JP2013183857A - Liquid medicine dispensing apparatus - Google Patents

Abstract

PROBLEM TO BE SOLVED: To appropriately set the dispensing amount of an excipient after dispensing liquid medicine with medicinal effect in a liquid medicine dispensing apparatus.SOLUTION: An empty medication bottle is imaged, and the levels of a plurality of horizons constituting a scale 100 are measured. A liquid level h2 is determined based on a container image after dispensing a prescribed amount of liquid medicine. A target level h1 is identified as a specific horizontal level on the basis of determination. The dispensing amount of an excipient, that is an adjustment amount 121, is determined from a difference between the levels. The horizontal level may be input based on visual observation. A target level may be set, added with a margin.

Description

  The present invention relates to a liquid medicine dispensing device, and more particularly, to injection control of an excipient.

  The liquid medicine dispensing device is a device for supporting dispensing by a pharmacist at a pharmacy in a hospital, a dispensing pharmacy, or the like. In the liquid medicine dispensing device described in Patent Document 1, a plurality of injection processes (dispensing processes) are executed in stages while a plurality of liquid medicines are sequentially specified according to prescription data. In each injection step, specific liquid medicines taken out from designated liquid medicine containers (original containers, liquid medicine bottles, liquid medicine bottles) are discharged into medication containers (dispensing destination containers, prescription bottles, dispensing bottles). The Here, the liquid medicine is an object to be dispensed, and generally refers to a liquid medicine having a medicinal effect, but in the present application, an excipient is also included in the concept of liquid medicine.

  The excipient does not affect the drug efficacy even when added, and is composed of syrup, water (distilled water) and the like. For example, when a single dose is 10.3 ml, it is difficult to measure such a half-way amount using a measuring cup engraved with a scale of 1 ml. In some cases, 0.7 ml of excipient is added per dose. That is, an excipient is added to make a single dose an integer value. In addition, excipients are added to match the total amount to the scale engraved on the medication bottle. More specifically, at the time of dispensing by a pharmacist's procedure, after injecting a plurality of medicinal liquid medicines, the total amount (liquid level) in the medication bottle is a scale formed on the outer wall surface of the medication bottle ( For example, in order to adjust to a scale of 10 ml, a scale of days, etc., additional injection of excipients is performed. Patent Document 2 discloses a liquid medicine dispensing device that displays an inspection image.

JP 2009-112673 A JP 2009-112636 A

  In conventional liquid medicine dispensing devices, the amount of excipient injected is simply determined from the numerical point of view as described above, and the relationship with the scale on the actual medication container (especially after excipient injection) Where the final liquid level reaches on the scale) is not considered.

  The dosing container is generally configured as a resin molded product, which is relatively soft and deforms to some extent depending on the contents. The possibility of forming errors can also be pointed out. Due to such factors, the scale on the outer surface may not display an accurate liquid amount. Even so, the patient recognizes the content using the scale. If the actual liquid level does not reach the level to be reached on the scale, even if the actual liquid level is small, it is a great factor for the patient.

  On the other hand, in a liquid medicine dispensing device, the injection amount of each individual liquid medicine can be controlled fairly finely, and the actual injection amount is generally very accurate. Even if the amount of excipient injection is reasonable, when the excipient is actually put into the dosing container, the final liquid level often does not meet the prescribed level on the scale. If the final liquid level is above the prescribed level, the patient seems less anxious. This is because weighing using a measuring cup is performed for each dose. Finally, even if some liquid medicine remains in the dosing container, there is no particular problem. On the other hand, if the final liquid level is apparently below the specified level, a great deal of anxiety and fear will occur in the patient who has passed it. This causes complaints and distrust to the pharmacist.

  An object of the present invention is to provide a liquid medicine dispensing device capable of determining an injection amount (addition amount) of an excipient based on an actual dosing container (original). Or it is providing the liquid medicine dispensing apparatus which can eliminate the shortage of the apparent liquid quantity in a dosing container.

  The liquid medicine dispensing device according to the present invention includes a dosing container having a scale, an imaging unit that images the dosing container and obtains a container image, and visually recognizes the result of the scale analysis on the container image or the scale in the container image. And a target level setting means for setting a target level in the medication container that is currently infused based on the input of the user, and after injecting a liquid medicine having a medicinal effect to the medication container, Means for controlling the injection of the excipient, and injection control means for adjusting the liquid level in the dosing container with respect to the target level by adjusting the injection amount of the excipient. It is characterized by.

  According to the above configuration, the injection amount of the excipient is adaptively determined based on the container image obtained by imaging the medication container. In other words, the injection amount of the excipient is not determined only from numerical conditions, but the injection amount of the excipient is determined under the original standard in consideration of the scale attached to the dosing container. The Therefore, for example, the problem that the liquid level does not reach the specified level specified on the actual scale and anxiety and distrust occur in the patient can be solved or reduced.

  It is possible to make the liquid medicine dispensing device recognize the actual scale by image analysis of the container image or by displaying the container image including the scale and the user making an input for specifying the scale. When the image analysis method is employed, the level (height) is automatically determined for all or some of the plurality of horizontal lines constituting the scale on the container image. The scale can be specified at the stage before liquid medicine injection, the stage after liquid medicine injection (before injection of excipient), and other stages. You may make it identify the horizontal line immediately above it after the analysis of a liquid level. When the user input method is adopted, the coordinates (heights) of one or all of the horizontal lines constituting the scale may be designated while visually checking the scale on the container image. The designation can be performed at a stage before liquid medicine injection, a stage after liquid medicine injection (before injection of excipients), and other stages. The target level may be the level of the specific horizontal line itself, or may be a level with a certain margin added to the level of the specific horizontal line as a reference.

  In any case, it is desirable that the coordinate information related to the scale in the actual medication container is recognized in some way by the liquid medicine dispensing device, and the injection amount of the excipient can be determined or adjusted using this. The dosing container preferably has at least one scale drawn or molded on its outer surface. When a plurality of types of scales are provided, the scales to be subjected to image processing or image display may be cut out automatically or manually. The above imaging means is, for example, for taking a still image or a moving image, and the imaging means may be moved together with the medication container, or the imaging means is fixedly installed at a necessary timing. The medication container may be positioned at the imaging position.

  Preferably, the image processing device includes image analysis means for analyzing the level of at least one horizontal line constituting the scale in the container image, and the target level setting means sets the target level based on the analyzed level of the horizontal line. . When a luminance difference is generated between the horizontal line and the background, the horizontal line can be specified using the difference. When the horizontal line has a thickness, the height of the center position, the upper side position, etc. is specified.

  Preferably, the container image is acquired by imaging a medication container in an empty state, and the image analysis means analyzes each level of a plurality of horizontal lines constituting a scale in the container image, and the target level The setting means recognizes a specific horizontal line that is higher than a liquid level predicted or detected at the completion of injection of the medicinal liquid medicine among the plurality of horizontal lines, and based on the level of the specific horizontal line, Set the target level. According to the above configuration, after each horizontal line is specified in an empty state, a specific horizontal line higher than the predicted liquid level or the detected liquid level at the time when the prescribed dispensing process is completed is recognized. Based on this, a target level is set. The liquid level can be detected by image analysis of the container image. The liquid level can be predicted based on the total amount of liquid medicine, the type of medication container, and the like.

  Preferably, the image analysis means detects a liquid level at each time based on the container image during the injection of the excipient, and the injection control means sets the detected liquid level to the target level. The excipient is injected until it matches. That is, feedback control is performed. In this case, pre-calculation of the injection amount of the excipient is basically unnecessary, and the injection amount is specified when both levels coincide.

  Preferably, the image analysis means detects a liquid level before the injection of the excipient based on the container image at the completion of the injection of the liquid medicine having the medicinal effect, and the injection control means The injection amount of the excipient is determined from the difference between the previous liquid level and the target level.

Desirably, an input means for inputting a level for at least one horizontal line constituting the scale by a user who visually recognizes the scale in the container image is included. The horizontal guideline indicating the amount of liquid may be moved up and down to match the horizontal line.
Desirably, a means for displaying an inspection image including information indicating the injection amount of the excipient is included.

 According to the present invention, the injection amount (addition amount) of the excipient can be determined based on the actual dosing container (original). Alternatively, the apparent shortage of liquid volume in the medication container can be resolved.

It is a conceptual diagram which shows suitable embodiment of the liquid medicine dispensing apparatus which concerns on this invention. It is a functional block diagram of the liquid medicine dispensing apparatus shown in FIG. It is a figure which shows an example of the image for inspection. It is a figure which shows an example of a medication bottle. It is a figure which shows an example of a medication bottle set. It is a figure for demonstrating calculation of adjustment amount. It is a figure for demonstrating calculation of the injection amount per pixel. It is a figure which shows the relationship between a liquid level and a target level. It is a figure for demonstrating the scale recognition method. It is a figure for demonstrating the adjustment dispensing method. It is a flowchart which shows the 1st operation example including the feedback dispensing control based on a prior image analysis and an image. It is a flowchart which shows the 2nd operation example including the feedback dispensing control based on a manual input and an image. It is a flowchart which shows the 3rd operation example including the feedback image dispensing control based on a prior image analysis and a weight sensor. It is a flowchart which shows the 4th operation example including a prior image analysis and a prior dispensing amount setting.

  DESCRIPTION OF EXEMPLARY EMBODIMENTS Hereinafter, preferred embodiments of the invention will be described with reference to the drawings.

  FIG. 1 shows a preferred embodiment of a liquid medicine dispensing device according to the present invention, and FIG. 1 is a conceptual diagram showing the overall configuration thereof. This liquid medicine dispensing device is installed in a pharmacy or a dispensing pharmacy in a hospital, and is a device that supports dispensing by a pharmacist.

  In FIG. 1, the liquid medicine dispensing apparatus 10 has a dispensing chamber 10A as a dark room, and a plurality of dispensing units (injection units) 12, 14, and 16 are provided in the dispensing chamber 10A. A transport mechanism 18 is provided below the liquid medicine dispensing device 10, and the transport mechanism 18 is a mechanism that transports the movable body 20 in the horizontal direction. In the present embodiment, the position of the movable body 20 in the X direction and the position in the Y direction can be freely set. The movable body 20 includes a medication container or medication bottle 22 into which liquid medicine is injected. The prescription bottle 22 is a resin molded product having transparency, and a scale composed of a plurality of horizontal lines arranged from the bottom to the top is provided on the outer surface thereof (described in detail later with reference to FIG. 4). Note that the cap of the medication bottle 22 is removed.

  In the liquid medicine dispensing apparatus 10, the dispensing chamber 10A communicates with the outside through the passage 10B, and the outlet side of the passage 10B is the take-out position P1. As indicated by reference numeral 20A, the medication bottle 22A is taken out and set in a state where the movable body 20 is positioned at the take-out position P1. These actions are performed by the user in this embodiment, but of course, it may be automated. A touch panel 23 facing the front side is provided above the take-out position P1, and the touch panel 23 functions as a display and an input device as will be described later. Reference numeral 24 represents a control unit, and the control unit 24 corresponds to a CPU and an operation program.

  As described above, the three dispensing units 12, 14, and 16 are provided in the upper part of the dispensing chamber 10A in the present embodiment. They have the same configuration, and in the following, the dispensing unit 12 will be taken up and the configuration will be described in detail.

  The dispensing unit 12 has a turntable 26, and the turntable 26 is rotationally driven by a rotation mechanism (not shown) as indicated by reference numeral 30. In the figure, the inverted state of the turntable 26 is shown. In this embodiment, three liquid medicine bottles 28 are detachably mounted on the turntable 26. In FIG. 1, the three liquid medicine bottles 28 are depicted as being arranged in the X direction, but in reality, the three liquid medicine bottles 28 are arranged in the Y direction orthogonal to the X direction. In this case, the rotation axis of the turntable 26 is parallel to the X direction.

  Each liquid medicine bottle 28 includes a liquid medicine injection nozzle 32. The nozzle 32 has a straight shape, for example, and is constituted by a resin tube, for example. A valve 34 is provided at a predetermined position in the nozzle 32. When the valve 34 is opened, the liquid medicine falls from the liquid medicine bottle 28 in an inverted state through the nozzle 32 and drops into the medication bottle 22. If the valve 34 is closed, dispensing of liquid medicine can be stopped.

  A bar code label 38 is affixed to each liquid medicine bottle 28, while a bar code label 40 is also provided at a position where each liquid medicine bottle 28 is set. It is possible to recognize which liquid medicine is set at each position by reading each bar code label 38, 40 by a bar code reader (not shown).

  Incidentally, each liquid medicine bottle 28 is set in the upright posture of the turntable 26, and after the setting is completed, the turntable 26 rotates 180 degrees, and each liquid medicine bottle 28 is in an inverted posture. The XY coordinate of the medication bottle is determined so that the medication bottle 22 is positioned below the liquid medication bottle to be dispensed, that is, the nozzle it has is located at the center of the top opening of the medication bottle, Liquid medicine dispensing is carried out.

  By alternately rotating the turntable 26 in the forward direction and the reverse direction, it is possible to stir each liquid medicine. When the bottle needs to be replaced, the dispensing units 12, 14, and 16 are pulled out to the front side of the apparatus, and the bottle is replaced in that state. In the present embodiment, it is possible to set nine liquid medicine bottles 28 in the dispensing chamber 10A, but more or less liquid medicine bottles may be set. The nine liquid medicine bottles 28 may include a plurality of liquid medicine bottles containing the same liquid medicine.

  In this embodiment, nine liquid medicine bottles are two-dimensionally aligned in the X direction and the Y direction, and the medication bottle is positioned immediately below the desired liquid medicine bottle, and liquid medicine dispensing is executed in this state. However, the medication bottle may be fixed and the liquid medicine bottle train may be moved. For example, a plurality of liquid medicine bottles may be installed on the turntable, and a desired liquid medicine bottle may be selected by rotating the turntable.

  The movable body 20 includes the medication bottle 22 as described above, and constitutes a stage for transporting it in the horizontal direction. The movable body 20 has a base 42 and a holder 44. A weight sensor 46 is provided on the base 42 to detect the weight of the prescription bottle 22, more specifically, the weight of the contents (corresponding to the dispensed amount). In this embodiment, dispensing stop is determined based on the output signal of the weight sensor 46.

  The holder 44 is a mechanism for detachably holding the medication bottle 22. A mechanism capable of adjusting the holding position in the height direction in order to position the prescription bottle 22 at an appropriate height according to the type of the prescription bottle 22 may be adopted. Alternatively, a mechanism for automatically adjusting the height of the medication bottle 22 may be provided. According to such a configuration, it is possible to position the medication bottle 22 directly below the target liquid medicine bottle, lift it upward, and insert the tip of the nozzle 32 into the upper opening of the medication bottle 22. It becomes. More simply, a holder may be prepared for each type of medication bottle.

  The movable body 20 is equipped with a camera 50 in this embodiment. The camera 50 is a two-dimensional CCD camera, for example, and images the prescription bottle 22 and outputs container image data. The container image may be a still image or a moving image. A moving image may be picked up during the dispensing operation, and the moving image may be frozen after the dispensing is completed, or a new still image may be captured. The camera 50 is fixed to the base 42 via a support member 48. More specifically, the camera 50 is provided at a position spaced apart from the prescription bottle 22 by a predetermined distance in the lateral direction. A light source is also mounted on the base, and the light source is provided on the camera 50 side when viewed from the prescription bottle 22 or on the opposite side. In the latter case, a silhouette image is acquired. In imaging by the camera 50, image correction is applied to the image data or an optical system is provided so that a parallel projection result is desirably obtained. A plurality of images may be taken while moving the camera up and down, and the images may be joined together. Moreover, you may make it provide the some image pick-up element located in a line up and down. It is also possible to make the inspection image different from the image for scale analysis (liquid level analysis). It is also possible to use a one-dimensional camera that acquires pixel data arranged in the vertical direction.

  In the present embodiment, since the camera 50 is mounted on the movable body 20, the dispensing process can be taken as a moving image. On the other hand, an imaging position may be provided in the dark room 10 </ b> A, and the movable body 20, that is, the medication bottle 22 may be positioned therein, and imaging may be performed there. In that case, imaging is performed after each dispensing. In that case, a plurality of fixed cameras may be installed so that photographing can be performed at each dispensing position. The liquid medicine dispensing device shown in FIG. 1 includes various sensors other than those described above. For example, a sensor for determining whether or not a cap is provided on the prescription bottle 22 or a type of the prescription bottle. It has a sensor to judge.

  FIG. 2 shows a function of the liquid medicine dispensing device shown in FIG. 1 as a block diagram. The control unit 24 performs operation control and image processing of each component. The control unit 24 controls the three dispensing units 12, 14, and 16 described above. Specifically, the electromagnetic valves and the rotation mechanisms provided in the dispensing units 12, 14, and 16 are controlled. As described above, the imaging mechanism 54 includes the camera 50 and the light source 52, and an output signal of the camera 50 is sent to the control unit 24. The control unit 24 also controls the light source 52. Information such as prescription data from the host system is given to the control unit 24. Based on such data, the control unit 24 calculates and sets a dispensing amount (that is, a dispensing instruction amount) in each dispensing step. The control unit 24 controls the transport mechanism 18, and controls the operations of the respective dispensing units 12, 14, 16 while controlling the transport mechanism 18 when performing a plurality of dispensing processes. The touch panel 23 includes a display device 56 and an input device 58, and can perform user input by touching a predetermined button with a fingertip on a displayed screen.

  More specifically, the control unit 24 includes an image analysis unit 60 and a dispensing control unit 62. The image analysis unit 60 analyzes the height coordinates of the scales provided on the actual medication bottles to be dispensed as necessary. In addition, the liquid level is analyzed as necessary. The dispensing control unit 62 controls dispensing of one or more liquid medicines having medicinal effects, and thereafter controls dispensing of excipients. In this embodiment, the dispensing amount of the excipient is determined in consideration of the scale provided on the actual medication bottle, and the liquid level is not lower than the specified level (specific horizontal line) on the scale. In order to satisfy the conditions, additional dispensing of excipients (larger dispensing) has been realized. Here, the excipient is syrup, distilled water or the like having no medicinal effect. One type of excipient may be used, or multiple types of excipients may be used in combination. The control unit 24 also has a function of forming an image described below.

  FIG. 3 illustrates an image displayed on the display. On the display screen 64, a medicine list 66, an inspection image (monitoring image) 68, various information 70, a button group 72, and the like are displayed. The medicine list 66 lists the names of one or more liquid medicines used in dispensing performed based on a specific prescription. The code | symbol 74 has shown the liquid medicine number, and it has shown the dispensing order simultaneously. The code | symbol 76 has shown the liquid medicine name, and the code | symbol 78 has shown dispensing amount (indication value). Here, the first to fifth liquid medicines are listed, and the fifth liquid medicine indicated by reference numeral 82 is an excipient. It is injected to adjust the amount of liquid after dispensing liquid medicines having medicinal effects from No. 1 to No. 4. In addition to adding the excipient to make the total amount 80 an integer value, in this embodiment, on the scale of the actual medication bottle, the actual liquid level does not fall below the prescribed level due to bottle deformation, molding error, etc. Excipients are added to make sure. The amount (numerical value) of the excipient indicated by reference numeral 84 is displayed when the adjustment amount of the excipient is confirmed or actually measured. The same applies to the total amount 80.

  The inspection image 68 is formed by connecting a plurality of container images 86 in the horizontal direction, and each container image is an entire image or a partial image of a medication bottle. In either case, an image is acquired or the image is processed so that the scale formed on the outer surface of the medication bottle is reflected. Here, reference numeral 86A shows a container image obtained by imaging an empty prescription bottle before dispensing, and reference numeral 86B shows a container image showing the prescription bottle after the last excipient dispensing. Is shown. Reference numeral 88 indicates a dispensing process, where 0 indicates a state before dispensing. The individual medication images 86 can be displayed as moving images except for the first container image 86A, that is, the process of the dispensing operation can be observed as a moving image, and the moving image is frozen after the dispensing is completed, or thereafter The still image acquired separately is displayed. A single container image may be displayed as a moving image.

  According to the inspection image 68, it can be easily confirmed as a transition (or position) of the liquid level that the individual dispensing process has been accurately executed during the dispensing progress or after the dispensing is completed. . For example, when a shortage occurs in the dispensing amount, it is possible to immediately specify how much and how much it has occurred. In addition, when foreign matter or bubbling occurs, it is possible to immediately specify how much and how much it has occurred.

  In the illustrated example, the horizontal line row 90 is composed of a plurality of horizontal lines 90a arranged in the vertical direction at equal intervals, and these are arranged on a plurality of horizontal lines constituting a scale (actual scale) reflected in the container image. It is drawn. Even when the scale is not clearly expressed visually, the liquid amount at each stage can be clearly recognized by displaying those horizontal lines. As indicated by reference numeral 92, the amount of liquid is numerically displayed along with each horizontal line. Reference numeral 94 indicates a dispensing amount in each dispensing process. It is desirable that the actual value is based on a weight sensor, but it may be an indicated value.

  As will be described later, an actual scale (a plurality of horizontal lines) may be automatically specified by image analysis, or may be specified by a user who has observed the image. In the latter case, for example, each horizontal line level may be registered by visually observing each horizontal line on the inspection image 68 and aligning the horizontal line with the vertical position of each horizontal line.

  FIG. 4 shows an example of a medication bottle. The prescription bottle 98 is provided with a plurality of scales 100, 101, 102. They are arranged in a circumferential direction on the outer surface of the medication bottle 98, each unit being different. For example, a scale in ml or a scale in days is provided. Therefore, when acquiring an inspection image, it is necessary to select a scale corresponding to a prescription or a dispensing condition, and an image portion including the scale needs to be cut out. In the present embodiment, when the bottle type is specified in the liquid medicine dispensing device and the dosage unit is recognized according to the prescription data, the cutout area including the scale is specified in the container image, and the image An analysis is being performed. In this case, the image portion to be analyzed for the scale, the container image displayed as the inspection image, and the image for analyzing the liquid level may be made different from each other.

  FIG. 5 shows an example of a medication bottle set. A cap 103 is provided on the top of the prescription bottle 98, and a measuring cup 104 is attached so as to enclose it. The measuring cup 104 is for the patient himself to measure at the time of each medication. When the medication bottle 98 is set in the liquid medicine dispensing device, the measuring cup 104 is removed, and the cap 103 is also removed.

  The scale consists of a plurality of horizontal lines, which are arranged at regular intervals in the vertical direction. Each horizontal line is configured as a concave or convex portion, or is drawn by printing. A horizontal line may be displayed by roughing or the like.

  FIG. 6 shows an adjustment amount setting method based on the target level and the liquid level. (A) has shown the container image 106 containing a medication bottle image. The medication bottle has a plurality of scales as described above, and the region of interest 108 is set for the scale 100 to be referred to. The scale 100 is composed of a plurality of horizontal lines arranged in the vertical direction, and the region of interest 108 is set to cover at least all of them in the vertical direction. Regarding the left-right direction, the region of interest 108 may or may not be set so as to encompass all of the individual horizontal lines.

  (B) shows a luminance distribution. That is, the luminance values are accumulated in the horizontal direction in the region of interest 108 and are represented on the I axis. The H axis is the height axis. In the luminance distribution 110, a change in luminance value, that is, a drop occurs at a position corresponding to each horizontal line. Here, reference numeral 102a indicates one luminance change corresponding to one horizontal line. By comparing the luminance distribution 110 with a predetermined threshold c1, the luminance change positions corresponding to # 1 to # 6 can be specified for the individual horizontal lines, thereby automatically recognizing the heights or levels of the individual horizontal lines # 1 to # 6. It becomes possible to do. In FIG. 6, the medication bottle in an empty state is imaged, and the luminance distribution 110 is acquired on the container image 106 obtained thereby. As a result, the height coordinates of all the horizontal lines # 1 to # 6 constituting the scale 100 can be acquired. Of course, not all horizontal lines but only one or a plurality of horizontal lines that need not be specified may be specified. In addition, when the width in the height direction of the portion where the luminance value falls is large, or when the waveform is distorted, processing for specifying the peak value or the center point may be applied. Alternatively, the center coordinate of the horizontal line may be calculated by detecting a change in luminance value and specifying a range from the fall to the rise.

  On the other hand, (C) shows a container image 114 after completing the dispensing process of one or more liquid medicines having medicinal effects. That is, the container image 114 shows the medication bottle before the excipient dispensing. On the other hand, for example, a region of interest as indicated by reference numeral 116 is set, and a luminance distribution in the region of interest 116 is acquired. This is shown in (D). The luminance distribution 118 has a steep change 120 at a position corresponding to the liquid level, and the change position, that is, the liquid level can be specified using the threshold c2.

  In the example shown in FIG. 6, the region of interest 116 is set and the luminance value is accumulated in the horizontal direction. However, the entire container image may be set as an analysis target, or a one-dimensional window is set, The luminance distribution may be obtained. You may make it acquire a contrast image so that a liquid level may be specified more easily.

  The liquid level h2 shown in (E) is specified by the above image analysis. In the present embodiment, the horizontal line level h1 immediately above the liquid level h2 is specified. That is, the level of the horizontal line closest to the upper side as viewed from the liquid level h2 is specified. Of course, in that case, the level of the horizontal line such as the second or third level may be specified upward from the liquid level h2.

  In the example shown in FIG. 6, a specific horizontal line level h <b> 1 is set as a target level, and a difference Δh between the target level h <b> 1 and the current liquid level h <b> 2 is determined as the adjustment amount 121. That is, the adjustment amount 121 is set as the dispensing amount of the excipient so that the excipient for such Δh is added. When the adjustment dispensing process of such an excipient is executed, the liquid level is raised upward by Δh, and as a result, the actual liquid level can be matched with a specific horizontal line.

  By performing the automatic adjustment as described above, for example, when the liquid level is lower than the target level for some reason, the liquid level can be adjusted to the target level. It is possible to solve the problem of insufficient liquid volume. Alternatively, it is possible to set an optimal dispensing amount afterwards using the above-described method without determining the dispensing amount of the excipient. In the above method, the coordinates of the individual horizontal lines constituting the scale are actually measured, and the liquid level is measured, and the actual target level can be determined from the measured liquid level. The advantage of being able to deal with molding errors and the like occurring in individual medication bottles is obtained. That is, in this embodiment, the advantage that the optimal amount of excipient can be set for each medication bottle can be obtained.

  Incidentally, it is possible to specify a dispensing amount corresponding to a pixel in the height direction on the display screen by a method as shown in FIG. For example, reference numeral 200 indicates a level of 0 mL, and reference numeral 202 indicates a level of 20 mL. If the number of pixels between them is, for example, 40, it is possible to specify the amount of liquid, that is, the amount dispensed per pixel, by dividing 20 mL by 40 pixels as indicated by reference numeral 204. Of course, the horizontal cross-sectional shape of the medication bottle may change in the height direction. In such a case, taking into account such a change in shape, the amount of liquid corresponding to each pixel should be determined. You can do it.

  FIG. 8 shows the setting of the target level with a margin added. As described above, the liquid level h2 after the specified dispensing is specified by specifying the liquid level 124, and the level h1 of the specific horizontal line 126 is specified based on that. In the illustrated example, a predetermined margin α is added to the level h1, and Δh including the margin α is added to the current liquid level h2, and the target level h3 is determined. According to such a method, the target level h3 can be set at a level slightly above the target horizontal line 126, so that the liquid level is apparently slightly higher than the target horizontal line 126 due to deformation of the medication bottle. The situation of appearing to be lowered can be eliminated or reduced. In general, it is desirable that the adjustment amount be determined so that the liquid level is always higher than a specific horizontal line by always adding such a margin. According to such a configuration, it is possible to always give the patient a sense of security.

  In FIG. 9, several scale recognition methods are arranged. In FIG. 10, several adjustment dispensing methods are arranged. First, in FIG. 9, four types A1 to A4 are shown as the scale recognition methods. They are roughly classified into a recognition method before dispensing and a recognition method after prescribed dispensing, that is, after dispensing a medicinal drug. In type A1, the level of each horizontal line is analyzed by image analysis before the start of dispensing, and after that, after the dispensing of a medicinal drug, that is, the prescribed dispensing is performed, a specific level is determined from the liquid level. As a result, the target level is determined by recognizing the horizontal line. This will be described with reference to FIGS. 11, 13, and 14. FIG.

  In the type A2, the level of each horizontal line is registered by visual observation before dispensing, and then the target level is automatically determined in the same manner as described above after the prescribed dispensing. This will be described later with reference to FIG. In type A3, a horizontal line immediately above the liquid level is specified by image analysis after prescribed dispensing, and the target level is automatically determined based on the horizontal line. In type A4, the target level is registered by the user by visual inspection of the container image after the prescribed dispensing. For example, by designating a specific horizontal line or a specific level on the screen, the coordinates are recognized as the target level. Since the container image is displayed after the prescribed dispensing, it is possible to easily add and dispense excipients by indicating a specific level on the image.

  The adjustment dispensing method shown in FIG. 10 is divided into three types. In the type B1, the adjustment amount is calculated in advance from the difference between the predicted liquid level and the target level, and adjustment dispensing for the adjustment amount is executed. In this case, for example, it is determined whether or not dispensing for the adjustment amount has been performed based on the output value of the weight sensor, that is, feedback control is executed based on the output of the weight sensor. This will be described later with reference to FIG.

  In the type B2, the adjustment amount is actually measured in advance from the difference in the detected liquid level with respect to the target level, and adjustment dispensing for the adjustment amount is executed. The still image is referred to specify the detected liquid level. On the other hand, in order to dispense an appropriate amount, the output signal of the weight sensor is referred to, that is, feedback control is executed based on such a signal. This will be described later with reference to FIG. In the type B3, feedback dispensing control for matching the detected liquid level with the target level is executed. In other words, the excipient dispensing process is observed as a moving image, and the dispensing of the excipient is completed when the liquid level matches the target level by measuring the liquid level at each time in real time. It is. This will be described later with reference to FIGS.

  FIG. 11 shows a first operation example as a flowchart. In S101, an empty medication bottle is imaged prior to the dispensing of the liquid medicine, thereby obtaining a container image as a still image. In S102, image analysis is performed on the container image, and the level of individual horizontal lines constituting the specific scale attached to the medication bottle is automatically measured.

  In S103, image display as shown in FIG. 3 is executed. In this case, the inspection image grows with the execution of each dispensing. In S104, a dispensing process for one or a plurality of liquid medicines, that is, a prescribed dispensing process is executed. In this case, it is desirable that each dispensing process is displayed as a moving image. In addition, it is desirable that the moving image is frozen and displayed as a still image after completion of each dispensing process.

  In S105, the container image after the prescribed dispensing is analyzed. That is, the state of the medication bottle in a state before dispensing of the excipient is imaged, and the liquid level is actually measured by the image analysis. In S106, the target level is specified as the level of the horizontal line immediately above the liquid level. In that case, the target level can be determined as a level obtained by adding a margin to the level of the horizontal line immediately above. It is also possible to determine two or three horizontal line levels as a target level when viewed from the liquid level.

  In S107, it is determined whether or not the adjustment dispensing condition is satisfied. Specifically, when the level difference between the liquid level and the target level or the specific horizontal line is within a certain value, or there is no horizontal line above the liquid level, an error has occurred in S106. In this case, it is determined that the adjusted dispensing condition is not satisfied. In other words, it is determined that the adjusted dispensing condition is satisfied unless a specific exceptional event such as those described above is satisfied. If it is determined that the adjusted dispensing condition is satisfied, the process proceeds from S107 to S108, and if not, the process proceeds from S107 to S113.

  In S108, the medication bottle is positioned at the excipient dispensing position. Then, in S109, the dispensing of the excipient is started. That is, the valve is opened. At the same time, shooting of a moving image for the medication bottle and analysis of the liquid level are started. In S110, it is determined whether or not the liquid level has reached the target level, and if it has reached, S111 is executed.

  In S111, the dispensing of the excipient is stopped, and at the same time, the analysis of the moving image, that is, the analysis of the liquid level is ended. When dispensing of the excipient is completed, a still image is displayed as an inspection image. In S112, the amount of excipient dispensed is measured, and the amount dispensed is displayed and recorded as necessary. In the first operation example, the dispensing amount feedback control is executed, that is, since the dispensing amount of the excipient is determined at the end of the dispensing of the excipient, the liquid level at that time The dispensed amount of the excipient is calculated from the difference or the output value of the weight sensor. In S113, the medication bottle is conveyed to the take-out position. In S114, the user who has observed the inspection image inputs confirmation. This ends the display of the inspection image.

  In the first operation example described above, the height coordinate of each horizontal line constituting the scale is specified in advance, the target level is determined based on the coordinate, and the actual liquid level matches the target level by feedback control. Dispensing of excipients is carried out until Incidentally, in setting the target level, a margin may be added as described above. If the horizontal line level slightly changes due to deformation after the empty state, the horizontal line may be analyzed again.

  FIG. 12 shows a second operation example as a flowchart. Note that the same step numbers are assigned to the same steps as those shown in FIG. The same applies to FIGS. 13 and 14.

  In FIG. 12, in S101, an empty medication bottle is photographed, and a still image is acquired thereby. In S202, display of the inspection image is started. In this case, the inspection image includes a horizontal line row.

  In S203, it is determined whether or not the individual horizontal lines constituting the scale in the displayed container image and the individual horizontal lines constituting the horizontal line row match. In FIG. 5, by moving the horizontal line up and down, an input for matching it with the corresponding horizontal line is executed. Such an input allows the apparatus to recognize the level of each horizontal line on the actual scale.

  In S104, the prescribed dispensing process is executed. In S105, an image analysis is performed on the last container image after the prescribed dispensing, whereby the liquid level is measured. In S106, the target level is specified from the specified liquid level. In this case, a target horizontal line is specified from the plurality of horizontal line levels registered as described above, and that level is set as the target level. Of course, a margin may be added.

  In S107, it is determined whether or not the adjustment dispensing condition is satisfied. If the condition is satisfied, each process after S108 is executed. If this condition is not satisfied, each process after S113 is executed. Since each step after S108 has already been described with reference to FIG. 11, description thereof is omitted here.

  In the second operation example described above, since the level of the horizontal line is visually confirmed by the user, it is possible to easily obtain necessary information without specifying the level of each horizontal line by image analysis. Become. In addition, the target level can be automatically specified, and the liquid level can be adjusted to the target level under feedback control.

  FIG. 13 shows a third operation example as a flowchart.

  In S101, an empty medication bottle is imaged, and a still image is acquired. In S102, image analysis of a still image is executed, and thereby the height coordinate of each horizontal line constituting the scale is analyzed. In S103, display of the inspection image is started, and in S104, the prescribed dispensing process is executed. In S105, image analysis is performed on the container image after the prescribed dispensing, whereby the liquid level at that time is measured. In S106, the target level is specified based on the liquid level. In S107, it is determined whether or not the adjustment dispensing condition is satisfied.

  In S108, the medication bottle is positioned at the excipient dispensing position. In S301, the amount of excipient dispensed is calculated. That is, since the target level has already been specified and the current liquid level has also been specified, it is possible to calculate the dispensed amount of the excipient, that is, the adjustment amount from the level difference. In S302, the dispensing of the excipient is started, and in S303, the quantity of the excipient dispensed is observed in real time, and it is determined whether or not it has reached the target quantity, that is, the target level. In that case, the output value of the weight sensor is referred to.

  When the dispensing amount reaches the target amount, that is, when the liquid level is considered to have reached the target level, the excipient dispensing is stopped in S304, and a still image at that time is acquired. . Each process after S112 is as already described.

  According to the second operation example described above, there is an advantage that an optimum dispensing amount can be determined by feedback control without capturing a moving image. That is, by determining whether or not the dispensing amount has reached the target amount based on the output value of the weight sensor, the liquid level can be adjusted to the target level as a result.

  FIG. 14 shows a fourth operation example as a flowchart.

  In S101, an empty medication bottle is photographed, whereby a still image is acquired. In S102, the height coordinate of each horizontal line is measured by analyzing a still image. In S401, the target level is set as the level of the horizontal line immediately after the predicted liquid level is specified by adding the dispensing amounts of the individual liquid medicines. In that case, a margin may be added.

  In S107, it is determined whether or not the adjusted dispensing condition is satisfied. If satisfied, in S402, as the excipient dispensing amount, the prescribed amount, that is, the amount to be adjusted to the integer value by eliminating the decimal value or the number of days An additional amount is added to the amount to match the unit, and this is used as a dispensing amount. That is, an additional amount for eliminating the apparent shortage of the liquid amount is added to the original dispensing amount of the excipient, that is, the prescribed amount, and the total amount is used as the dispensing amount. On the other hand, when it is determined in S107 that the adjusted dispensing amount condition is not satisfied, only the prescribed amount is set as the dispensing amount in S403.

  In S404, display of the inspection image is started. In this case, when the additional amount is added, the specified amount and the additional amount are individually displayed. This makes it possible for the user to distinguish and recognize the extent of the addition amount and the normal amount. In S405, a dispensing process is executed. In this case, the dispensing of one or a plurality of liquid medicines having medicinal effects and the subsequent dispensing of the excipient are performed continuously. The amount of excipient dispensed was determined in S402 or S403 described above. Since S113 and S114 have already been described, description thereof will be omitted.

  In the fourth operation example described above, it is possible to calculate the amount of excipient dispensed in advance, and automatically dispense the amount of excipient dispensed in the adjustment step.

  As described above, the contents from the first operation example to the fourth operation example have been described. As shown in FIGS. 9 and 10, various variations are considered for the dispensing of the excipient, that is, the adjustment dispensing. . In any case, it is desirable to refer to an actual scale on a medication bottle to be actually dispensed and to set a target level based on the scale.

  10 liquid medicine dispensing device, 12, 14, 16 dispensing unit, 18 transport mechanism, 20 movable body, 22 medication bottle, 66 drug list, 68 inspection image (inspection image).

Claims (7)

A dosing container having a scale;
Imaging means for imaging the medication container to obtain a container image;
Based on the result of the scale analysis on the container image or the input of the user who visually recognizes the scale in the container image, target level setting means for setting a target level in the medication container that is currently the injection target;
A means for executing control for injecting an excipient into the dosing container after injecting a liquid medicine having a medicinal effect into the dosing container, wherein the target level is adjusted by adjusting an injection amount of the excipient Injection control means for adjusting the liquid level in the dosing container,
A liquid medicine dispensing device comprising: The apparatus of claim 1.
Image analysis means for analyzing the level of at least one horizontal line constituting the scale in the container image;
The target level setting means sets the target level based on the analyzed level of the horizon;
A liquid medicine dispensing device characterized by that. The apparatus of claim 2.
The container image is acquired by imaging a medication container in an empty state,
The image analysis means analyzes each level for a plurality of horizontal lines constituting a scale in the container image,
The target level setting means recognizes a specific horizontal line higher than a liquid level predicted or detected at the completion of injection of the medicinal liquid medicine among the plurality of horizontal lines, and sets the level of the specific horizontal line. Based on the target level,
A liquid medicine dispensing device characterized by that. The apparatus of claim 1.
The image analysis means detects the liquid level at each time based on the container image during injection of the excipient,
The injection control means injects the excipient until the detected liquid level matches the target level.
A liquid medicine dispensing device characterized by that. The apparatus of claim 1.
The image analysis means detects the liquid level before excipient injection based on the container image at the completion of injection of the liquid medicine having the medicinal effect
The injection control means determines the injection amount of the excipient from the difference between the liquid level before the excipient injection and the target level;
A liquid medicine dispensing device characterized by that. The apparatus of claim 1.
An input means for inputting a level of at least one horizontal line constituting the scale by a user who visually recognizes the scale in the container image;
A liquid medicine dispensing device characterized by that. The apparatus of claim 1.
Including means for displaying an inspection image containing information representing the amount of the excipient injected,
A liquid medicine dispensing device characterized by that.