CN111292822A

CN111292822A - Dispensing system

Info

Publication number: CN111292822A
Application number: CN201811503604.2A
Authority: CN
Inventors: 张志康; 石宗泽; 徐会明
Original assignee: Baoqun Electronic Technology Shanghai Co ltd
Current assignee: Baoqun Electronic Technology Shanghai Co ltd
Priority date: 2018-12-10
Filing date: 2018-12-10
Publication date: 2020-06-16

Abstract

The invention provides a medicine dispensing system, comprising: an infusion bag holding assembly configured to hold an infusion bag; a vial gripping assembly configured to grip a vial; at least one syringe moving device configured to move the syringe in horizontal and vertical directions; the sucking and injecting device operating device is arranged on the sucking and injecting device moving device and is configured to control the sucking and injecting device to suck and inject; a central controller configured to wirelessly control movement of the syringe moving device and control operation of the syringe operating device. The dispensing system provided by the invention has the advantages that the central controller wirelessly controls the movement of the suction and injection device moving device and the operation of the suction and injection device operating device, so that the situation that whether the movement range of the suction and injection device moving device is too large or the situation that the movement is carried out is not considered is avoided. Therefore, the dispensing system provided by the invention can enable a plurality of dispensing units to share the support facility and complete the dispensing work without influencing each other.

Description

Dispensing system

Technical Field

The invention mainly relates to the field of automation, in particular to a dispensing system capable of automatically dispensing medicines.

Background

With the progress of automation technology, automation systems are widely used in various fields. For example, in the medical field, infusion therapy is widely used as an effective treatment means in the course of treatment against various diseases. In order to make the dispensing process of infusion bags more efficient and reduce the dispensing error rate, dispensing systems capable of dispensing automatically have been developed. However, when people develop the medicine dispensing device manually, it is found that the medicine dispensing speed is not enough to achieve the desired medicine dispensing speed if only one set of mechanical arms and corresponding holding mechanisms are used as the medicine dispensing unit to complete medicine dispensing. In order to achieve a higher dispensing speed, it is of course possible to have a plurality of dispensing units operating independently of one another, but such a solution is cost prohibitive because the dispensing units comprising the robotic arm and the corresponding gripping mechanism cannot perform the dispensing operation independently. To complete the dispensing operation, the set of robotic arms and gripping mechanism needs to be provided with support facilities. Therefore, it is cost prohibitive to configure each dispensing unit with the corresponding support facilities.

In order to realize a dispensing system that can produce practical economic benefits, it is necessary to have a plurality of dispensing units share support facilities. In order to achieve the sharing of the support facilities, it is generally desirable that a plurality of the dispensing units can be disposed in a relatively close area and moved to a specific position when proceeding to a specific dispensing step, which results in an extremely complicated movement trajectory of the dispensing units. Due to this complexity, conventional designs have difficulty enabling multiple dispensing units to operate independently of each other and with support facilities.

It is therefore desirable to provide a dispensing system having a plurality of dispensing units that can share support facilities.

Disclosure of Invention

The technical problem to be solved by the present invention includes providing a dispensing system having a plurality of dispensing units that can share support facilities.

To solve at least a part of the above technical problems, the present invention provides a dispensing system, comprising: an infusion bag holding assembly configured to hold an infusion bag; a vial gripping assembly configured to grip a vial; at least one syringe moving device configured to move the syringe in horizontal and vertical directions; the sucking and injecting device operating device is arranged on the sucking and injecting device moving device and is configured to control the sucking and injecting device to suck and inject; a central controller configured to wirelessly control movement of the syringe moving device and control operation of the syringe operating device.

According to at least one embodiment of the invention, the system also comprises a signal sending end and a signal receiving end which are connected in a wireless connection mode; the central controller sends a suction injector moving signal and a suction injector operating signal through the signal sending end; the sucking injector moving device is provided with the signal receiving end and an action controller, the action controller controls the sucking injector moving device according to the sucking injector moving signal, and controls the sucking injector operating device according to the sucking injector operating signal.

According to at least one embodiment of the present invention, the vacuum injector further comprises a horizontal rail, and the vacuum injector moving device is matched with the horizontal rail and configured to move along the horizontal rail.

According to at least one embodiment of the invention, the device further comprises a rotating table, wherein the rotating table is circular, and a plurality of infusion bag holding assemblies and a plurality of medicine bottle holding assemblies are uniformly arranged on the edge of the rotating table along the axis of the rotating table.

According to at least one embodiment of the invention, the horizontal rail is an annular rail having the same axis as the turntable; the horizontal rail is positioned above the rotating platform.

According to at least one embodiment of the present invention, the syringe moving device includes a horizontal moving assembly engaged with the horizontal rail, and a vertical moving assembly configured to move vertically along the horizontal moving assembly.

According to at least one embodiment of the present invention, the syringe comprises an outer sleeve, a push rod and a needle; the vertical moving assembly is detachably fixed with the outer sleeve; the syringe handling device is detachably secured to the push rod, and the syringe handling device is configured to move in a vertical direction along the vertical movement assembly.

According to at least one embodiment of the invention, the injector moving device moves along the horizontal rail in a magnetic levitation manner.

According to at least one embodiment of the invention, the vial comprises a vial of penicillin and an ampoule; the vial gripping assembly is configured to grip and shake the vial.

According to at least one embodiment of the invention, the syringe moving device is configured to move the syringe needle to penetrate into the infusion bag and the medicine bottle and to be pulled out from the infusion bag and the medicine bottle; the syringe operating device is configured to control the syringe to perform suction and injection operations when the needle of the syringe penetrates the infusion bag and the medicine bottle.

The dispensing system provided by the invention has the advantages that the central controller wirelessly controls the movement of the suction and injection device moving device and the operation of the suction and injection device operating device, so that the situation that whether the movement range of the suction and injection device moving device is too large or the situation that the movement is carried out is not considered is avoided. Therefore, the dispensing system provided by the invention can enable a plurality of dispensing units to share the support facility and complete the dispensing work without influencing each other.

Drawings

FIG. 1 is a schematic perspective view of a dispensing system in one embodiment;

FIG. 2 is a schematic diagram of a portion of the dispensing system in one embodiment;

FIG. 3 is a schematic diagram of the construction of one of the dispensing units of the dispensing system in one embodiment.

Description of the reference numerals

100-dispensing system:

110-an infusion bag holding component;

120-a vial gripping assembly;

130-a syringe moving device;

131-a horizontal moving assembly;

132-a vertical movement assembly;

133-a signal receiving end;

134-motion controller;

140-a syringe operator;

150-waste port;

160-horizontal rail;

170-central controller

171-Signal transmitting terminal

180-rotating table

200-an infusion bag;

210-a body;

220-a cover member;

230-neck;

300-medicine bottle;

400-sucking and injecting device;

410-an outer sleeve;

420-a push rod;

430-needle.

Detailed Description

In order to make the aforementioned objects, features and advantages of the present invention comprehensible, embodiments accompanied with figures are described in detail below.

In the following description, numerous specific details are set forth in order to provide a thorough understanding of the present invention, but the present invention may be practiced in other ways than those specifically described herein, and thus the present invention is not limited to the specific embodiments disclosed below.

Certain terms are used throughout the description and claims to refer to particular system components. As one skilled in the art will appreciate, different companies may refer to a component by different names. This document does not intend to distinguish between components that differ in name but not function. In the description and claims, the terms "include" and "comprise" are used in an open-ended fashion, and thus should be interpreted to mean "include, but not limited to …".

As used in this application and the appended claims, the terms "a," "an," "the," and/or "the" are not intended to be inclusive in the singular, but rather are intended to be inclusive in the plural unless the context clearly dictates otherwise. In general, the terms "comprises" and "comprising" merely indicate that steps and elements are included which are explicitly identified, that the steps and elements do not form an exclusive list, and that a method or apparatus may include other steps or elements.

In addition, although the embodiments described below have one or more technical features, the use of the present invention does not mean that all of the technical features of any one embodiment must be implemented simultaneously by the present inventors or that only some or all of the technical features of different embodiments can be implemented separately. In other words, those skilled in the art can selectively implement some or all of the features of any one embodiment or selectively implement some or all of the features of a plurality of embodiments according to the disclosure of the present invention and according to design specifications or implementation requirements, thereby increasing the flexibility in implementing the invention.

An embodiment of the dispensing system of the present invention is described below with reference to fig. 1 through 3. In the present embodiment, the dispensing system 100 includes an infusion bag holding assembly 110, a vial holding assembly 120, a syringe moving device 130, a syringe manipulator device 140, and a central controller 170. The infusion bag holding assembly 110 can hold the infusion bag 200, so that the infusion bag 200 is in a convenient dispensing state. The particular manner in which the bag 200 is held by the bag holding assembly 110 may vary. For example, in some embodiments, the bag holding assembly 110 is an open container adapted to receive an infusion bag 200. In addition, in some other embodiments, the dispensing system 100 may have more configurations, such as in some other embodiments the dispensing system 100 may also have a waste port 150 for collecting waste fluid.

When dispensing, the infusion bag holding assembly 110 and the medicine bottle holding assembly 120 are used for holding the infusion bag 200 and the medicine bottle 300, the suction and injection device moving device 130 is used for moving the suction and injection device, and the suction and injection device operating device 140 is used for operating the suction and injection device, so that the step of transferring the medicine from the medicine bottle 300 to the infusion bag 200 is realized, and therefore, generally, one infusion bag holding assembly 110, one medicine bottle holding assembly 120, one suction and injection device moving device 130 and the suction and injection device operating device 140 arranged on the suction and injection device can be called a dispensing unit. It is noted that the dispensing unit may in fact require support from other devices, such as devices for performing tasks like placing the bag 200 and vial 300 on the bag holding assembly 110 and vial holding assembly 120, collecting empty vials and used syringes, transporting the dispensed bag to a destination, etc., during dispensing. Since the condition and operation of these devices are not the focus of the present invention, these devices will not be shown or described and will be referred to generally as support devices.

The vial holding assembly 120 can hold the vial 300 and stabilize the process of extracting the medicine in the vial 300. The syringe moving means 130 can move the syringe 400 in horizontal and vertical directions. Such an arrangement enables the syringe 400 to be aligned with the infusion bag 200, the vial 300, or the waste port 150 due to the movement of the syringe moving device 130. The syringe manipulator 140 is provided in the syringe moving device 130 and can control the syringe 400 to perform the suction and injection operations, thereby performing operations such as sucking liquid from the infusion bag 200, injecting liquid into the medicine bottle 300, sucking liquid from the medicine bottle 300, and discharging liquid to the waste liquid port 150.

The central controller 170 is connected to the syringe moving device 130 and the syringe operating device 140 in a wireless connection manner, so as to control the syringe moving device 130 to move and control the syringe operating device 140 to operate by sending out a wireless signal. The specific location and form of the central controller 170 may vary. The central controller 170 may be disposed inside the apparatus shown in fig. 1 and 2, or may be disposed outside thereof such that the central controller 170 is not shown in fig. 1 and 2.

The dispensing system provided by the invention has the advantages that the central controller wirelessly controls the movement of the suction injector moving device and the operation of the suction injector operating device, so that the situation whether the movement range of the suction injector moving device is too large or whether the circle is performed is not considered. In other words, the central controller may have more freedom in controlling the syringe moving device. Therefore, the dispensing units of the dispensing system can freely move to the positions where the supporting devices are convenient to use, more positions can be selected when the dispensing units need to give up positions for other dispensing units, and the dispensing system can automatically dispense medicines at lower cost.

While the doser of one embodiment of the invention is described above, in other embodiments of the invention, the doser may have more details than the embodiments described above, and at least some of these details may vary widely in many respects. At least some of these details and these variations are described below in several embodiments.

In the above embodiments, the central controller 170 is only described as being connected to the syringe moving device 130 and the syringe operating device 140 in a wireless connection manner, and is capable of controlling the syringe moving device 130 to move and the syringe operating device 140 to operate in a wireless signal manner. This is because the specific manner in which the central controller 170 controls the syringe moving device 130 and the syringe operating device 140 in a wireless connection may vary. In some embodiments, the syringe moving device 130 and the syringe handling device 140 have respective receiving ends and motion controllers. The central controller 170 sends signals to the receiving ends of the syringe moving device 130 and the syringe operating device 140 in different frequency bands, thereby establishing connection with the operation controllers of the syringe moving device 130 and the syringe operating device 140, respectively, and controlling the syringe moving device 130 and the syringe operating device 140.

With continued reference to fig. 3, in some embodiments, the dispensing system 100 includes a signal transmitting end 171 and a signal receiving end 133. The transmitting terminal 171 and the signal receiving terminal 133 are connected to each other in a wireless connection. The central controller 170 sends a syringe movement signal and a syringe operation signal through the signal transmitting terminal 171. The receiver 133 receives these signals and transmits them to the motion controller 134 located on the syringe moving device 130. The motion controller 134 processes the received signals and controls the syringe moving device 130 and the syringe operating device 140 according to the signals. Specifically, the motion controller 134 controls the syringe moving device 130 according to the syringe moving signal, and controls the syringe operating device 140 according to the syringe operating signal.

In the above embodiment, the reason why the inhaler moving device 130 and the inhaler operating device 140 can be controlled by the same setting motion controller 134 is various. On the one hand, the syringe moving means 130 and the syringe operating means 140 are not deformed by themselves to a large extent and have a small relative movable range, so that signal transmission can be realized by means of a flexible circuit board or an electric wire. On the other hand, since the movement itself required by the syringe moving device 130 is not complicated and the operation required by the syringe operating device 140 is also not complicated, the control using the same motion controller 134 does not significantly increase the complexity and cost of the motion controller 134. The scheme of controlling the syringe moving device 130 and the syringe manipulator 140 with the same operation controller 134 makes it possible to make the pharmaceutical dispensing system 100 have fewer signal transmitting terminals and signal receiving terminals, to make the frequency band occupied by each set of syringe moving device 130 and syringe manipulator 140 narrower, and to finally make it possible to configure a plurality of sets of syringe moving devices 130 and syringe manipulator 140 in one pharmaceutical dispensing system 100.

In some embodiments, the dispensing system 100 has a plurality of vial gripping assemblies 120 and a plurality of infusion bag gripping assemblies 110. The vial holder assembly 120 and the bag holder assembly 110 are disposed at the periphery of a rotation table 180 and are capable of rotating with the rotation table 180, and the rotation table 180 further has a plurality of waste ports 150. Referring to FIGS. 1 and 2, in some embodiments, the APAS 100 also has a plurality of pipette moving devices 130, each of the pipette moving devices 130 having a pipette manipulator 140 disposed thereon, in other words, the APAS 100 has a plurality of dosage units. The plurality of syringe moving means 130 is provided on the horizontal rail 160 and can perform a horizontal movement along the rail. Alternatively, the horizontal rail 160 is a circular rail, which is located above the rotating table 180 and has the same rotation axis as the rotating table 180.

With continued reference to fig. 1 and 2, in some embodiments the infusion bag 200 includes a body 210, a cap 220, and a neck 230. Each infusion bag 200 has two neck portions 230, and a cap 220 is provided at the upper end of each neck portion 230. At least a portion of the cover member 220 is made of an elastic material. This arrangement allows aspiration and infusion of the bag 200 by piercing the cap 220 with a needle. The bag holding member 110 is a horizontally disposed plate and the thickness of the plate corresponds to the neck 230. The bag holding member 110 is provided with two open slots having a size corresponding to the neck 230. Such an arrangement enables the bag holding unit 110 to detachably engage with the neck 230, thereby holding the bag 230.

In some embodiments, the bag holding assembly 110 and the neck 230 are detachably engaged in a manner that: the bag holding member 110 is a plate member having a thickness equal to or slightly less than the length of the neck 230, the width of the open slots is equal to or slightly greater than the diameter of the neck 230, and the distance between the two open slots corresponds to the distance between the two necks 22. This arrangement enables the neck 230 to engage with the open slot, thereby allowing the bag 200 to be held by the bag holding assembly 110. After the neck 230 is engaged with the opening slot, the position of the infusion bag 200 is not easy to move, so that the position of the cover 220 is relatively stable, and the automatic dispensing operation of the dispensing system is facilitated.

The specific method of the syringe moving means 130 moving the syringe 400 in the horizontal and vertical directions may be various. In some embodiments, the syringe moving device 130 is a multi-joint robot arm that is movable in horizontal and vertical directions. Referring to fig. 1-3, in some embodiments, the dispensing system 100 further includes a horizontal track 160. The syringe moving device 130 cooperates with the horizontal rail 160 such that the syringe moving device 130 can move along the horizontal rail 160. It is noted that although the horizontal rail 160 is described as a "horizontal" rail, it does not mean that the rail must be strictly horizontal, nor that the rail need be linear. For example, in the example shown in fig. 2, the horizontal rail 160 is a circular rail disposed horizontally.

The syringe operating means 140 is provided on the syringe moving means 130 in such a manner that the syringe 400 can be operated for injection and suction by the operation of the syringe operating means 140 regardless of the position to which the syringe moving means 130 is moved.

With continued reference to fig. 1 and 2, in some embodiments, the syringe moving device 130 further includes a horizontal moving assembly 131 and a vertical moving assembly 132. Literally, the horizontal moving assembly 131 allows the pipette 400 to move in the horizontal direction, and the vertical moving assembly 132 functions to allow the pipette 400 to move in the vertical direction. Specifically, the horizontal moving assembly 131 is engaged with the horizontal rail 160 and can move along the horizontal rail 160. The vertical moving assembly 132 is provided on the horizontal moving assembly 131, and thus can be moved horizontally while being carried by the horizontal moving assembly 131. The vertical moving assembly 132 itself is capable of vertical movement relative to the horizontal moving assembly 131. A syringe operator 140 is disposed on the vertical moving assembly 132. Such an arrangement enables the pipette operating device 140 to achieve horizontal and vertical movements by the movements of the horizontal movement assembly 131 and the vertical movement assembly 132, and to perform the injection and aspiration operations under the operation of the pipette operating device 140 regardless of the movement of the pipette 400.

Referring to fig. 3, in some embodiments, the syringe 400 further includes an outer sleeve 410, a push rod 420, and a needle 430. Wherein the vertical moving assembly 132 is detachably secured with the outer sleeve 410. The syringe operator 140 is removably secured to the push rod 420. The syringe operator 140 is movable in the vertical direction along the vertical movement assembly 132. This arrangement fixes the position of the outer sleeve 410 and the vertical moving assembly 132, so that the syringe operating device 140 can move the push rod 420 up and down by moving up and down along the vertical moving assembly 132 in the vertical direction, so as to enable the syringe 400 to perform the injection and suction operations.

In the foregoing example, the syringe moving device 130 is described as being capable of moving 160 along the horizontal rail, but how the syringe moving device 130 moves 160 along the horizontal rail is not described. This is because the manner in which the moving device 130 moves along the horizontal rail movement 160 may be varied. In some embodiments, the moving device 130 is provided with a driving wheel at a position corresponding to the horizontal rail movement 160, and the horizontal rail movement 160 is provided with a groove suitable for the driving wheel to run. The moving means 130 can realize the movement along the horizontal rail 160 by the rotation of the driving wheel. With continued reference to fig. 1-3, in some embodiments, the syringe moving device 130 moves along the horizontal rail in a magnetic levitation manner. For example, the syringe moving device 130 is provided with a permanent magnet or an electromagnet, and the horizontal rail moving device 160 is provided with a permanent magnet or an electromagnet, respectively. The suspension and movement of the syringe moving device 130 are realized by controlling the electromagnet.

In general, when dispensing an infusion bag, it is necessary to transfer a medicine in a medicine bottle into the infusion bag. Different kinds of medicaments need to be stored and preserved in different forms. For example, some medicaments may be stored in liquid form in ampoules and other medicaments may be stored in powder form in vials with continued reference to fig. 1 and 2, in some embodiments, to enable the pharmaceutical dispensing system 100 to process vials. The vial gripping assembly 120 is also capable of shaking the vial 300. The significance of this arrangement is that when the medicine bottle holding component 120 holds the penicillin bottle, since the medicine in the penicillin bottle needs to be taken out from the penicillin bottle in a manner of being carried by the base liquid, the medicine bottle holding component 120 which can shake the penicillin bottle is beneficial to better mixing of the medicine in the penicillin bottle and the base liquid. In some embodiments, the vial grip assembly 120 is capable of being shaken and the shaking is under the control of the central controller 170.

Referring to fig. 1-3, the dispensing system in some embodiments dispenses the medication in a manner such that the central controller 170 controls the syringe moving device 130 to move in the horizontal and vertical directions so that the needle 430 of the syringe 400 can penetrate into the bag 200 and vial 300 and be withdrawn from the bag 200 and vial 300. Accordingly, the central control controller 170 controls the syringe operating device 140 to control the syringe 400 to perform the sucking and injecting operations when the needle 430 of the syringe pierces the infusion bag 200 and the vial 300. This arrangement enables the central control controller 170 to effect the transfer of the liquid in the infusion bag 200 into the vial 300 and the transfer of the liquid in the vial 300 into the infusion bag 200 by controlling the syringe moving device 130 and the syringe operating device 140.

While the invention has been described with reference to a number of specific embodiments, it will be understood by those skilled in the art that the foregoing embodiments are merely illustrative of the invention, and various changes in and substitutions of equivalents may be made without departing from the spirit of the invention. Therefore, changes and modifications to the above-described embodiments within the spirit and scope of the present invention will fall within the scope of the claims of the present application.

Claims

1. A dispensing system, comprising:

an infusion bag holding assembly configured to hold an infusion bag;

a vial gripping assembly configured to grip a vial;

at least one syringe moving device configured to move the syringe in horizontal and vertical directions;

the sucking and injecting device operating device is arranged on the sucking and injecting device moving device and is configured to control the sucking and injecting device to suck and inject;

a central controller configured to wirelessly control movement of the syringe moving device and control operation of the syringe operating device.

2. The dispensing system of claim 1, further comprising a signal transmitting end and a signal receiving end connected in a wireless connection;

the central controller sends a suction injector moving signal and a suction injector operating signal through the signal sending end;

the sucking and injecting device moving device is provided with the signal receiving end and an action controller, the action controller controls the sucking and injecting device moving device according to the sucking and injecting device moving signal, and controls the sucking and injecting device operating device according to the sucking and injecting device operating signal.

3. The dispensing system of claim 1, further comprising a horizontal rail, wherein said syringe moving device is engaged with and configured to move along said horizontal rail.

4. The dispensing system of claim 3, further comprising a rotational stage, the rotational stage being circular and configured to rotate about its axis

The edge of revolving stage is equipped with a plurality of infusion bag and grips subassembly and a plurality of medicine bottle and grips the subassembly uniformly.

5. The dispensing system of claim 4, wherein said horizontal track is an annular track having the same axial center as said rotational stage;

the horizontal track is located above the rotating platform.

6. The dispensing system of claim 3, wherein said pipette moving device comprises a horizontal moving assembly engaged with said horizontal track, and a vertical moving assembly configured to move vertically along said horizontal moving assembly.

7. A dispensing system as in claim 4, wherein said syringe comprises an outer sleeve, a push rod, and a needle;

the vertical moving assembly is detachably fixed with the outer sleeve;

the syringe handling device is detachably fixed to the push rod, and the syringe handling device is configured to move in a vertical direction along the vertical movement assembly.

8. A dispensing system according to claim 3, wherein said syringe moving means moves along said horizontal track in a magnetic levitation manner.

9. The dispensing system of claim 1, wherein the vial comprises a vial of penicillin and an ampoule;

the vial gripping assembly is configured to grip and shake the vial.

10. The dispensing system of claim 1, wherein the syringe moving device is configured to move the syringe needle to pierce and dislodge from the infusion bag and the vial;

the suction injector operating device is configured to control the suction injector to perform suction and injection operations when a needle of the suction injector pierces the infusion bag and the medicine bottle.