CN109285593A - A kind of Intelligent Pharmacy - Google Patents
A kind of Intelligent Pharmacy Download PDFInfo
- Publication number
- CN109285593A CN109285593A CN201811220773.5A CN201811220773A CN109285593A CN 109285593 A CN109285593 A CN 109285593A CN 201811220773 A CN201811220773 A CN 201811220773A CN 109285593 A CN109285593 A CN 109285593A
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- China
- Prior art keywords
- medicine
- medicine frame
- drug
- frame
- order
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- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
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Classifications
-
- G—PHYSICS
- G16—INFORMATION AND COMMUNICATION TECHNOLOGY [ICT] SPECIALLY ADAPTED FOR SPECIFIC APPLICATION FIELDS
- G16H—HEALTHCARE INFORMATICS, i.e. INFORMATION AND COMMUNICATION TECHNOLOGY [ICT] SPECIALLY ADAPTED FOR THE HANDLING OR PROCESSING OF MEDICAL OR HEALTHCARE DATA
- G16H20/00—ICT specially adapted for therapies or health-improving plans, e.g. for handling prescriptions, for steering therapy or for monitoring patient compliance
- G16H20/10—ICT specially adapted for therapies or health-improving plans, e.g. for handling prescriptions, for steering therapy or for monitoring patient compliance relating to drugs or medications, e.g. for ensuring correct administration to patients
- G16H20/13—ICT specially adapted for therapies or health-improving plans, e.g. for handling prescriptions, for steering therapy or for monitoring patient compliance relating to drugs or medications, e.g. for ensuring correct administration to patients delivered from dispensers
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06K—GRAPHICAL DATA READING; PRESENTATION OF DATA; RECORD CARRIERS; HANDLING RECORD CARRIERS
- G06K17/00—Methods or arrangements for effecting co-operative working between equipments covered by two or more of main groups G06K1/00 - G06K15/00, e.g. automatic card files incorporating conveying and reading operations
- G06K17/0022—Methods or arrangements for effecting co-operative working between equipments covered by two or more of main groups G06K1/00 - G06K15/00, e.g. automatic card files incorporating conveying and reading operations arrangements or provisious for transferring data to distant stations, e.g. from a sensing device
-
- G—PHYSICS
- G07—CHECKING-DEVICES
- G07F—COIN-FREED OR LIKE APPARATUS
- G07F17/00—Coin-freed apparatus for hiring articles; Coin-freed facilities or services
- G07F17/0092—Coin-freed apparatus for hiring articles; Coin-freed facilities or services for assembling and dispensing of pharmaceutical articles
-
- G—PHYSICS
- G16—INFORMATION AND COMMUNICATION TECHNOLOGY [ICT] SPECIALLY ADAPTED FOR SPECIFIC APPLICATION FIELDS
- G16H—HEALTHCARE INFORMATICS, i.e. INFORMATION AND COMMUNICATION TECHNOLOGY [ICT] SPECIALLY ADAPTED FOR THE HANDLING OR PROCESSING OF MEDICAL OR HEALTHCARE DATA
- G16H40/00—ICT specially adapted for the management or administration of healthcare resources or facilities; ICT specially adapted for the management or operation of medical equipment or devices
- G16H40/20—ICT specially adapted for the management or administration of healthcare resources or facilities; ICT specially adapted for the management or operation of medical equipment or devices for the management or administration of healthcare resources or facilities, e.g. managing hospital staff or surgery rooms
Abstract
A kind of Intelligent Pharmacy provided by the invention, including medicine control server, the medicine control server is interior to be equipped with drug data library unit and control unit；Drug storage dissemination system, including medicine frame, medicine frame capture apparatus, medicine frame transmission equipment, scanning recognition equipment, automatic medicine-dispensing equipment, order printing device, medicine frame screening plant.The each system of the Intelligent Pharmacy and hardware are fitted close, and are realized unmanned medicine distribution, are solved the problem of that hospital pharmacy intensity of workers is big and take medicine that may malfunction, and realize automation, the informationization, high efficiency of the work of pharmacy dispensing.
Description
Technical field
The present invention relates to a kind of Intelligent Pharmacies, belong to automation and field of software engineering.
Background technique
As the attention degree of each bound pair health care is continuously improved, large hospital is in order to improve whole working efficiency just
Gradually accelerate the intelligent Process of hospital services, more and more new technologies are referred to medical industry.
Pharmacy is the important component of hospital, is to complete the important link that medicine distribution is Medical service.Hospital leads to
Often taking medical abortion journey is that doctor's outpatient service is write a prescription, and sufferer completes checkout and removes pharmaceutical drug taking with prescription again.Since medical staff is numerous, drug
Demand is big, and the pharmacy of Big General Hospitals is usually overstaffed.Usually need to be lined up for a long time in consulting hours patient etc.
Medicine to be taken.On the other hand, the pharmacists in pharmacy face daily it is hundreds of take medicine patient, usually work overloadingly.And drug
Put and often disperse very much, need to be searched according to label or specific instruction.This is also to the qualification of staff and work
Higher demand is proposed as experience.If taking wrong drug that patient is caused to wrongly take due to individual's carelessness during taking medicine, it will
More serious consequence is caused, or even influences patients ' lives safety.Therefore, in order to reduce error probability, staff's labor is reduced
Fatigue resistance is more efficiently completed medicine distribution work, improves the service quality of hospital, be badly in need of a kind of intelligentized pharmacy.
Summary of the invention
Technical problem: in order to solve the defects of prior art, the present invention provides a kind of Intelligent Pharmacies.
Technical solution: a kind of Intelligent Pharmacy provided by the invention, including
(i) medicine control server, the medicine control server is interior to be equipped with drug data library unit and control unit；
The drug data library unit is for storing medicine information；
Described control unit stores in a warehouse dissemination system in due order for managing the drug orders from outpatient service or ward, order drug
Sequence execution of order, write a prescription system, drug payment system, hospital bed management system of control unit and hospital outpatient are connect, related personnel
Drug orders are accessed or issued by each terminal；Control unit can carry out real-time read-write operation to drug data library unit；
(ii) drug store in a warehouse dissemination system, including medicine frame, medicine frame capture apparatus, medicine frame transmission equipment, scanning recognition equipment,
Automatic medicine-dispensing equipment, order printing device, medicine frame screening plant；
The medicine frame is the carrier of drug, is printed on medicine frame identity code on medicine outer frame side wall；
The medicine frame capture apparatus is mechanical arm, and the initial position for being placed on medicine frame transmission equipment for grabbing medicine frame is risen
Grasping movement is just executed when beginning position is without medicine frame；
The medicine frame transmission equipment includes main transmission device and from transmission device, and main transmission device is for medicine frame to be sent to
Dispensing position, by direction of transfer include sintering, scanning recognition area, dispensing area, order print zone, medicine frame sieves area, outpatient service waits taking
Medicine area, each region are equipped with close to switch and blocker, and close to switch, medicine frame, blocker are used to that medicine frame to be intercepted and be put for identification
Row；It is used to the medicine frame in medicine frame screening area being sent to ward from transmission device；
The scanning recognition equipment is used to scan and identify the identity code of medicine frame, including high-speed camera and Image Acquisition
The image of acquisition using high-speed camera and image acquisition device scanning medicine frame and is sent to control unit by device；
The automatic medicine-dispensing equipment is automatic to send out for that will be set to two sides on the left of dispensing area for taking drug to be put into medicine frame
There is sliding rail connection between medicine equipment and main transmission device, sliding rail is equipped with sensor and slides and count for recording drug, data
Real-time Feedback gives drug control server；
The order printing device is generated for printing medicine information, order information and due to the shortage suddenly of certain drug
Supplement order, be set to order print zone；
The medicine frame screening plant is used to for medicine frame corresponding to the order from ward being pushed to from transmission device, if
It is placed in medicine frame screening area；
Outpatient service waits for that the area Qu Yao is located at Outpatient Hall, when main transmission device sends a medicine frame, the voice broadcast of setting at this
Device can prompt personnel described in order to take the medicine frame of the number.
As an improvement, the medicine information includes: drug materials number, storage position, manufacturer, quantity in stock.
It is improved as another kind, the control unit of medicine control server limits the band dose of each medicine frame, when in medicine frame
When drug number is more than 10 and leaves previous dispensing area, which is no longer stopped, and system automatically generated scene supplements order, at once
Next dispensing frame is transferred to complete.
Improved as another kind, when exist supplement order when, the supplement that takes medicine personnel that can pass through outpatient service in the stipulated time
Order terminal brush code fetches remaining medicine, or selection reimbursement.
The utility model has the advantages that each system of Intelligent Pharmacy provided by the invention and hardware are fitted close, unmanned medicine is realized
Product distribution, solves the problem of that hospital pharmacy intensity of workers is big and takes medicine that may malfunction, and realizes the work of pharmacy dispensing oneself
Dynamicization, informationization, high efficiency.
Detailed description of the invention
Fig. 1 is the structural schematic diagram of Intelligent Pharmacy.
Fig. 2 is the work flow diagram of Intelligent Pharmacy.
Specific embodiment
The present invention is further illustrated below.
Intelligent Pharmacy is shown in Fig. 1, including
(i) medicine control server, the medicine control server is interior to be equipped with drug data library unit and control unit；
The details of each drug of drug data bank unit record.Each medical instrument has unique material number and stores
In unique designated position.System monitors the quantity of drug in real time.And every a drug can be traced according to order source
It is final to send individual.
The drug data library unit is for storing medicine information；The medicine information includes: drug materials number, storage position
It sets, manufacturer, quantity in stock.
Described control unit stores in a warehouse dissemination system in due order for managing the drug orders from outpatient service or ward, order drug
Sequence execution of order, write a prescription system, drug payment system, hospital bed management system of control unit and hospital outpatient are connect, related personnel
Drug orders are accessed or issued by each terminal；Control unit can carry out real-time read-write operation to drug data library unit；
The control unit of medicine control server limit each medicine frame band dose, when in medicine frame drug number be more than 10 and from
When opening previous dispensing area, which is no longer stopped, and system automatically generated scene supplements order, transfers to next dispensing frame complete at once
At.
(ii) drug store in a warehouse dissemination system, including medicine frame, medicine frame capture apparatus, medicine frame transmission equipment, scanning recognition equipment,
Automatic medicine-dispensing equipment, order printing device, medicine frame screening plant；
The medicine frame is the carrier of drug, is printed on medicine frame identity code on medicine outer frame side wall；Medicine frame is that shape is consistent, is had only
One identity coding, identity code are attached to the significant position in dispensing frame two sides center, each drug orders will be with one or more dispensings
Frame is corresponding.
There is dispensing frame Accreditation Waiting Area by master tape initial position.All idle dispensing frames are good stand-by by pile one by one.
The medicine frame capture apparatus is mechanical arm, and the initial position for being placed on medicine frame transmission equipment for grabbing medicine frame is risen
Grasping movement is just executed when beginning position is without medicine frame；
The medicine frame transmission equipment includes main transmission device and from transmission device, and main transmission device is for medicine frame to be sent to
Dispensing position, by direction of transfer include sintering, scanning recognition area, dispensing area, order print zone, medicine frame sieves area, outpatient service waits taking
Medicine area, each region are equipped with close to switch and blocker, and close to switch, medicine frame, blocker are used to that medicine frame to be intercepted and be put for identification
Row；It is used to the medicine frame in medicine frame screening area being sent to ward from transmission device；
The scanning recognition equipment is used to scan and identify the identity code of medicine frame, including high-speed camera and Image Acquisition
The image of acquisition using high-speed camera and image acquisition device scanning medicine frame and is sent to control unit by device；
The automatic medicine-dispensing equipment is automatic to send out for that will be set to two sides on the left of dispensing area for taking drug to be put into medicine frame
There is sliding rail connection between medicine equipment and main transmission device, sliding rail is equipped with sensor and slides and count for recording drug, data
Real-time Feedback gives drug control server；
Be arranged successively multiple dispensing areas by conveyer belt, same dispensing position is divided to or so two, a built-in drug granting respectively
Equipment can correspond to a variety of drugs storages in the equipment and provide, have on the conveyer belt of each equipment and corresponding position close to switch with
Blocking apparatus.It is detected as the arrival of target medicine frame is approached switch, then implements to intercept.Intercepted medicine frame waits in the position,
Dispensing is carried out by dispensing equipment.It can be mechanical arm or other automatic medicine-dispensing equipment in the equipment, equipped with glidepath to medicine
Frame close over.Track end has sensor for countering, may detect institute's dispensing product fall and statistics numbers whether with require to be consistent.
The corresponding glidepath of two equipment in left and right is respectively aligned to the front-rear position of medicine frame.The stopper on conveyer belt is beaten after the completion
It opens, medicine frame is let pass, then sequentially enters next dispensing area.System counts the sum for the drug for entering frame.According to the volume of frame
Size guarantees that sum is no more than ten, prevents part from piling up high, causes to lose medicine.Remaining drug is contained by next medicine frame in order
Dress.
The order printing device is generated for printing medicine information, order information and due to the shortage suddenly of certain drug
Supplement order, be set to order print zone；The good order number of automatic printing, the detail of drug in patient name and frame.
The medicine frame screening plant is used to for medicine frame corresponding to the order from ward being pushed to from transmission device, if
It is placed in medicine frame screening area；
Outpatient service waits for that the area Qu Yao is located at Outpatient Hall, when main transmission device sends a medicine frame, the voice broadcast of setting at this
Device can prompt personnel described in order to take the medicine frame of the number.
When there is supplement order, take medicine personnel that can fetch in the stipulated time by the supplement order terminal brush code of outpatient service
Remaining medicine, or selection reimbursement.
In the present invention, medicine control server is any transmittable electronic equipment for controlling signal and receiving to detect signal,
Such as single-chip microcontroller, or for PC machine etc., as long as being able to achieve to send control signal and receive to detect the function of signal all can serve as
Controller.
Below to illustrate the working principle of the device, Fig. 2 is seen:
(1) Intelligent Pharmacy is to establish unique material number per a drug, there is the storehouse of special data base administration drug
Storage space is set, stockpile number, supply channel, the information such as buying and selling price and delivery date.These information real-time updates and with institute
There is the networking of consulting room ward, related individual is completely or partially supplied to by different priority assignations.
(2) patient examines end in outpatient service inquiry, is write a prescription in network system by outpatient service doctor and generates drug demand list.Patient pays
New outpatient service drug orders are formed to pharmacy after the completion of money.Meanwhile the medication on the in-patient same day in ward, by nurse station
Computer terminal, sending take medicine application, it is corresponding with patient's bed label, generation ward medicine taking order.Server in pharmacy, which receives, to be ordered
After single information, work plan is arranged by the sequencing for receiving information.
(3) if the starting point of main belt does not have medicine frame in pharmacy, mechanical arm grabs the medicine frame of medicine frame Accreditation Waiting Area
To transmission tape load point.Before pharmacy server does not provide clearance order, it is as you were that blocking apparatus stops medicine frame.If intercepted
Device, which releases, to be intercepted, and medicine frame initially enters scanning area with transmission tape travel.Scanner identifies the hair by image recognition technology
The identity code of medicine frame, what is executed in system at first takes medicine order just corresponding with the medicine frame.Meanwhile the entire subsequent area Qu Yao defines
The dispensing work that will be carried out.
(2) before dispensing frame reaches No. 1 dispensing area, by being arrived close to switch scanning herein.If there is drug will be herein
Dispensing area provides, then the blocking apparatus of this establishes interception in advance.Dispensing frame stops in this dispensing area, and the dispensing machines of two sides is by institute
It is responsible for the front-rear position that target medicine corresponding with order in the related drug of storage sends out the frame that is used as medicine respectively.Drug is sliding along sliding rail
Under, and by the sensor operation of recording by sliding rail and statistics numbers.Real-time Feedback is completed to server and automatically in lane database
Plus-minus.Information is had when certain drug storage amount is lower than critical value feeds back to drug storage and procurement staff, while each terminal
It also will receive relevant information when assigning drug orders.If still release order, it is possible to order Short Item occur when taking medicine.
After completing drug granting, blocking apparatus is let pass, and medicine frame enters next dispensing area, repeats above-mentioned work.Due to medicine frame limited volume,
If total drug number is more than ten and just completes the dispensing of a dispensing position in frame, which does not stop in subsequent dispensing position
It stays and goes directly to print zone.It is remaining that medicine work is taken to automatically generate scene supplement order, and the latter medicine is given by system assignments
Frame.
(5) first medicine frame complete it is all take medicine task after, system can just let pass and transmit the blocking apparatus of tape load point, allow
Second medicine frame admission.If second medicine frame is to continue with the remaining order of first medicine frame, in first medicine frame capacity quota
It is allowed to admission at the first time.
(6) behind all dispensing positions, medicine frame enters print zone.Printer prints the bright of drug in order number and frame
Carefully.If there is previously described situation out of stock, then printing content will increase supplement order code and drug arrival time.
(7) behind print zone, order corresponding medicine frame in ward is pushed away by blocking apparatus and the system that forms of screening cylinder
Enter secondary conveyer belt, travel further into Cargo Lift, goes to related lesion.
(8) the order medicine frame of outpatient service is directly entered Outpatient Hall Pharmacy.System broadcasts voice prompting, asks comrade XX to taking
The drug in XXXX medicine frame is removed at medicine.
(9) in case of lacked medicine situation, take medicine people can be in stipulated time ordering by outpatient service after getting the type face in medicine frame
Single complementary scan terminal scanning takes medicine, can also beat back medicine by scanning element immediately.
(10) dispensing of a medicine frame is completed, system is updated automatically to drug data bank and alarm low stock medicine
Product.Supplement or can show since cause specific is out of stock suddenly, on drug inventory arrival time and order supplement not in time such as inventory
Bar code, patient can take medicine in brush code in the order supplement terminal of Outpatient Hall after the stipulated time.Each attending physician is in door
Examining can show whether write a prescription product in stock and prompt the arrival time when network system is write a prescription.Outpatient Hall is equipped with more simultaneously and looks into
Ask terminal, all personnel can taking medicine record, medicine information, consumer record and oneself take by terminal inquiry oneself at any time
Whether medicine task the information such as completes.
The specific implementation method of patent is presented above, this patent is not limited to described implementation method.For correlation
For the personnel of field, the modification of model, parameter etc. is carried out according to this patent, does not need to spend creative work.This mode
Change or modification, still fall within the protection scope of this patent.
Claims (4)
1. a kind of Intelligent Pharmacy, it is characterised in that: including
(i) medicine control server, the medicine control server is interior to be equipped with drug data library unit and control unit；
The drug data library unit is for storing medicine information；
Described control unit is held in order for managing the drug orders from outpatient service or ward, order drug storage dissemination system
Row order, write a prescription system, drug payment system, hospital bed management system of control unit and hospital outpatient are connect, and related personnel passes through
Each terminal accesses or issues drug orders；Control unit can carry out real-time read-write operation to drug data library unit；
(ii) drug is stored in a warehouse dissemination system, including medicine frame, medicine frame capture apparatus, medicine frame transmission equipment, scanning recognition equipment, automatic
Dispensing equipment, order printing device, medicine frame screening plant；
The medicine frame is the carrier of drug, is printed on medicine frame identity code on medicine outer frame side wall；
The medicine frame capture apparatus is mechanical arm, the initial position for being placed on medicine frame transmission equipment for grabbing medicine frame, start bit
Grasping movement is just executed when setting no medicine frame；
The medicine frame transmission equipment includes main transmission device and from transmission device, and main transmission device is used to medicine frame being sent to dispensing
Position, by direction of transfer include sintering, scanning recognition area, dispensing area, order print zone, medicine frame sieves area, outpatient service waits for the area Qu Yao,
Each region is equipped with close to switch and blocker, and close to switch, medicine frame, blocker are used to intercept medicine frame and let pass for identification；From
Transmission device is used to the medicine frame in medicine frame screening area being sent to ward；
The scanning recognition equipment is used to scan and identify the identity code of medicine frame, including high-speed camera and image acquisition device, benefit
With high-speed camera and image acquisition device scanning medicine frame and the image of acquisition is sent to control unit；
For that will be set to two sides on the left of dispensing area for taking drug to be put into medicine frame, automatic medicine-dispensing is set the automatic medicine-dispensing equipment
There is sliding rail connection between standby and main transmission device, sliding rail is equipped with sensor and slides and count for recording drug, and data are real-time
Feed back to medicine control server；
The order printing device is used to print medicine information, order information and the benefit generated due to the shortage suddenly of certain drug
Order is filled, order print zone is set to；
The medicine frame screening plant is set to for being pushed to medicine frame corresponding to the order from ward from transmission device
Medicine frame sieves area；
Outpatient service waits for that the area Qu Yao is located at Outpatient Hall, when main transmission device sends a medicine frame, the sound broadcasting device of setting at this
Personnel described in order can be prompted to take the medicine frame of the number.
2. a kind of Intelligent Pharmacy according to claim 1, it is characterised in that: the medicine information includes: drug materials
Number, storage position, manufacturer, quantity in stock.
3. a kind of Intelligent Pharmacy according to claim 1, it is characterised in that: the control unit of medicine control server limits
The band dose of each medicine frame is made, when drug number is more than 10 and leaves previous dispensing area in medicine frame, which is no longer stopped, and is
System automatically generates scene supplement order, and next dispensing frame is transferred to complete at once.
4. a kind of Intelligent Pharmacy according to claim 1, it is characterised in that: when there is supplement order, take medicine personnel
Remaining medicine, or selection reimbursement can be fetched by the supplement order terminal brush code of outpatient service in the stipulated time.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811220773.5A CN109285593A (en) | 2018-10-19 | 2018-10-19 | A kind of Intelligent Pharmacy |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811220773.5A CN109285593A (en) | 2018-10-19 | 2018-10-19 | A kind of Intelligent Pharmacy |
Publications (1)
| Publication Number | Publication Date |
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| CN109285593A true CN109285593A (en) | 2019-01-29 |
Family
ID=65176942
Family Applications (1)
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| CN201811220773.5A Pending CN109285593A (en) | 2018-10-19 | 2018-10-19 | A kind of Intelligent Pharmacy |
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| Country | Link |
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109979562A (en) * | 2019-03-27 | 2019-07-05 | 上海交通大学医学院附属新华医院 | A kind of intelligence inspection medicine system and equipment based on single single dose medication |
| CN113110325A (en) * | 2021-04-12 | 2021-07-13 | 谈斯聪 | Multi-arm sorting operation mobile delivery device, and optimized management system and method |
| CN116140215A (en) * | 2023-04-21 | 2023-05-23 | 济南二机床集团有限公司 | Quality inspection unit, quality inspection system and quality inspection method for automobile sheet metal parts |
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| CN107358044A (en) * | 2017-07-12 | 2017-11-17 | 上海观谷科技有限公司 | Intelligent drugstore management method and system |
| CN107731273A (en) * | 2017-11-25 | 2018-02-23 | 东莞东华医院有限公司 | A kind of hospital pharmacy dispensing system and dosage |
| CN108309651A (en) * | 2018-03-21 | 2018-07-24 | 无锡市人民医院 | A kind of automatic medicine distribution device and its drug dispensing method |
| CN208970179U (en) * | 2018-10-19 | 2019-06-11 | 无锡市人民医院 | A kind of Intelligent Pharmacy |
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2018
- 2018-10-19 CN CN201811220773.5A patent/CN109285593A/en active Pending
Patent Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107358044A (en) * | 2017-07-12 | 2017-11-17 | 上海观谷科技有限公司 | Intelligent drugstore management method and system |
| CN107731273A (en) * | 2017-11-25 | 2018-02-23 | 东莞东华医院有限公司 | A kind of hospital pharmacy dispensing system and dosage |
| CN108309651A (en) * | 2018-03-21 | 2018-07-24 | 无锡市人民医院 | A kind of automatic medicine distribution device and its drug dispensing method |
| CN208970179U (en) * | 2018-10-19 | 2019-06-11 | 无锡市人民医院 | A kind of Intelligent Pharmacy |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109979562A (en) * | 2019-03-27 | 2019-07-05 | 上海交通大学医学院附属新华医院 | A kind of intelligence inspection medicine system and equipment based on single single dose medication |
| CN113110325A (en) * | 2021-04-12 | 2021-07-13 | 谈斯聪 | Multi-arm sorting operation mobile delivery device, and optimized management system and method |
| CN116140215A (en) * | 2023-04-21 | 2023-05-23 | 济南二机床集团有限公司 | Quality inspection unit, quality inspection system and quality inspection method for automobile sheet metal parts |
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