentioned condition, be necessary to provide medical preparation robot of a kind of safe, efficient automatization and dosage thereof.
The robot that makes up a prescription, comprising:
Frame and shell module, be 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 described frame and shell module have medicine and place door;
Medicine frame and medicine delivery module, for delivery of medicine;
Print module, for printing make up a prescription information recording list and label;
Laser scanning module, is mainly used in scanning the medicine on medicine frame and medicine delivery module, to determine medicine exact position;
Machine vision module, is mainly used in obtaining the form parameter of medicine;
Clamping manipulator, is mainly used in clamping medicine and coordinated manipulation between modules;
Injection machinery hands, is mainly used in carrying out injection operation;
Medicine sterilization module, is mainly used in before making up a prescription, medicine and medical instrument being carried out disinfection;
Medicine opening module, is mainly used in opening medicine medical instrument;
Medicine weighing module, is mainly used in the weight of medicine in the process of making up a prescription to detect and check; And
Refuse processing module, is mainly used in depositing the refuse producing in the process of making up a prescription.
In an embodiment, described frame and shell module comprise therein:
Shell, the cavity that makes up a prescription described in being mainly used in forming, described medicine is placed door and is located on described shell;
Cleaning unit, is mainly used in controlling the cleanliness factor of environment of making up a prescription; And
Temperature conditioning unit, is mainly used in controlling make up a prescription temperature and the humidity of environment.
In an embodiment, described medicine frame and medicine delivery module comprise therein:
Medicine fixture unit, is mainly used in the medicine that clamping places;
Medicine delivery unit, is mainly used in transmitting medicine to assigned address.
In an embodiment, described 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; Translation in two different directions is grabbed for ordering about described clamping hands by described the first translational degree of freedom mechanism and the second translational degree of freedom mechanism; Described rotational freedom mechanism is used for driving described clamping hands to grab rotation; Described clamping hands is grabbed for clamping medicine and medical instrument.
Therein in an embodiment, described injection machinery hands comprises rotary freedom mechanism, translational degree of freedom mechanism, first-hand grab and second-hand grabs; Described rotary freedom mechanism is mainly used in injector-actuated and turns in medicine aspiration procedure; Described translational degree of freedom mechanism is used for driving described first-hand grabbing to move up and down; Described first-hand grabbing for clamping the piston of syringe; Described second-hand grabs for clamping syringe body.
In an embodiment, described medicine opening module comprises opens cutter head and power set for medicine therein, and described power set drive described unlatching medicine to move with cutter head.
A dosage, it adopts the robot of above-mentioned arbitrary selection, and described dosage comprises:
Described medicine frame and medicine delivery module move with respect to described laser scanning module, and described laser scanning module scans medicine and medical instrument and knows the positional information of described medicine and medical instrument;
Described medicine frame and medicine delivery module move with respect to described machine vision module, and described machine vision module scans described medicine and medical instrument and knows the form parameter of described medicine and medical instrument;
Described injection machinery hands and described clamping manipulator interoperation and described medicine is injected in transfusion bag; And
If it is a plurality of that described medicine has,, make up a prescription after robot all prepared described medicine in order, described clamping manipulator action, is put into described medicine frame and medicine delivery module by the transfusion bag preparing, and the transfusion bag preparing is sent to described medicine, places door place.
Therein in an embodiment, if medicine is ampoule bottle, described injection machinery hands and described clamping manipulator interoperation and step that described medicine is injected in transfusion bag further comprise:
The information that described clamping manipulator provides according to laser scanning module and machine vision module, plans the action of its hand, from described medicine frame and medicine delivery module, takes off syringe, described syringe is put into described injection machinery on hand, and takes off pinhead sleeve;
Described clamping manipulator takes off ampoule bottle from described medicine frame and medicine delivery module, described ampoule bottle is put into described sterilization module place and carries out disinfection;
After having sterilized, described clamping manipulator is put into described Weighing module by described ampoule bottle again and carries out weighing operation;
After having weighed, described clamping manipulator is put into described opening module by described ampoule bottle and carries out head open operation;
After head is opened, described clamping manipulator is put into described injection machinery hands place by described ampoule bottle and carries out vacuuming operation, and suction limit, limit tilts, so that residual liquor is minimum;
Whether, after having aspirated, described clamping manipulator is put into described Weighing module by described ampoule bottle again and carries out weighing operation, qualified to judge suction;
After having weighed, described clamping manipulator is put into empty ampoule bottle the rubbish Lou of described refuse processing module;
Described clamping manipulator takes off transfusion bag from medicine frame and medicine delivery module, described transfusion bag is put into described sterilization module and carries out disinfection;
After having sterilized, described clamping manipulator is put into described Weighing module by described transfusion bag again and carries out weighing operation;
After having weighed, described clamping manipulator is put into described injection machinery hands place by described transfusion bag and carries out injection operation; And
Whether, after having injected, described clamping manipulator is put into Weighing module by described transfusion bag again and carries out weighing operation, qualified to judge injection.
Therein in an embodiment, if medicine is cillin bottle, and be powder in cillin bottle, described injection machinery hands and described clamping manipulator interoperation and step that described medicine is injected in transfusion bag further comprises:
The information that described clamping manipulator provides according to described laser scanning module and machine vision module, plan the action of its hand, from described medicine frame and medicine delivery module, take off syringe, described syringe is put into described injection machinery on hand, and take off pinhead sleeve;
Described clamping manipulator takes off transfusion bag from described medicine frame and medicine delivery module, described transfusion bag is put into described sterilization module place and carries out disinfection;
After having sterilized, described clamping manipulator is put into described Weighing module by described transfusion bag again and carries out weighing operation;
After having weighed, described clamping manipulator is put into injection machinery hands place by described transfusion bag and carries out vacuuming operation, and described transfusion bag is handstand state, in order to avoid suction air;
Whether, after having aspirated, described clamping manipulator is put into described Weighing module by described transfusion bag again and carries out weighing operation, qualified to judge suction;
Described clamping manipulator takes off cillin bottle from described medicine frame and medicine delivery module, described cillin bottle is put into described sterilization module place and carries out disinfection;
After having sterilized, described clamping manipulator is put into described Weighing module by described cillin bottle again and carries out weighing operation;
After having weighed, described clamping manipulator is put into described opening module by described cillin bottle and carries out head open operation;
After head is opened, described clamping manipulator is put into described injection machinery hands place by described cillin bottle and carries out injection operation;
Whether, after having injected, described clamping manipulator is put into described Weighing module by described cillin bottle again and carries out weighing operation, qualified to judge injection;
After having weighed, described clamping manipulator shakes operation to described cillin bottle, so that the powder in described cillin bottle fully dissolves;
After having shaken, described clamping manipulator is put into described injection machinery hands place by described cillin bottle and carries out vacuuming operation;
Whether, after having aspirated, described clamping manipulator is put into described Weighing module by described cillin bottle again and carries out weighing operation, qualified to judge suction;
After having weighed, described clamping manipulator is put into empty cillin bottle the rubbish Lou of described refuse processing module;
Described clamping manipulator takes off transfusion bag, described transfusion bag is put into described injection machinery hands place and carries out injection operation; And
After having injected, whether described clamping manipulator is put into transfusion bag more described Weighing module and carries out weighing operation, qualified to judge injection.
Therein in an embodiment, if medicine is cillin bottle, and be water preparation in cillin bottle, described injection machinery hands and described clamping manipulator interoperation and step that described medicine is injected in transfusion bag further comprises:
The information that described clamping manipulator provides according to described laser scanning module machine vision module, plans the action of its hand, from described medicine frame and medicine delivery module, takes off syringe, syringe is put into injection machinery on hand, and takes off pinhead sleeve;
Described clamping manipulator takes off cillin bottle from described medicine frame and medicine delivery module, described cillin bottle is put into described sterilization module place and carries out disinfection;
After having sterilized, described clamping manipulator is put into described Weighing module by described cillin bottle again and carries out weighing operation;
After having weighed, described clamping manipulator is put into described opening module by described cillin bottle and carries out head open operation;
After head is opened, described clamping manipulator is put into described injection machinery hands place by described cillin bottle and carries out vacuuming operation;
Whether, after having aspirated, described clamping manipulator is put into described Weighing module by described cillin bottle again and carries out weighing operation, qualified to judge suction;
After having weighed, described clamping manipulator is put into empty cillin bottle the rubbish Lou of described refuse processing module;
Described clamping manipulator takes off transfusion bag, described transfusion bag is put into injection machinery hands place and carries out injection operation; And
Whether, after having injected, described clamping manipulator is put into Weighing module by described transfusion bag again and carries out weighing operation, qualified to judge injection.
By above-mentioned make up a prescription robot and dosage thereof; solved the variety of issue that traditional-handwork makes up a prescription and exists; there is the environment of making up a prescription cleaning; process for preparation is aseptic, accurately controlled, the cross infection of both having avoided patient of making up a prescription; 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.
[accompanying drawing explanation]
Fig. 1 is the structural representation of the robot that makes up a prescription of present embodiment;
Fig. 2 is shown in Fig. 1, make up a prescription the medicine frame of robot and the structural representation of medicine delivery module;
Fig. 3 is shown in Fig. 1, make up a prescription the medicine frame of robot and the structural representation at another visual angle of medicine delivery module;
Fig. 4 is the structural representation of clamping manipulator of robot of making up a prescription shown in Fig. 1;
Fig. 5 is the structural representation of injection machinery hands of robot of making up a prescription shown in Fig. 1;
Fig. 6 is the structural representation at another visual angle of injection machinery hands of robot of making up a prescription shown in Fig. 1;
Fig. 7 is the structural representation of medicine opening module of robot of making up a prescription shown in Fig. 1;
Fig. 8 is the flow chart of the robot dosage that makes up a prescription of present embodiment;
Fig. 9 is the flow chart of step 206 of robot dosage of making up a prescription shown in Fig. 8;
Figure 10 is the flow chart of another embodiment of step 206 of robot dosage of making up a prescription shown in Fig. 8;
Figure 11 is the flow chart of another embodiment of step 206 of robot dosage of making up a prescription shown in Fig. 8.
[specific embodiment]
For the ease of understanding the present invention, below with reference to relevant drawings, the present invention is described more fully.In accompanying drawing, provided preferred embodiment of the present invention.But the present invention can realize in many different forms, be not limited to embodiment described herein.On the contrary, providing the object of these embodiment is to make to the understanding of disclosure of the present invention more thoroughly comprehensively.
It should be noted that, when element is called as " being fixed on " another element, can directly can there is element placed in the middle in it on another element or also.When an element is considered to " connection " another element, it can be directly connected to another element or may have centering elements simultaneously.Term as used herein " vertical ", " level ", " left side ", " right side " and similar statement are just for illustrative purposes.
Unless otherwise defined, all technology of using herein and scientific terminology are identical with the implication that belongs to the common understanding of those skilled in the art of the present invention.The term using in description of the present invention herein, just in order to describe the object of specific embodiment, is not intended to be restriction the present invention.Term as used herein " and/or " comprise one or more relevant Listed Items arbitrarily with all combinations.
Refer to 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 sterilization module, medicine opening module 190, medicine weighing module and refuse processing 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, cleaning unit and temperature conditioning unit.Wherein, cleaning unit is mainly used in controlling the cleanliness factor of the environment that makes up a prescription, and temperature conditioning unit is mainly used in controlling temperature and the humidity of the environment that makes up a prescription.Frame is mainly used in carrying other modules, and shell is mainly used in forming the cavity that makes up a prescription of sealing, and encapsulates frame and other modules.Shell is provided with medicine and places door, for medicine being positioned over to medicine frame and medicine delivery module 120.
Refer to Fig. 2 and Fig. 3, medicine frame and medicine delivery module 120 are for delivery of medicine, 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 self adaptation regulatory function, the medicine that adjusting size varies in size with clamping automatically; Medicine delivery unit 128 is mainly used in transmitting medicine to assigned address, so that next step operation.Current typical medicine has ampoule bottle 121, cillin bottle (water preparation 122, powder 123, oil preparation 124), syringe 126, transfusion bag 127 etc.
Laser scanning module 130 need to be used together with print module, is mainly used in scanning the medicine on delivery unit 128, to determine its exact position, for subsequent operation provides data.
Machine vision module 140 comprises light source, controller, industrial lens etc., is mainly used in obtaining the form parameter of medicine.
Refer to Fig. 4, clamping manipulator 150 be mainly used in clamping medicine and between modules coordinated manipulation, specifically in the present embodiment, clamping manipulator 150 is comprised 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 hands grabs 154.154 translations in two different directions are grabbed for ordering about clamping hands by the first translational degree of freedom mechanism 151 and the second translational degree of freedom mechanism 152, and it is mainly comprised of guide rail, leading screw, shaft coupling, bearing etc. respectively.Rotational freedom mechanism 153, for driving clamping hands to grab 154 rotations, is mainly used in realizing medicine upset and the concussion of making up a prescription in process and dissolves.Clamp hands and grab 154 for clamping medicine and the medical instrument of all size model, it has adaptation function, can be applicable to the ampoule, cillin bottle, syringe, transfusion bag of all size diameter etc.
Refer to Fig. 5 and Fig. 6, injection machinery hands 160 is mainly used in carrying out injection operation, and specifically in the present embodiment, injection machinery hands 160 consists of the mechanical arm of a four-degree-of-freedom.Injection machinery hands 160 comprise rotary freedom mechanism 161, translational degree of freedom mechanism 162, first-hand grab 163 and second-hand grab 164.Wherein rotary freedom mechanism 161 is mainly used in injector-actuated and turns in medicine aspiration procedure.Translational degree of freedom mechanism 162 first-handly grabs 163 and moves up and down for driving, thereby realizes auto-pumping action.First-handly grab 163 for clamping the piston of syringe, it is moved up and down, for realizing suction action.Second-hand grabs 164 for simulating holding action, in injection process, mainly plays clamping syringe body.
Print module is the multi-function printer of standard, for printing make up a prescription information recording list and label, for example, the form such as various forms, label in system.
Medicine sterilization module is mainly used in before making up a prescription, medicine and medical instrument being carried out disinfection, and sterilised liq can be selected as required.
Refer to Fig. 7, medicine opening module 190 is mainly used in opening medicine and medical instrument, as the head of the head of ampoule bottle, cillin bottle, pinhead sleeve etc.Specifically in the present embodiment, medicine opening module 190 comprises opens cutter head 192 and power set 193 for medicine, and power set 193 drive opens cutter head 192 actions for medicine.In the present embodiment, the ampoule bottle 191 of take describes as example, and power set 193 consist of motor, decelerator, shaft coupling etc., and band dynamic cutter head 192 is made high speed rotary motion, hits ampoule bottle 191 heads, always realizes breakdown action.
Medicine weighing module is mainly used in the weight of medicine in the process of making up a prescription to detect, check, for the safe operation of system provides reliable guarantee.
Refuse processing module is mainly used in depositing the refuse producing in the process of making up a prescription, and it has isolation refuse and makes up a prescription environment, avoids medicine cross-contamination.
Refer to Fig. 8, the robot dosage that makes up a prescription of present embodiment, comprises the steps:
Step S201, opens machine, before making up a prescription, prepares, and the environment that mainly makes up a prescription regulates, and adjustings such as sterilization, clean, temperature, humidity makes equipment in SBR;
Step S202, by 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 basic pharmaceutical incompatibility inspection to medicine, and prints medicine and medical instrument information labels, by printed label sticking on corresponding medicine and medical instrument.
Step S203, opens medicine and places door, according to predetermined rule, places medicine and medical instrument (ampoule bottle, cillin bottle, transfusion bag, syringe etc.), then closes medicine 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 transfusion bag.
Step S207, if configuration medicine has a plurality of, make up a prescription after robot all prepared the medicine on a complete prescription in order, clamping manipulator action, the transfusion bag preparing is put on the medicine frame of medicine frame and medicine delivery module, medicine delivery module is sent to medicine by the transfusion bag preparing and places door place.
Step S208, system sounds prompting prescription has made up a prescription, and print module is printed the information recording list that makes up a prescription simultaneously.
Step S209, opens medicine and places door, takes off the medicine configuring and pastes the upper printed information recording list that makes up a prescription.
It should be noted that, if according to practical situation needs, step S201 ~ S203, S208, S209 can omit.
Refer to Fig. 9, if medicine is ampoule bottle, step S206 further comprises the steps:
Step S2061, the information that clamping manipulator provides according to laser scanning module and machine vision module, plans the action of its hand, from medicine frame and medicine delivery module, takes off syringe, 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 sterilization module place and carries out disinfection;
Step S2063, after having sterilized, clamping manipulator is put into ampoule bottle Weighing module again and carries out weighing operation;
Step S2064, after having weighed, clamping manipulator is put into opening module by ampoule bottle and carries out head open operation;
Step S2065, after head is opened, clamping manipulator is put into injection machinery hands place by ampoule bottle and carries out vacuuming operation, and suction limit, limit tilts, so that residual liquor is minimum;
Step S2066, after having aspirated, whether clamping manipulator is put into ampoule bottle Weighing module again and carries out weighing operation, qualified to judge suction;
Step S2067, after having weighed, clamping manipulator is put into empty ampoule bottle the rubbish Lou of refuse processing module;
Step S2068, clamping manipulator takes off transfusion bag from medicine frame and medicine delivery module, transfusion bag is put into sterilization module and carries out disinfection;
Step S2069, after having sterilized, clamping manipulator is put into transfusion bag Weighing module again and carries out weighing operation;
Step S20610, after having weighed, clamping manipulator is put into injection machinery hands place by transfusion bag and carries out injection operation;
Step S20611, after having injected, whether clamping manipulator is put into transfusion bag Weighing module again and carries out weighing operation, qualified to judge injection.
Referring to Figure 10, if medicine is cillin bottle, and is powder in cillin bottle, and step S206 comprises the steps:
Step S3061, the information that clamping manipulator provides according to laser scanning module and machine vision module, plans the action of its hand, from medicine frame and medicine delivery module, takes off syringe, 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 sterilization module place and carries out disinfection;
Step S3063, after having sterilized, clamping manipulator is put into transfusion bag Weighing module again and carries out weighing operation;
Step S3064, after having weighed, clamping manipulator is put into injection machinery hands place by transfusion bag and carries out vacuuming operation, and transfusion bag is handstand state, in order to avoid suction air;
Step S3065, after having aspirated, whether clamping manipulator is put into transfusion bag Weighing module 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 sterilization module place and carries out disinfection;
Step S3067, after having sterilized, clamping manipulator is put into cillin bottle Weighing module again and carries out weighing operation;
Step S3068, after having weighed, clamping manipulator is put into opening module by cillin bottle and carries out head open operation;
Step S3069, after head is opened, clamping manipulator is put into injection machinery hands place by cillin bottle and carries out injection operation;
Step S30610, after having injected, whether clamping manipulator is put into cillin bottle Weighing module again and carries out weighing operation, qualified to judge injection;
Step S30611, after having weighed, clamping manipulator shakes operation to cillin bottle, so that the powder in cillin bottle fully dissolves;
Step S30612, after having shaken, clamping manipulator is put into injection machinery hands place by cillin bottle and carries out vacuuming operation;
Step S30613, after having aspirated, whether clamping manipulator is put into cillin bottle Weighing module again and carries out weighing operation, qualified to judge suction;
Step S30614, after having weighed, clamping manipulator is put into empty cillin bottle the rubbish Lou of refuse processing module;
Step S30615, clamping manipulator takes off transfusion bag, transfusion bag is put into injection machinery hands place and carries out injection operation;
Step S30616, after having injected, whether clamping manipulator is put into transfusion bag Weighing module again and carries out weighing operation, qualified to judge injection.
Referring to Figure 11, if medicine bottle is cillin bottle, and is water preparation in cillin bottle, and step S206 further comprises:
Step S4061, the information that clamping manipulator provides according to laser scanning module and machine vision module, plans the action of its hand, from medicine frame and medicine delivery module, takes off syringe, 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 sterilization module place and carries out disinfection;
Step S4063, after having sterilized, clamping manipulator is put into cillin bottle Weighing module again and carries out weighing operation;
Step S4064, after having weighed, clamping manipulator is put into opening module by cillin bottle and carries out head open operation;
Step S4065, after head is opened, clamping manipulator is put into injection machinery hands place by cillin bottle and carries out vacuuming operation;
Step S4066, after having aspirated, whether clamping manipulator is put into cillin bottle Weighing module again and carries out weighing operation, qualified to judge suction;
Step S4067, after having weighed, clamping manipulator is put into empty cillin bottle the rubbish Lou of refuse processing module;
Step S4068, clamping manipulator takes off transfusion bag, cillin bottle is put into injection machinery hands place and carries out injection operation;
Step S4069, after having injected, whether clamping manipulator is put into cillin bottle Weighing module again and carries out weighing operation, qualified to judge injection.
By above-mentioned make up a prescription robot and dosage thereof; solved the variety of issue that traditional-handwork makes up a prescription and exists; there is the environment of making up a prescription cleaning; process for preparation is aseptic, accurately controlled, the cross infection of both having avoided patient of making up a prescription; 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 embodiment of the present invention, and it describes comparatively concrete and detailed, but can not therefore be interpreted as the restriction to the scope of the claims of the present invention.It should be pointed out that for the person of ordinary skill of the art, without departing from the inventive concept of the premise, 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 claims.
Claims (9)
1. the robot that makes up a prescription, is characterized in that, comprising:
Frame and shell module, be 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 described frame and shell module have medicine and place door;
Medicine frame and medicine delivery module, for delivery of medicine;
Print module, for printing make up a prescription information recording list and label;
Laser scanning module, is mainly used in scanning the medicine on medicine frame and medicine delivery module, to determine medicine exact position;
Machine vision module, is mainly used in obtaining the form parameter of medicine and medical instrument;
Clamping manipulator, is mainly used in clamping medicine and medical instrument coordinated manipulation between modules;
Injection machinery hands, is mainly used in carrying out injection operation;
Medicine sterilization module, is mainly used in before making up a prescription, medicine and medical instrument being carried out disinfection;
Medicine opening module: be mainly used in opening medicine medical instrument;
Medicine weighing module, is mainly used in the weight of medicine in the process of making up a prescription to detect and check; And
Refuse processing module, is mainly used in depositing the refuse producing in the process of making up a prescription;
Wherein, described clamping manipulator comprises the first translational degree of freedom mechanism, the second translational degree of freedom mechanism, rotational freedom mechanism and clamps hands and grabs; Translation in two different directions is grabbed for ordering about described clamping hands by described the first translational degree of freedom mechanism and the second translational degree of freedom mechanism; Described rotational freedom mechanism is used for driving described clamping hands to grab rotation, is mainly used in realizing medicine upset and the concussion of making up a prescription in process and dissolves; Described clamping hands is grabbed for clamping medicine and medical instrument.
2. the robot that makes up a prescription as claimed in claim 1, is characterized in that, described frame and shell module comprise:
Shell, the cavity that makes up a prescription described in being mainly used in forming, described medicine is placed door and is located on described shell;
Cleaning unit, is mainly used in controlling the cleanliness factor of environment of making up a prescription; And
Temperature conditioning unit, is mainly used in controlling make up a prescription temperature and the humidity of environment.
3. the robot that makes up a prescription as claimed in claim 1, is characterized in that, described medicine frame and medicine delivery module comprise:
Medicine fixture unit, is mainly used in the medicine that clamping places;
Medicine delivery unit, is mainly used in transmitting medicine to assigned address.
4. the robot that makes up a prescription as claimed in claim 1, is characterized in that, described injection machinery hands comprises rotary freedom mechanism, translational degree of freedom mechanism, first-hand grab and second-hand grabs; Described rotary freedom mechanism is mainly used in injector-actuated and turns in medicine aspiration procedure; Described translational degree of freedom mechanism is used for driving described first-hand grabbing to move up and down; Described first-hand grabbing for clamping the piston of syringe; Described second-hand grabs for clamping syringe body.
5. the robot that makes up a prescription as claimed in claim 1, is characterized in that, described medicine opening module comprises opens cutter head and power set for medicine, and described power set drive described unlatching medicine to move with cutter head.
6. a dosage, it adopts the robot as described in claim 1～5 any one, and described dosage comprises:
Described medicine frame and medicine delivery module move with respect to described laser scanning module, and described laser scanning module scans medicine and medical instrument and knows the positional information of described medicine and medical instrument;
Described medicine frame and medicine delivery module move with respect to described machine vision module, and described machine vision module scans described medicine and medical instrument and knows the form parameter of described medicine and medical instrument;
Described injection machinery hands and described clamping manipulator interoperation and described medicine is injected in transfusion bag; And
If it is a plurality of that described medicine has,, make up a prescription after robot all prepared described medicine in order, described clamping manipulator action, is put into described medicine frame and medicine delivery module by the transfusion bag preparing, and the transfusion bag preparing is sent to described medicine, places door place.
7. dosage as claimed in claim 6, is characterized in that, if medicine is ampoule bottle, described injection machinery hands and described clamping manipulator interoperation and step that described medicine is injected in transfusion bag further comprise:
The information that described clamping manipulator provides according to laser scanning module and machine vision module, plans the action of its hand, from described medicine frame and medicine delivery module, takes off syringe, described syringe is put into described injection machinery on hand, and takes off pinhead sleeve;
Described clamping manipulator takes off ampoule bottle from described medicine frame and medicine delivery module, described ampoule bottle is put into described sterilization module place and carries out disinfection;
After having sterilized, described clamping manipulator is put into described Weighing module by described ampoule bottle again and carries out weighing operation;
After having weighed, described clamping manipulator is put into described opening module by described ampoule bottle and carries out head open operation;
After head is opened, described clamping manipulator is put into described injection machinery hands place by described ampoule bottle and carries out vacuuming operation, and suction limit, limit tilts, so that residual liquor is minimum;
Whether, after having aspirated, described clamping manipulator is put into described Weighing module by described ampoule bottle again and carries out weighing operation, qualified to judge suction;
After having weighed, described clamping manipulator is put into empty ampoule bottle the rubbish Lou of described refuse processing module;
Described clamping manipulator takes off transfusion bag from medicine frame and medicine delivery module, described transfusion bag is put into described sterilization module and carries out disinfection;
After having sterilized, described clamping manipulator is put into described Weighing module by described transfusion bag again and carries out weighing operation;
After having weighed, described clamping manipulator is put into described injection machinery hands place by described transfusion bag and carries out injection operation; And
Whether, after having injected, described clamping manipulator is put into Weighing module by described transfusion bag again and carries out weighing operation, qualified to judge injection.
8. dosage as claimed in claim 6, is characterized in that, if medicine is cillin bottle, and is powder in cillin bottle, described injection machinery hands and described clamping manipulator interoperation and step that described medicine is injected in transfusion bag further comprises:
The information that described clamping manipulator provides according to described laser scanning module and machine vision module, plan the action of its hand, from described medicine frame and medicine delivery module, take off syringe, described syringe is put into described injection machinery on hand, and take off pinhead sleeve;
Described clamping manipulator takes off transfusion bag from described medicine frame and medicine delivery module, described transfusion bag is put into described sterilization module place and carries out disinfection;
After having sterilized, described clamping manipulator is put into described Weighing module by described transfusion bag again and carries out weighing operation;
After having weighed, described clamping manipulator is put into injection machinery hands place by described transfusion bag and carries out vacuuming operation, and described transfusion bag is handstand state, in order to avoid suction air;
Whether, after having aspirated, described clamping manipulator is put into described Weighing module by described transfusion bag again and carries out weighing operation, qualified to judge suction;
Described clamping manipulator takes off cillin bottle from described medicine frame and medicine delivery module, described cillin bottle is put into described sterilization module place and carries out disinfection;
After having sterilized, described clamping manipulator is put into described Weighing module by described cillin bottle again and carries out weighing operation;
After having weighed, described clamping manipulator is put into described opening module by described cillin bottle and carries out head open operation;
After head is opened, described clamping manipulator is put into described injection machinery hands place by described cillin bottle and carries out injection operation;
Whether, after having injected, described clamping manipulator is put into described Weighing module by described cillin bottle again and carries out weighing operation, qualified to judge injection;
After having weighed, described clamping manipulator shakes operation to described cillin bottle, so that the powder in described cillin bottle fully dissolves;
After having shaken, described clamping manipulator is put into described injection machinery hands place by described cillin bottle and carries out vacuuming operation;
Whether, after having aspirated, described clamping manipulator is put into described Weighing module by described cillin bottle again and carries out weighing operation, qualified to judge suction;
After having weighed, described clamping manipulator is put into empty cillin bottle the rubbish Lou of described refuse processing module;
Described clamping manipulator takes off transfusion bag, described transfusion bag is put into described injection machinery hands place and carries out injection operation; And
After having injected, whether described clamping manipulator is put into transfusion bag more described Weighing module and carries out weighing operation, qualified to judge injection.
9. dosage as claimed in claim 6, is characterized in that, if medicine is cillin bottle, and is water preparation in cillin bottle, described injection machinery hands and described clamping manipulator interoperation and step that described medicine is injected in transfusion bag further comprises:
The information that described clamping manipulator provides according to described laser scanning module machine vision module, plans the action of its hand, from described medicine frame and medicine delivery module, takes off syringe, syringe is put into injection machinery on hand, and takes off pinhead sleeve;
Described clamping manipulator takes off cillin bottle from described medicine frame and medicine delivery module, described cillin bottle is put into described sterilization module place and carries out disinfection;
After having sterilized, described clamping manipulator is put into described Weighing module by described cillin bottle again and carries out weighing operation;
After having weighed, described clamping manipulator is put into described opening module by described cillin bottle and carries out head open operation;
After head is opened, described clamping manipulator is put into described injection machinery hands place by described cillin bottle and carries out vacuuming operation;
Whether, after having aspirated, described clamping manipulator is put into described Weighing module by described cillin bottle again and carries out weighing operation, qualified to judge suction;
After having weighed, described clamping manipulator is put into empty cillin bottle the rubbish Lou of described refuse processing module;
Described clamping manipulator takes off transfusion bag, described transfusion bag is put into injection machinery hands place and carries out injection operation; And
Whether, after having injected, described clamping manipulator is put into Weighing module by described transfusion bag again and carries out weighing operation, qualified to judge injection.
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| CN201210173771.1A CN102716028B (en) | 2012-03-06 | 2012-05-30 | Medicine dispensing robot and medicine dispensing method |
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