JP2017035358A - Chemical extraction method and chemical extraction system - Google Patents

Abstract

PROBLEM TO BE SOLVED: To further reduce a residual amount of a chemical in a container when a total amount of the chemical stored in the container is extracted.SOLUTION: The chemical extraction method according to the present invention includes the steps of: controlling at least one of a syringe drive device 3 for driving a plunger 5B of a syringe 5 and a robot 2, with the syringe 5 and a container 6 held, so as to puncture a plug 6A of the container 6 with a tip end of a needle 5A of the syringe 5 and make the needle reach the inside of a chemical 10; pulling the plunger 5B to extract the chemical 10; and when it is detected that an extraction amount of the chemical 10 reaches a prescribed amount, while pulling the plunger 5B, moving a physical relationship of the syringe 5 relative to the container 6 in a direction of separating it.SELECTED DRAWING: Figure 6

Description

  The present disclosure relates to a drug exploitation method and a drug exploitation system.

  DESCRIPTION OF RELATED ART Conventionally, the chemical | medical agent extraction system comprised so that the chemical | medical agent accommodated in the sealed container may be extracted with a syringe is known (for example, refer patent document 1).

JP 2014-117295 A

  However, in the above-described conventional medicine exploitation system, when all the medicine contained in the container is exploited, it is desired to further reduce the remaining amount of the medicine in the container. Therefore, the present disclosure has been made in view of the above-described problem, and when the entire amount of the medicine stored in the container is extracted, the chemical extraction that makes it possible to further reduce the remaining amount of the medicine in the container. An object is to provide a method and a chemical exploitation system.

  A first feature of the present disclosure is a chemical extraction method for extracting a chemical contained in a sealed container by a syringe, and the plunger of the syringe in a state where the syringe and the container are gripped. By controlling at least one of the syringe drive device and the robot configured to drive the needle, and puncturing the tip of the needle of the syringe into the stopper of the container to reach the medicine, and In a state where the syringe and the container are gripped, by controlling at least one of the syringe driving device and the robot, a step B of pulling out a plunger of the syringe to extract the medicine, and the syringe and the container If it is detected that the extraction amount of the medicine has reached a predetermined amount while the By controlling at least one device and the robot, it is summarized in that a step C of moving in a direction to isolate the relative positional relationship between the syringe and the container while pulling the plunger.

  A second feature of the present disclosure is a medicine squeezing system configured to squeeze a medicine contained in a sealed container with a syringe, and can grasp at least one of the syringe and the container. A robot having an arm with a hand provided at the tip, a syringe driving device configured to drive a plunger of the syringe, and a controller configured to control the robot and the syringe driving device And the controller controls at least one of the syringe driving device and the robot in a state where the syringe and the container are being gripped, so that the tip of the syringe needle is plugged into the container. A first control unit that punctures the medicine and reaches the medicine, and the syringe and the container are gripped A second control unit that pulls the plunger and exploits the medicine by controlling at least one of the syringe drive device and the robot, and that the exploitation amount of the medicine has reached a predetermined amount. In the state where the first detection unit to detect, the syringe and the container are gripped, when the first detection unit detects that the extraction amount of the medicine has reached a predetermined amount, the syringe drive device and A third control unit that moves at least one of the robots in a direction to isolate a relative positional relationship between the syringe and the container in a state where the plunger is continuously pulled; and It is summarized as having.

  According to the present disclosure, it is possible to provide a medicine exploitation method and a medicine exploitation system that can further reduce the remaining amount of medicine in a container when all the medicine contained in the container is extracted.

It is a figure for demonstrating an example of the whole schematic structure to the medicine exploitation system concerning an embodiment. It is a figure which shows an example of a structure of the robot which concerns on embodiment. It is a figure which shows an example of a structure of the syringe drive device which concerns on embodiment. It is a figure which shows an example of a structure of the controller which concerns on embodiment. It is a figure which shows an example of a functional structure of the controller which concerns on embodiment. It is a figure which shows an example of the operation | movement which exploits the chemical | medical agent accommodated in the container by the plunger of a syringe in the chemical | medical agent exploitation system which concerns on embodiment. It is a figure which shows an example of the chemical exploitation method which concerns on embodiment.

  Hereinafter, an embodiment will be described with reference to FIGS.

<Chemical exploitation system>
First, with reference to FIGS. 1-7, an example of the whole schematic structure of the chemical exploitation system 1 which concerns on this embodiment is demonstrated. In the following, for convenience of description of the structure of the drug exploitation system 1 etc., the directions of “up”, “down”, “left”, “right”, “front”, “rear”, etc. are noted in each figure such as FIGS. Use in appropriate directions. However, this direction is fluctuate | varied with installation modes, such as the chemical exploitation system 1, and does not limit the positional relationship of each structure.

  The medicine exploitation system 1 according to the present embodiment is configured to exploit a medicine 10 contained in a sealed container (for example, a vial) 6 with a syringe 5. Here, the medicine 10 may be a liquid medicine or a powder medicine.

  As shown in FIG. 1, the drug exploitation system 1 according to this embodiment includes a robot 2, a syringe drive device 3, and a controller 4. In addition, as shown in FIG. 1, in the chemical exploitation system 1 which concerns on this embodiment, the syringe 5 and the container 6 shall be put on the tray 7 in the state where the above-mentioned exploitation is not performed.

  As shown in FIGS. 1 and 2, the robot 2 has an arm 2 </ b> A provided with a hand 2 </ b> B capable of gripping at least one of the syringe 5 and the container 6 at the tip. For example, the robot 2 is a double-armed robot having two articulated arms as the arm 2A.

  As shown in FIG. 3, the syringe drive device 3 is configured to hold the syringe 5 and the container 6, and is configured to drive the plunger 5 </ b> B of the syringe 5. Here, the syringe drive device 3 is configured so as to be able to reverse the vertical relationship between the syringe 5 and the container 6 in a gripped state.

  In the medicine exploitation system 1 according to the present embodiment, the syringe 5 includes a needle 5A and a plunger 5B, and is configured to be used for exploitation of the medicine 10. In the medicine exploitation system 1 according to the present embodiment, a plurality of types of syringes 5 having different diameters and lengths are prepared, and the syringe 5 is configured to be selectively used according to the kind of the medicine 10 to be exploited, the amount of exploitation, and the like. Good. In the present embodiment, for convenience of explanation, as shown in FIG. 1, a case where one type of syringe 5 is used will be described as an example, but two or more types of syringes 5 may be used.

  The syringe drive device 3 may be configured to be able to grip only one of the syringe 5 and the container 6. In such a case, the syringe drive device 3 is configured to drive the plunger 5 </ b> B of the syringe 5 in cooperation with the robot 2.

  The controller 4 is configured to control the robot 2 and the syringe drive device 3 as shown in FIG. For example, as shown in FIG. 4, the controller 4 includes a processor 41, a memory 42, an input / output unit (I / O) 43, a storage 44, and a bus 45 that interconnects them. . The processor 41 executes a program in cooperation with at least one of the memory 42 and the storage 44, and inputs / outputs data via the input / output unit 43 according to the execution result. As a result, various functions of the controller 4 are realized. FIG. 5 shows these functions expressed as virtual blocks (hereinafter, function blocks).

  As shown in FIG. 5, the controller 4 includes, as function blocks, a first control unit 4A, a second control unit 4B, a first detection unit 4C, a third control unit 4D, a fourth control unit 4E, A second detection unit 4F and a speed determination unit 4G are provided.

  The first control unit 4A controls at least one of the robot 2 and the syringe driving device 3 in a state where the syringe 5 and the container 6 are gripped, so that the tip 5A of the needle of the syringe 5 becomes the stopper 6A of the container 6. It is configured to puncture and reach the medicine 10 (see FIGS. 6A to 6B).

  For example, the first control unit 4A controls the arm 2A of the robot 2 to move the syringe 5 closer to the container 6 in a state where both the syringe 5 and the container 6 are held by the hand 2B. The tip 5A of the needle may be configured to puncture the stopper 6A of the container 6 and reach the medicine 10. In such a case, the first control unit 4A may be configured to control the arm 2A of the robot 2 to move the container 6 so as to approach the syringe 5.

  The first control unit 4A controls the syringe driving device 3 to move the syringe 5 and move the container 6 while the container 6 is held by the hand 2B and the syringe 5 is held by the syringe driving device 3. The tip 5A of the needle of the syringe 5 may be punctured into the stopper 6A of the container 6 so as to reach the medicine 10. In such a case, the first control unit 4A may be configured to simultaneously control the arm 2A of the robot 2 and move the container 6 to approach the syringe 5.

  The first control unit 4A controls the arm 2A of the robot 2 to move the syringe 5 while the syringe 5 is gripped by the hand 2B and the container 6 is gripped by the syringe driving device 3, thereby moving the container 6, the tip 5 </ b> A of the needle of the syringe 5 may be punctured into the stopper 6 </ b> A of the container 6 to reach the medicine 10. In such a case, the first control unit 4 </ b> A may be configured to simultaneously control the syringe driving device 3 to move the container 6 to approach the syringe 5.

  Further, the first control unit 4A controls the syringe driving device 3 to move the syringe 5 closer to the container 6 in a state where both the syringe 5 and the container 6 are held by the syringe driving device 3, and the syringe 5 The needle tip 5 </ b> A may be punctured into the stopper 6 </ b> A of the container 6 to reach the medicine 10.

  The second control unit 4B is configured to pull the plunger 5B and squeeze out the medicine 10 by controlling at least one of the syringe driving device 3 and the robot 2 while the syringe 5 and the container 6 are held. (See FIG. 6B).

  For example, the second controller 4B is configured to pull the plunger 5B and extract the medicine 10 by controlling the robot 2 in a state where both the syringe 5 and the container 6 are gripped by the hand 2B. It may be.

  In addition, the second control unit 4B pulls the plunger 5B by controlling the syringe driving device 3 while the container 6 is held by the hand 2B and the syringe 5 is held by the syringe driving device 3. The medicine 10 may be exploited.

  The second control unit 4B controls the robot 2 while the syringe 5 is gripped by the hand 2B and the container 6 is gripped by the syringe drive device 3, thereby pulling the plunger 5B and 10 may be configured to be exploited.

  Furthermore, the 2nd control part 4B pulls the plunger 5B and squeezes the chemical | medical agent 10 by controlling the syringe drive device 3 in the state in which both the syringe 5 and the container 6 are hold | gripped by the syringe drive device 3. It may be configured as follows.

  The first detection unit 4C is configured to detect that the exploitation amount of the medicine 10 has reached a predetermined amount. For example, the first detection unit 4 </ b> C has a transfer amount (capacity) of the medicine 10 from the container 6 to the syringe 5, the weight of the medicine 10 in the syringe 5, the weight of the medicine 10 in the container 6, and the syringe driving device 3. It may be configured to detect that the extraction amount of the medicine 10 has reached a predetermined amount based on the length (the movement distance of the plunger 5B) by which the plunger 5B has been pulled by.

  Here, for example, the first detection unit 4C may measure the transfer amount of the above-described medicine 10 using an optical sensor or the like, or may use a weighing scale provided in the robot 2 or the syringe drive device 3. You may weigh the above-mentioned chemicals. In other words, the first detection unit 4C can detect that the exploitation amount of the medicine 10 has reached a predetermined amount by using an indirect or direct arbitrary means.

  When the first control unit 4C detects that the extraction amount of the medicine 10 has reached a predetermined amount in a state where the syringe 5 and the container 6 are held, the third control unit 4D performs the robot 2 and the syringe drive device. 3 is configured to move the relative positional relationship between the syringe 5 and the container 6 in a direction to isolate the plunger 5B in a state in which the plunger 5B is continuously pulled (see FIG. 3). 6 (c)).

  For example, when the third control unit 4D detects that the extraction amount of the medicine 10 has reached a predetermined amount by the first detection unit 4C in a state where both the syringe 5 and the container 6 are held by the hand 2B. In the state where the plunger 5B continues to be pulled, the arm 2A of the robot 2 may be controlled to move the syringe 5 in the direction of isolating the syringe 6 from the container 6, or the direction of isolating the container 6 from the syringe 5 Or both the syringe 5 and the container 6 may be moved away from each other.

  Further, the third control unit 4D is configured such that the amount of the medicine 10 squeezed out by the first detection unit 4C is a predetermined amount while the container 6 is held by the hand 2B and the syringe 5 is held by the syringe drive device 3. When it is detected that the plunger 5B has been pulled, the arm 2A of the robot 2 may be controlled to move the container 6 in a direction to isolate it from the syringe 5, or the syringe may be driven. The apparatus 3 may be controlled to move the syringe 5 in a direction to isolate the syringe 5 from the container 6, or the robot 2 arm 2A and the syringe driving device 3 may be controlled to isolate both the syringe 5 and the container 6 from each other. It may be moved to.

  In addition, the third control unit 4D is configured such that the amount of the medicine 10 extracted by the first detection unit 4C is set to a predetermined amount while the syringe 5 is held by the hand 2B and the container 6 is held by the syringe drive device 3. If it is detected that the plunger 5B has been pulled, the syringe driving device 3 may be controlled to move the container 6 in a direction to isolate it from the syringe 5, or the robot 2 The arm 2A may be controlled to move the syringe 5 in a direction to isolate it from the container 6, or the arm 2A of the robot 2 and the syringe drive device 3 may be controlled to isolate both the syringe 5 and the container 6 from each other. It may be moved to.

  Further, the third control unit 4D detects that the amount of the medicine 10 that has been exploited reaches a predetermined amount by the first detection unit 4C in a state where both the syringe 5 and the container 6 are gripped by the syringe drive device 3. In the case where the plunger 5B continues to be pulled, the syringe driving device 3 may be controlled to move the syringe 5 in a direction to isolate it from the container 6, or the container 6 may be isolated from the syringe 5. You may move to the direction, and you may move to the direction which isolate | separates both the syringe 5 and the container 6 from each other.

  According to the above-described configuration, since the tip of the needle 5A of the syringe 5 moves from the inside of the container 6 to the stopper 6A of the container 6 while the medicine 10 is being transferred from the container 6 to the syringe 5, all of the medicine 10 is removed. It can be transferred to the syringe 5. In addition, according to the above-described configuration, the tip of the needle 5A of the syringe 5 only needs to reach the inside of the medicine 10, so that the tip of the needle 5A of the syringe 5 when the needle 5A of the syringe 5 is punctured into the stopper of the container 6 Position adjustment can be facilitated.

  The controller 4 may further include a second detection unit 4F and a fourth control unit 4E as functional blocks.

  When the second detection unit 4F is moved in a direction to isolate the relative positional relationship between the syringe 5 and the container 6 by the third control unit 4D, the tip of the needle 5A of the syringe 5 is plugged 6A of the container 6. It is comprised so that it may enter into the thickness of.

  For example, the second detection unit 4F may be configured to detect that the tip of the needle 5A of the syringe 5 has entered the thickness of the stopper 6A of the container 6 by photographing using a camera or the like. It is configured to detect that the tip of the needle 5A of the syringe 5 has entered the thickness of the stopper 6A of the container 6 by comparing the threshold value stored in advance with the actual movement distance of the plunger 5B. May be. The second detector 4F is not limited to these methods, and is configured to detect that the tip of the needle 5A of the syringe 5 has entered the thickness of the stopper 6A of the container 6 by any method. Yes.

  The fourth control unit 4E controls the syringe driving device 3 when the second detection unit 4F detects that the tip of the needle 5A of the syringe 5 has entered the thickness of the stopper 6A of the container 6. The operation of pulling the plunger 4B of the syringe 4 is stopped (see FIG. 6D).

  According to such a configuration, the operation of pulling the plunger 4B of the syringe 4 can be stopped at the timing when the medicine 10 cannot be extracted when the plunger 4B of the syringe 4 is pulled.

  Furthermore, the controller 4 may further include a speed determination unit 4G as a functional block. Here, the speed determining unit 4G is configured to determine the speed of pulling the plunger 4B of the syringe 4 according to the type of the medicine 10 contained in the container 6 (for example, the viscosity of the medicine 10). Yes. In such a case, the second control unit 4B may be configured to pull the plunger 4B of the syringe 4 at a speed determined by the speed determination unit 4G by controlling the syringe driving device 3.

  The speed determination unit 4G moves in a direction to isolate the relative positional relationship between the syringe 5 and the container 6 according to the type of the medicine 10 contained in the container 6 (for example, the viscosity of the medicine 10). You may be comprised so that the speed | rate to make may be determined. In such a case, the third control unit 4D controls the relative positional relationship between the syringe 5 and the container 6 at a speed determined by the speed determination unit 4G by controlling at least one of the robot 2 and the syringe drive device 3. It is configured to move in the direction of isolation.

  According to the above-described configuration, since the moving speed of the medicine 10 from the container 6 to the syringe 5 based on the viscosity of the medicine 10 can be taken into account, all of the medicine 10 can be transferred to the syringe 5 more reliably.

  Furthermore, the controller 4 may further include a determination unit 4H as a functional block. Here, the determination unit 4H determines whether to squeeze all of the medicine 10 contained in the container 6 or to squeeze only a predetermined amount of the medicine 10 contained in the container 6. It is configured.

  For example, when the medicine 10 is a powdered medicine, the determination unit 4H is configured to perform the above-described determination based on the infusion amount put into the container 6 and the exploitation amount input by the user or the like. May be. Moreover, when the medicine 10 is a liquid medicine, the determination unit 4H is configured to perform the above-described determination based on the medicine information acquired from the electronic medical record and the exploitation amount input by the user or the like. May be.

  In addition, when the determination unit 4H determines that only a predetermined amount of the medicine 10 contained in the container 6 should be exploited, the second control unit 4B is at least one of the syringe drive device 3 and the robot 2. The amount of medicine 10 exceeding the predetermined amount is returned to the container 6 by pushing the plunger 5B after squeezing more medicine 10 than a predetermined amount by controlling. In such a case, the first detection unit 4C, the third control unit 4D, the fourth control unit 4E, the second detection unit 4F, and the speed determination unit 4G may be configured not to perform the operation according to the present embodiment. .

  According to such a configuration, even when there is no need to transfer all of the medicine 10 accommodated in the container 6 to the syringe 5, it can be dealt with.

  In the case where the medicine exploitation system 1 according to the present embodiment exploits the medicine 10 stored in a plurality of containers 6, for example, three containers 61 to 63 (not shown) by the syringe 5, the two containers 61, When the medicine 10 accommodated in 62 is fully extracted and only a predetermined amount of medicine 10 accommodated in one container 63 is extracted, the second control unit 4 </ b> B controls the medicine 10 accommodated in the container 63. In the case of squeezing out, by controlling the syringe driving device 3, after squeezing more medicine than the predetermined amount from the container 63, the amount of medicine 10 exceeding the predetermined amount is pushed into the container by pressing the plunger 5B. You may be comprised so that it may return to 63.

<Chemical exploitation method>
Next, with reference to FIG. 7, an example of the medicine extraction method by the robot 2 and the syringe drive device 3 executed by the controller 4 will be described. The medicine exploitation method according to the present embodiment is a method of exploiting the medicine 10 accommodated in the sealed container 6 with the syringe 5.

  As shown in FIG. 7, in step S101, the controller 4 controls at least one of the syringe drive device 3 and the robot 2 in a state where at least one of the syringe 5 and the container 6 is held by the hand 2B. The tip of the needle 5A of the syringe 5 is punctured into the stopper 6A of the container 6 to reach the medicine 10 (see FIGS. 6A to 6B).

  In step S102, the controller 4 pulls the plunger 5B and squeezes out the medicine 10 by controlling the syringe driving device 3 in a state where at least one of the syringe 5 and the container 6 is gripped by the hand 2B (FIG. 6 (b)).

  In step S103, when it is detected that the amount of extraction of the medicine 10 has reached a predetermined amount in a state where at least one of the syringe 5 and the container 6 is gripped by the hand 2B, the controller 4 By controlling at least one of the robots 2, the relative position relationship between the syringe 5 and the container 6 is moved in a direction to isolate the plunger 5 </ b> B while pulling the plunger 5 </ b> B.

  According to the medicine exploitation system 1 and the medicine exploitation method according to the present embodiment, the remaining amount of the medicine 10 in the container 6 can be further reduced when all the medicine 10 contained in the container 6 is exploited.

DESCRIPTION OF SYMBOLS 1 ... Chemical exploitation system 2 ... Robot 2A ... Arm 2B ... Hand 3 ... Syringe drive device 4 ... Controller 4A ... 1st control part 4B ... 2nd control part 4C ... 1st detection part 4D ... 3rd control part 4E ... 4th Control part 4F ... 2nd detection part 4G ... Speed determination part 4H ... Determination part 5 ... Syringe 5A ... Needle 5B ... Plunger 6, 61, 62, 63 ... Container 6A ... Plug 7 ... Tray

Claims (10)

A method for extracting a medicine contained in a sealed container with a syringe,
By controlling at least one of a syringe driving device and a robot configured to drive a plunger of the syringe while the syringe and the container are gripped, the tip of the needle of the syringe is moved to the container A step A for piercing the stopper and reaching the medicine;
In the state where the syringe and the container are gripped, by controlling at least one of the syringe driving device and the robot, the step B of pulling the plunger and extracting the medicine;
The plunger is controlled by controlling at least one of the syringe driving device and the robot when it is detected that the extraction amount of the medicine reaches a predetermined amount in a state where the syringe and the container are held. And a step C for moving the syringe in the direction of isolating the relative positional relationship between the syringe and the container.   When the tip of the needle enters the thickness of the stopper while moving the relative positional relationship in the direction of isolating, by controlling at least one of the syringe drive device and the robot, The medicine exploitation method according to claim 1, further comprising a step of stopping an operation of pulling the plunger. According to the type of the medicine, the step of determining the pulling speed of the plunger in the step B,
3. The medicine exploitation method according to claim 1 or 2, wherein in the step B, the plunger is pulled at the determined speed by controlling at least one of the syringe driving device and the robot. According to the type of the medicine, the step of determining the speed of the movement in the step C,
The said process C is made to move in the direction which isolates the said positional relationship with the determined speed of the said control by controlling at least one of the said syringe drive device and the said robot. Chemical exploitation method.   When only a predetermined amount of the medicine contained in the container is to be squeezed out, the amount of medicine exceeding the predetermined amount is pushed by pushing the plunger after squeezing more medicine than the predetermined amount. The chemical exploitation method according to any one of claims 1 to 4, further comprising a step of returning to the container. A chemical extraction system configured to extract a chemical contained in a sealed container by a syringe,
A robot having an arm provided with a hand capable of gripping at least one of the syringe and the container;
A syringe drive configured to drive a plunger of the syringe;
A controller configured to control the robot and the syringe drive; and
Have
The controller is
By controlling at least one of the syringe driving device and the robot in a state where the syringe and the container are gripped, the tip of the needle of the syringe is punctured into the stopper of the container to reach the medicine. A first control unit;
In a state where the syringe and the container are gripped, by controlling at least one of the syringe driving device and the robot, a second control unit that pulls the plunger and squeezes the medicine,
A first detection unit for detecting that the amount of exploitation of the medicine has reached a predetermined amount;
When the first detection unit detects that the medicine extraction amount has reached a predetermined amount in a state where the syringe and the container are gripped, at least one of the syringe driving device and the robot is controlled. By this, in a state where the plunger continues to be pulled, a third control unit that moves in a direction to isolate the relative positional relationship between the syringe and the container;
A chemical exploitation system characterized by comprising: The controller is
A second detection unit that detects that the tip of the needle has entered the thickness of the stopper when the third control unit is moved in a direction to isolate the relative positional relationship;
When the second detection unit detects that the tip of the needle has entered the thickness of the stopper, the operation of pulling the plunger is stopped by controlling at least one of the syringe driving device and the robot. A fourth control unit,
The drug exploitation system according to claim 6, further comprising: The controller further includes a speed determining unit configured to determine a speed of pulling the plunger according to a type of the medicine,
The second control unit pulls the plunger at the speed determined by the speed determination unit by controlling at least one of the syringe driving device and the robot. The chemical exploitation system described in 1. The speed determining unit is configured to determine the speed of the movement according to the type of the medicine,
The third control unit according to claim 8, wherein the third control unit moves at the speed of the movement determined by the speed determination unit by controlling at least one of the syringe driving device and the robot. Chemical exploitation system.   The second control unit controls at least one of the syringe drive device and the robot to extract more medicine than the predetermined amount when only a predetermined amount of the medicine contained in the container is extracted. The medicine exploitation system according to any one of claims 6 to 9, wherein after the extraction, the amount of medicine exceeding the predetermined amount is returned to the container by pressing the plunger.

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