JP2017080165A - Coinjection device - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a coinjection device capable of appropriately handling a flexible resin chemical solution container filled with a chemical solution.SOLUTION: A coinjection device 1 comprises: a container holding part 25 for holding a resin chemical solution container, which includes a cylindrical body part and a hard part existing at two positions different from each other by 180 degrees with the center of the body part as a reference on the outside of the body part; a syringe operation part 26 for holding a syringe and sucking, by the syringe, a chemical solution in the resin chemical solution container held by the container holding part; and detection means for detecting a direction of the hard part. The container holding part has a pair of grip claws for clamping the resin chemical solution container. The container holding part clamps the body part with the pair of grip claws based on a detection result of the detection means.SELECTED DRAWING: Figure 4

Description

The present invention relates to a co-infusion apparatus capable of handling a resin pharmaceutical solution container.

Since drugs such as anticancer drugs mixed with the infusion liquid cause a risk of exposure, mixed injection processing for mixing and adjusting such drugs in the infusion liquid is performed in a safety cabinet set to a negative pressure. Then, when performing mixed injection using a vial bottle in which a powdered drug is enclosed as the drug, the drug compounder sucks the infusion solution from the infusion bag with a syringe, and inserts the injection needle of the syringe into the cap portion ( The infusion solution in the syringe is poured into a vial through a rubber stopper. Then, the drug compounder sucks the infusion solution in which the drug is dissolved into the syringe. Since a certain amount of the drug is sealed in the vial, the drug compounder repeatedly performs the operation of injecting and sucking the infusion into a plurality of vials until the required amount of the drug is dissolved in the infusion. The drug compounder dissolves a necessary amount of drug in the infusion solution, and then inserts the injection needle of the syringe into the mixed injection port of the infusion bag to return the infusion solution in which the drug in the syringe is dissolved into the infusion bag.

Not only the vial bottle but also a mixed injection process for injecting a drug solution in an ampoule into an infusion. In the mixed injection process using the above ampule, the drug solution in the ampule with the head cut off is sucked into the syringe, the injection needle of the syringe is inserted into the mixed injection port of the infusion bag, and the drug solution in the syringe is injected into the infusion bag. become.

Furthermore, for example, a flexible resin pharmaceutical solution container containing physiological saline is opened, the physiological saline in the resin pharmaceutical solution container is sucked with a syringe, and the sucked physiological saline is placed in a vial. The powdered drug is dissolved, the solution is sucked from the vial, and injected into the infusion bag.

By the way, Patent Document 1 discloses a radiopharmaceutical dispensing apparatus that dispenses while avoiding the risk of exposure to a drug.

JP-A-1-244759

However, the device of Patent Document 1 does not disclose that the device appropriately handles a flexible resin pharmaceutical solution container in which a chemical solution is placed.

This invention provides the co-infusion apparatus which can handle appropriately the flexible resin pharmaceutical liquid container with which the chemical | medical solution was put in view of said situation.

In order to solve the above-described problems, the present invention provides a cylindrical main body portion, and a hard portion existing at two positions different from each other by 180 degrees with respect to the center of the main body portion outside the main body portion. A container holding unit for holding a resin pharmaceutical solution container having a syringe, a syringe operation unit for holding a syringe, and sucking a drug solution in the resin drug solution container held by the container holding unit by the syringe, and the hard In the co-infusion apparatus comprising a detecting means for detecting the orientation of the part, the container holding part has a pair of gripping claws for holding the resin pharmaceutical solution container, and the container holding part is a detection result of the detecting means. Based on the above, the co-infusion apparatus is characterized in that the main body is sandwiched between the pair of gripping claws.

The present invention also relates to a resin pharmaceutical solution container having a cylindrical main body portion and a hard portion present at two positions different from each other by 180 degrees with respect to the center of the main body portion outside the main body portion. A direction control unit that controls the direction of the container, a container holding unit that holds the resin pharmaceutical solution container whose direction is controlled by the direction control unit, and a syringe that is held in the container holding unit by the syringe. In the co-infusion apparatus including a syringe operation unit that sucks the drug solution in the resin drug solution container and a detection unit that detects the direction of the hard part, the container holding unit is a pair of holding the resin drug solution container. The gripping claw is provided, the direction control unit directs the hard portion in a specific direction based on the detection result of the detection means, and the container holding unit has a pair of directions different from the specific direction. Grip the nail above the tree Close to the pharmaceutical liquid container also provides mixed injection apparatus characterized by sandwiching the main body portion.

The present invention also includes a cylindrical main body portion and a hard portion existing at two positions that are 180 degrees different from each other on the outside of the main body portion with reference to the center of the main body portion. An orientation control unit that controls the orientation of the attached resin pharmaceutical solution container, a container holding unit that holds the resin pharmaceutical solution container whose direction is controlled by the orientation control unit, a syringe, and the syringe In the co-infusion apparatus, comprising: a syringe operation unit that sucks the drug solution in the resin pharmaceutical solution container held by the container holding unit; and a reading unit that reads the drug solution information when the drug solution information is in a specific direction. The holding unit has a pair of gripping claws for sandwiching the resin pharmaceutical solution container, and the orientation control unit is configured to read the reading unit and then read the hard part based on the chemical information and the positional relationship of the hard part. The specific orientation Towards, the container holder from a direction different from the above-described specific orientation also provides mixed injection apparatus characterized by sandwiching the main portion of the pair of gripping claws close to the resin pharmaceutical solution container.

If it is this invention, the co-infusion apparatus which can handle appropriately the flexible resin pharmaceutical liquid container with which the chemical | medical solution was put can be provided.

It is the perspective view which showed the co-infusion apparatus with which the opening method of the resin pharmaceutical liquid container which concerns on one Embodiment of this invention is performed. It is a perspective view of the state which opened the main door of the mixed injection apparatus of FIG. It is a perspective view of the state which removed the front wall of the mixed injection apparatus of FIG. It is a perspective view of the state which removed the front wall so that the ceiling of the mixed injection apparatus of FIG. 1 can be seen. It is the perspective view which showed the adjustment container used with the mixed injection apparatus of FIG. FIGS. 1A and 1B are perspective views illustrating resin pharmaceutical liquid containers, respectively. It is the top view which showed the resin pharmaceutical liquid container of the connection state. It is explanatory drawing which showed arrangement | positioning relationships, such as an adjustment container conveyance path | route, in the mixed injection apparatus of FIG. It is the schematic block diagram which showed the control system of the co-infusion apparatus of FIG. It is the perspective view which showed the container conveyance part and infusion bag rocking | fluctuation mechanism of the mixed injection apparatus of FIG. It is the perspective view which showed the container holding part attached to the 1st robot arm of the mixed injection apparatus of FIG. It is the perspective view which showed the syringe operation part (syringe holding state) attached to the 2nd robot arm of the mixed injection apparatus of FIG. It is the perspective view which showed the syringe operation part (syringe non-holding state) attached to the 2nd robot arm of the mixed injection apparatus of FIG. (A) and (B) are explanatory diagrams illustrating the cap shape of the vial and the state of liquid suction by the injection needle, respectively. It is a perspective view of the state which removed the garbage storage chamber door of the mixed injection apparatus of FIG. It is a perspective view of the state which removed the refuse storage chamber door and cover of the mixed injection apparatus of FIG. It is a back perspective view of the state which removed the outer wall of the mixed injection apparatus of FIG. It is the perspective view which showed the ampoule cutter of the mixed injection apparatus of FIG. It is the perspective view which showed the weighing meter of the mixed injection apparatus of FIG. It is the perspective view which showed the needle | hook bending detection part of the mixed injection apparatus of FIG. It is explanatory drawing which showed the reference | standard needle used with the needle | hook bend detection part of FIG. It is the perspective view which showed the internal structure of the chemical | medical agent barcode reader of the mixed injection apparatus of FIG. It is explanatory drawing explaining the holding | grip of the resin pharmaceutical liquid container by a pair of holding nail | claw attached to the 1st robot arm of the mixed injection apparatus of FIG. It is explanatory drawing which showed the opening operation | movement of the resin pharmaceutical liquid container by a pair of holding | grip nail | claw of FIG. 23, and a pair of another holding | grip nail | claw attached to the 2nd robot arm. It is a schematic diagram showing a mode that the direction of a hard part is detected. It is the schematic diagram showing a mode that a cleaning tool is squeezed. It is explanatory drawing which showed the principle of operation of the needle | hook bend detection part of the mixed injection apparatus of FIG.

Embodiments of the present invention will be described below with reference to the accompanying drawings. As shown in FIGS. 1 and 2, the co-infusion apparatus 1 includes a supply unit 200 and a main body unit 300. The supply unit 200 is provided with a door 201, a work table 202, and the like. On the work table 202, a display 203, a barcode reader 204, and the like are arranged. The supply unit 200 is a clean bench having an air cleaning device 206 and the like. In the adjustment container 101 placed on the work table 202, the syringe 11, the medicine container 10, the resin pharmaceutical liquid container 100, the infusion bag 12, and the like are set by, for example, human work for each patient or each application. The supply unit 200 and the main body 300 are communicated with each other through a communication opening 114, and the adjustment container 101 can be put into the main body 300 through the communication opening 114. The supply unit 200 may automatically carry the adjustment container 101 into the main body 300.

A main door 301, a syringe take-out door 302, a garbage storage room door 13, a touch panel monitor 14, an adjustment container take-out door 15 and the like are provided on the front side outer wall of the main body 300. By opening the main door 301, a user can put a hand into the mixed injection processing chamber 104. In the mixed injection processing chamber 104, as shown in FIGS. 2 and 3, an ampoule cutter 31, a stirring device 32, a temporary storage shelf 33, a chemical barcode reader 34, a weighing meter 35, a needle bending detection unit 36, a mixed injection communication, and the like. A mouth 37, a needle insertion confirmation transparent window 38, a dust cover 132a, and the like are provided. The temporary storage shelf 33 may be divided into a temporary storage table for medicines and a temporary storage table for syringes. You may make it temporarily place the resin pharmaceutical liquid container 100 (refer FIG. 6) in which chemical | medical solutions, such as physiological saline, are put in the said chemical | medical agent temporary placement stand. Further, a drug weighing scale 351 may be provided in the vicinity of the temporary drug mounting table.

Further, as shown in FIG. 4, a tray confirmation camera 41, a syringe confirmation camera 42, a syringe needle attachment / detachment device 43, a needle insertion confirmation camera 44, a sterilization lamp 45, and the like are provided on the ceiling side of the mixed injection processing chamber 104. ing.

In the mixed injection processing chamber 104, a first robot arm 21 and a second robot arm 22 having a multi-joint structure are provided in a suspended manner with the base end portion fixed to the ceiling side. The first robot arm 21 is disposed at a position closer to the supply unit 200 than the second robot arm 22, and the second robot arm 22 is compared to the first robot arm 21 and the mixed injection communication port 37. It is arranged near the position.

3 and 4, a dome-shaped light that illuminates the infusion bag 12 transported to the container transport terminal portion 110a is located above the container transport terminal portion 110a located in the left space of the mixed injection processing chamber 104. 120 is provided. A camera 121 for reading a barcode attached to the surface of the infusion bag 12 is provided at the center of the dome-shaped light 120. Note that where the barcode exists in the infusion bag 12 can be determined by comparing the information on the infusion bag specified in the prescription content information with the data in the master table (database of medicines, etc.). .

As shown in FIG. 5, for example, a medicine tray 102 (see FIGS. 8 and 10) on which the medicine container 10 and the syringe 11 are placed and the infusion bag 12 are held in the adjustment container 101. The infusion bag holding portion 103 is separated and provided movably. When the drug container 10 is an ampoule, the ampoule is set in a state where the ampoule is stood diagonally at a specified position without being laid down on the drug tray 102. The resin pharmaceutical solution container 100 may be set similarly. When the ampoule or the resin pharmaceutical solution container 100 is set in this manner, it is possible to prevent the medicine from being collected at the neck of the ampoule or the resin pharmaceutical solution container. In addition to the ampoule and the resin pharmaceutical solution container 100, an injection needle is also placed at a designated position. Of course, such an arrangement is merely an example, and the present invention is not limited to this.

In addition, the patient name and application are displayed in text on the electronic paper tag 101 a attached to each adjustment container 101. Each adjustment container 101 is provided with an IC tag (for example, RFID: Radio Frequency Identification) for the controller 500 (see FIG. 9) of the co-infusion apparatus 1 to recognize various information. The controller 500 reads the information of the IC tag by a reading unit (not shown) and recognizes the contents of the mixed injection process to be started. For example, the controller 500 specifies patient information, doctor information, mixed injection operation program, prescription content information (the type and number of drugs, syringes, injection needles used for mixed injection processing) specified by the read IC tag information. Etc.) and adjustment procedure information (dissolution source / dissolution destination chemical, work content, volume / dissolution amount, sampling amount) are read from a storage unit (not shown). The mixed injection operation program may differ depending on the type of the drug container 10 (for example, which of the vials containing powdered drugs or the ampule is used), and the number of repetitions of the predetermined operation depending on the number of drug containers 10 to be used. Will be decided.

The infusion bag holding part 103 is provided with a chuck part 140 for fixing the mixed injection port (neck part) of the infusion bag 12. The infusion bag holding portion 103 is provided with two engaging portions 103 a that protrude from the edge of the adjustment container 101.

As shown in FIG. 6 (A), the resin pharmaceutical solution container 100 includes a cylindrical main body 170 and two outside the main body 170 that are 180 degrees apart from each other with respect to the center of the main body 170. And a hard portion 180 existing at the position. The main body portion 170 includes a chemical solution storage portion 171 and a plug portion 172. The medicine storage part 171 includes a cylindrical and flexible body part 100a, a neck part 100b that is harder than the body part 100a, and an opening part 100c that is formed in the upper part of the neck part 100b. The plug body portion 172 includes a plug portion 100d that closes the opening portion 100c and is detachable from the opening portion 100c, and a grip piece portion 100e formed in the plug portion 100d. The grip piece 100e extends over two positions where the hard part 180 is formed, and is in the form of a plate located in one plane passing through the central axis of the main body part 170. Both end parts 100e1 are made of resin pharmaceuticals. It is located on the radially outer side of the liquid container 100. The hard part 180 has both ends of the rib part 100f (first hard part) formed at two locations along the outer wall surface of the body part 100a and the neck part 100b and the grip piece part 100e in the one surface. And a second hard portion 182 formed along the portion 100e1. Hereinafter, the one surface is referred to as a hard portion forming surface. The resin pharmaceutical liquid container 100 is made of, for example, a translucent resin material.

Further, a label 100 g made of a material having a light transmittance lower than that of the resin pharmaceutical liquid container 100 is affixed to the body part 100 a of the resin pharmaceutical liquid container 100. The label 100g is printed with a bar code 100h including these information in addition to chemical information such as contents, capacity, and expiration date. The positional relationship between the barcode 100h and the hard portion 180 can be determined by comparing the information on the resin pharmaceutical solution container 100 specified in the prescription data with the data in the master table (medicine database). . The height position of the neck portion 100b and the grip piece portion 100e in the resin pharmaceutical solution container 100 also includes information on the resin pharmaceutical solution container 100 specified in the prescription data and data in the master table (database of medicines). Judgment can be made by collation.

FIG. 6B shows a resin pharmaceutical solution container 100 of another form. In the resin pharmaceutical solution container 100 in this figure, the rib portion 100f formed on the outer wall surface of the neck portion 100b is formed with the same width as the grip piece portion 100e. The rib portion 100f is formed in a separated state from the grip piece 100e.

As shown in FIG. 7, the plurality of resin pharmaceutical liquid containers 100 are provided to the user in a state of being connected to each other by the hard portion 180, and the user can use the resin pharmaceutical liquid container 100 separately. When the manufacturer attaches a label 100g to each resin pharmaceutical solution container 100 in the connected state, the label 100g is attached to the center side of the body part 100a from the direction orthogonal to the hard part forming surface. The positional relationship between the center or edge of 100 g and the hard part 180 becomes substantially constant.

As shown in FIG. 8, the adjustment container 101 can be moved to the container transport unit 110 of the main body 300 using the communication opening 114. The inside of the container transfer unit 110 is set to a positive pressure than the inside of the mixed injection processing chamber 104. The container transport unit 110 is provided so as to transport the adjustment container 101 to the rear side of the dust storage chamber 13a located below the mixed injection processing chamber 104 and below the dust cover 132a. Thereby, the said garbage storage chamber 13a can be accessed from the front side of a mixed injection apparatus. In FIG. 8, the adjustment container 101 that moves in the container transfer unit 110 is indicated by a two-dot chain line in order to show the transfer route of the container transfer unit 110. A plurality of the adjustment containers 101 does not exist in the container transport unit 110 at the same time. The adjustment container 101 may be configured so that the adjustment container 101 can pass through the lower side of the infusion bag ascending / descending inclined portion 113 while the adjustment container 101 is conveyed to the left side wall on the back side of the main body 300.

The container transfer unit 110 moves the adjustment container 101 from a position closer to the first robot arm 21 than the second robot arm 22 to a position closer to the second robot arm 22 than the first robot arm 21. Transport. When the adjustment container 101 is close to the first robot arm 21, the first robot arm 21 picks up the drug container 10, the syringe 11, and the like, and the temporary storage shelf 33 of the mixed injection processing chamber 104. Temporarily placed. Further, when the adjustment container 101 is transported to a position close to the second robot arm 22, the mixed injection port of the infusion bag 12 held by the infusion bag holding portion 103 of the adjustment container 101 is used for the mixed injection processing. The operation of positioning at the mixed injection communication port 37 formed in the chamber 104 is performed.

As shown in FIG. 9, the first and second robot arms 21 and 22 are controlled by a controller (computer) 500. When the controller 500 determines that the adjustment container 101 has reached a predetermined position in the container transport unit 110 through the communication opening 114 based on, for example, the output of a sensor, the controller 500 A shutter 111 that communicates and shields the mixed injection processing chamber 104 is slid in the horizontal direction. When the shutter 111 is opened, the medicine tray 102 is exposed in the mixed injection processing chamber 104. FIG. 8 shows a state where the medicine tray 102 is exposed in the mixed injection processing chamber 104. The tray confirmation camera 41 images the syringe 11 and the like on the medicine tray 102. The controller 500 executes image recognition processing using the image captured by the tray confirmation camera 41, and whether or not the number of syringes 11 and drug containers 10 specified in the prescription content are present on the drug tray 102. Etc. The controller 500 controls the medicine barcode reader 34.

As shown in FIG. 10, the container transport unit 110 includes a tray lifting unit that lifts and lowers the drug tray 102 in the adjustment container 101 moved into the container transport unit 110 through the communication opening 114. 112 is provided. The tray lifting / lowering unit 112 lifts the drug tray 102 from below by, for example, four shafts 112a provided so as to be able to lift and lower. A through-hole through which the four shafts 112a pass is formed on the lower surface of the adjustment container 101. The controller 500 raises the medicine tray 102 by the tray lifting / lowering unit 112, and then performs imaging by the tray confirmation camera 41.

The controller 500 controls the first robot arm 21 and the second robot arm 22, and the first robot arm 21 moves the syringe 11 and the like on the medicine tray 102 exposed in the mixed injection processing chamber 104. An operation of grasping and transferring the syringe 11 to the second robot arm 22 and an operation of temporarily placing the syringe 11 on the temporary storage shelf 33 in the mixed injection processing chamber 104 are performed. Note that the controller 500 grasps the positions and orientations of the vials and the syringes placed in bulk by image recognition processing on the captured image of the tray confirmation camera 41, and controls the first robot arm 21. Further, the controller 500 determines whether or not all articles on the medicine tray 102 have been taken out by the image recognition process. As mentioned above, the controller 500 has the medicine, syringe,
It may be determined based on the image captured by the tray confirmation camera 41 whether or not the number of injection needles or the total number of injection needles, syringes, and injection needles are present in the medicine tray 102. If it does not exist, that fact may be displayed on the touch panel monitor 14. Before taking out the syringe 11 and the like in the medicine tray 102 with the first robot arm 21,
When the shutter 111 opens, the medicine tray 102 is photographed by the tray confirmation camera 41, and by making such a determination, the shortage of medicine, syringes, and needles can be notified at an early stage.

The controller 500 operates to lower the shaft 112a of the tray lifting / lowering unit 112 after closing all the drug containers 10 and the like from the drug tray 102 into the mixed injection processing chamber 104, to close the shutter 111, An operation of transporting the adjustment container 101 to a position close to the second robot arm 22 is performed. Here, in the mixed injection device 1, the first robot arm 21 grasps the drug container 10 on the drug tray 102 and puts it into the mixed injection processing chamber 104, so that the drug tray 102 has the adjustment container 101. The medicine tray 102 can be used repeatedly.

As shown in FIG. 10, an infusion bag ascending / descending inclined portion 113 is provided in the container transport terminal portion 110 a located in the container transport unit 110 and close to the second robot arm 22. In addition, although the said infusion bag up-and-down inclination part 113 is one, FIG. 10 shows the infusion bag up-and-down inclination part 113 in the lowered state and the infusion bag up-and-down inclination part 113 in the up state.

The controller 500 transports the adjustment container 101 to the front of the infusion bag ascending / descending slope 113, and then hooks the hook part 113a of the infusion bag ascending / descending slope 113 from below into the engaging part 103a. The bag holding part 103 is raised and the mixed injection port of the infusion bag 12 is positioned at the mixed injection communication port 37. The mixed injection communication port 37 is formed in a dome-like portion protruding outward on the side wall of the mixed injection processing chamber 104, and a cutout for passing the mixed injection port in the vertical direction is formed in the dome-like portion. Therefore, the mixed injection port of the infusion bag 12 is positioned in the mixed injection processing chamber 104 by raising the infusion bag holding portion 103. When a shutter is provided at the mixed injection communication port 37, an operation for opening the shutter is performed.

The infusion bag ascending / descending inclined portion 113 is formed with a fan-shaped arc gear portion 113b which is rotatably provided, and a gear driven by a motor 113c meshes with the arc gear portion 113b. . By driving the motor 113c, the infusion bag up-and-down inclination portion 113 can incline the infusion bag holding portion 103 to make the mixed injection port of the infusion bag 12 upward or downward.

Here, when removing the injection needle from the mixed injection port of the infusion bag 12, the controller 500 controls the infusion bag ascending / descending inclined portion 113 so that the mixed injection port faces obliquely upward. Thus, when the mixed injection port is directed obliquely upward, it is possible to prevent liquid leakage from the mixed injection port of the infusion bag 12 when the injection needle is pulled out. In addition, the controller 500 is configured to tilt the infusion bag up and down so that the mixed injection port is directed obliquely downward when the injection needle is inserted from the mixed injection port of the infusion bag 12 and a liquid medicine or physiological saline is injected into the infusion bag 12. The unit 113 is controlled. When the mixed injection port is directed obliquely downward in this way, foaming during injection can be prevented and mixing can be promoted.

Further, if the mixed injection communication port 37 is provided on the bottom surface of the mixed injection processing chamber 104, the chemical liquid scattered from the injection needle 11c or the like is likely to be attached to the mixed injection processing chamber 104. Further, when the mixed injection port of the infusion bag 12 is directed upward, the liquid layer is lowered, and the liquid level is different for each infusion bag. Therefore, in order to put the injection needle into the liquid layer in a large infusion bag, a long injection needle 11c is used. The need to use is generated. On the other hand, since the mixed injection communication port 37 is provided on the side wall of the mixed injection processing chamber 104, the above problem does not occur. The mixed injection communication port 37 may be provided not on the side wall on the side of the mixed injection processing chamber 104 but on the back side wall.

As shown in FIG. 4 and the like, the first robot arm 21 includes a container holding unit 25 that holds the drug container 10. Further, the second robot arm 22 includes a syringe operation unit 26 that holds the syringe 11 and performs suction and injection of a chemical solution by the syringe 11.

As shown in FIG. 11, the container holding portion 25 is screwed into a pair of gripping claws 25 a, a motor 251, two screw shafts 252 and 253 rotated by the motor 251, and the screw shafts 252 and 253. Nut blocks 254 and 255 are provided. The pair of gripping claws 25a are fixed to the nut blocks 254 and 255, respectively. The nut blocks 254 and 255 are moved by the rotation of the screw shafts 252 and 253, and the pair of gripping claws 25a are brought close to and away from each other within the same surface (hereinafter referred to as a claw operating surface). Grip 10 Hereinafter, the approaching / separating direction of the pair of gripping claws 25a is referred to as a gripping movement direction.

In addition, the pair of gripping claws 25a have a recess suitable for holding a vial and a recess suitable for holding an ampoule on the tip side. FIG. 11 shows that both the vial and the ampoule are held, but in actuality, the pair of gripping claws 25a grips one of the drug containers 10. In addition, the pair of gripping claws 25a are concave portions on the tip side, and can hold the body portion 100a and the neck portion 100b of the resin pharmaceutical solution container 100. The gripping surface on the tip side has small unevenness. If formed, it is possible to prevent slippage when the neck 100b or the like is gripped.

As shown in FIGS. 12 and 13, the syringe operation unit 26 includes a syringe holding unit 261, a plunger holding unit 262, and a moving unit 263. The syringe holding portion 261 includes a pair of gripping claws 261 a that hold the cylinder portion 11 a of the syringe 11. The pair of gripping claws 261a are held close to and away from each other by a mechanism similar to the drive mechanism used in the container holding portion 25 to hold the cylinder portion 11a of the syringe 11. Further, in the pair of gripping claws 261a, inclined portions 261b that are inclined downward from the gripping claw upper end surface toward the facing surface are formed on opposing surfaces facing each other.

The plunger holding part 262 includes a pair of gripping claws 262 a that hold the collar part of the plunger 11 b of the syringe 11. The pair of gripping claws 262a are held close to and away from each other by a mechanism similar to the drive mechanism used in the container holding unit 25 to hold the collar portion of the plunger 11b of the syringe 11. Another gripping claw 262b is fixed to the upper surface of each gripping claw 262a. Accordingly, by moving the pair of gripping claws 262a close to and away from each other, the pair of separate gripping claws (a pair of claws) 262b are also moved close to and away from each other, and other articles such as medicines can be gripped.

In addition, the grip piece 100e of the resin pharmaceutical solution container 100 can be gripped using the pair of separate grip claws 262b. In addition, the recessed part for the collar part of the said plunger to enter is formed in the upper surface of the opposing side of said pair of holding claws 262a. Further, the tip of the pair of separate gripping claws 262b protrudes more forward than the pair of gripping claws 262a, thereby making it easier to grip the article. The separate gripping claw 262b may be provided on the gripping claw 261a.

The moving part 263 moves the plunger holding part 262 in the moving direction of the plunger 11 b of the syringe 11. This movement includes, for example, a motor, a screw shaft rotated by the motor, a nut block screwed to the screw shaft, a guide, and the like. The plunger holding portion 262 is fixed to the nut block, and moves as the nut block moves.

In this embodiment, the opening of the drug container 10 or the resin pharmaceutical solution container 100 in which the injection needle 11 c of the syringe 11 is held by the container holding part 25 of the first robot arm 21 by the second robot arm 22. The operation | movement inserted in a part and the operation | movement which inserts the injection needle 11c of the said syringe 11 in the mixed injection port of the said infusion bag 12 are performed.

In addition, the first robot arm 21 can stand the drug container 10 or the resin pharmaceutical solution container 100 held by the container holding unit 25 and direct the exposed opening upward. The second robot arm 22 can stand the syringe 11 held by the syringe operation unit 26 and point the syringe needle 11c downward. In this state, the drug container 10 and the syringe 11 are brought close to each other, and the injection needle 11 c of the syringe 11 is inserted into the opening of the drug container 10 or the resin pharmaceutical solution container 100. When the drug container 10 is a vial with a rubber cap, the injection needle 11c is inserted straight into the rubber cap.

The first robot arm 21 and the second robot arm 22 make the postures of the drug container 10 and the syringe 11 oblique when the drug solution in the drug container 10 or the resin drug solution container 100 is sucked into the syringe 11. . When an ampoule is used as the drug container 10 and when the resin pharmaceutical liquid container 100 is used, a certain amount of liquid medicine is sucked up from the drug container 10 or resin pharmaceutical liquid container 100, and then the drug container 10 or resin is used. The tip of the injection needle 11c of the syringe 11 is moved by forming the state in which the drug solution is moved to the side of the opening (neck or shoulder) by tilting the pharmaceutical solution container 100 about 100 degrees with respect to the vertical direction. It is possible to suck up the drug solution without leaving as much as possible without touching the bottom of the drug container 10 or the resin drug solution container 100.

If the posture of the vial that is the drug container 10 is inclined and the drug solution in the syringe 11 hangs on the inner wall of the vial, foaming of the drug solution can be prevented. If it is a chemical | medical solution with which foaming is permitted, the said vial may be stood and the chemical | medical solution in the syringe 11 may be dripped at the bottom of the said vial. In addition, when air is injected by placing the needle tip in the drug solution in the vial with the mouth facing downward, foaming occurs. Therefore, the needle tip is preferably positioned above the drug solution. As long as foaming is permitted, air may be injected with the needle tip positioned in the chemical. Whether the liquid is allowed to foam can be determined by comparing the prescription content information with the information in the master table.

Moreover, when a chemical | medical solution is attracted | sucked to the syringe 11 from a vial bottle, aspiration of a chemical | medical solution and injection | pouring of the air to a vial bottle are repeated. If there is a drug solution in the injection needle 11c, the drug solution in the injection needle 11c jumps into the vial together with the air when air is injected into the vial. In order to prevent this, the plunger 11b is pulled in the air by the volume in the injection needle 11c, and the drug solution in the injection needle 11c is put into the cylinder portion 11a. Thereby, there is no chemical solution in the injection needle, and the chemical solution can be prevented from jumping out into the vial. Further, when the amount of the drug solution in the vial is reduced, the directions of the vial and the syringe 11 are adjusted so that the mouth portion of the drug container 10 faces downward and the injection needle 11c of the syringe 11 faces upward. So that the chemical solution is collected in the mouth. Then, by simultaneously performing the operation of pulling out the injection needle 11c of the syringe 11 from the vial (the operation of moving the injection needle 11c downward with respect to the vial) and the operation of pulling the plunger 11b, all the drug solution is removed from the vial. It can be sucked into the syringe 11.

You may make it allocate basic speed (plunger pulling speed) for every cylinder part 11a. For example, 18 types of basic speeds corresponding to the inner diameter are set for 18 types of syringes. The actual plunger pulling speed by the moving unit 263 is obtained by multiplying the basic speed of the syringe to be used by the speed magnification based on the injection needle to be used. For example, two types, 1.0 and 0.8, are prepared for the speed magnification of the injection needle to be used, depending on differences in the needle inner diameter and the like. The speed magnification is larger as the inner diameter of the injection needle is larger. This is because if the inner diameter is large, the amount of medicine flowing from the injection needle into the syringe is large, and even if the piston is pulled quickly, the medicine flows only in the pulled volume and no vacuum (negative pressure) is generated. When a vacuum (negative pressure) occurs, air flows in from the gap between the syringe, the needle, and between the piston and the inner wall of the syringe. The problem of not getting any medicines. If the speed magnification is set based on the difference in the needle inner diameter as described above, the vacuum problem that occurs when the plunger pulling speed is excessive with respect to the syringe 11 to be used can be prevented.

Further, the moving speed of the moving unit 263 is continued when the torque generated in the drive motor is within a predetermined threshold, and when the torque exceeds the threshold, for example, the moving speed is reduced to half or zero. When the torque falls below the threshold value, the original speed may be restored. According to this, it is not necessary to control the moving speed based on the basic speed and the speed magnification. Moreover, even if the diameter of the injection needle is the same, if the viscosity of the chemical solution used is high, the speed of the chemical solution flowing into the syringe is low. When the moving speed is controlled based on the basic speed and the speed magnification, a vacuum (negative pressure) is generated when the viscosity is high. However, if the method is based on the above torque, the vacuum (negative pressure) is generated even with a highly viscous chemical solution. No vacuum (negative pressure) is generated even if there is no viscosity data for each chemical solution.

As shown in FIG. 14 (A), when the needle insertion point of the rubber cap 10a of the vial is in an inverted state and has a recess on the lower side and the lower surface has a curved recess shape, the liquid in the vial is Since it is easy to accumulate in the curved depression, it is possible to suck all the liquid with the injection needle 11c. On the other hand, as shown in FIG. 14 (B), when the needle insertion point of the rubber cap 10b of the vial is in an inverted state and has a recess on the lower side and the lower surface is a flat surface, the liquid in the vial Since it tends to accumulate in the corners of the flat surface, it is difficult to suck all of the liquid with the injection needle 11c.

When the liquid is sucked from the vial having the rubber cap 10b, the sucking amount per unit time is made smaller than that in the case of the rubber cap 10a. For example, if the speed of the syringe 11 (plunger pulling speed) with respect to the vial having the rubber cap 10a is 1.0, the speed of the syringe 11 with respect to the vial having the rubber cap 10b is reduced by 0.5 times. . When the liquid in the vial is slowly sucked out, the liquid pool due to the surface tension of the liquid is difficult to be interrupted, and the entire liquid pool can be sucked up by the injection needle 11c. Whether the vial has the rubber cap 10a or the vial having the rubber cap 10b is collated with the information of the medicine container 10 specified in the prescription data and the data of the master table (medicine database). It can be judged by doing.

As shown in FIGS. 15 and 16, when the garbage storage chamber door 13 is opened, a hand can be put into the dust storage chamber 13 a. A trash can 131 can be placed in the trash storage chamber 13a. In addition, a dust communication cylinder 132 is provided at the ceiling of the dust storage chamber 13a to communicate the mixed injection processing chamber 104 with the dust storage chamber 13a. A trash bag 135 can be set in the trash box 131, and the mouth of the trash bag 135 can be connected and fixed to the lower portion of the trash communication tube 132 using, for example, a hook-and-loop fastener. An upper part of the dust communication tube 132 is provided with a sealed dust cover 132a that is opened and closed with a hinge.

The sealed dust cover 132a includes an actuator such as an electromagnetic solenoid that releases a lock mechanism that holds the closed state. When the lock mechanism is released, the sealed dust cover 132a is opened by a spring (not shown). The controller 500 can control the robot arms 21 and 22 to drop the waste such as the syringe 11 into the trash box 131 from the upper end opening of the trash communication tube 132.

The main body 300 sucks air in the mixed injection processing chamber 104 from a slit 104b formed in the lower part of the side wall of the mixed injection processing chamber 104, and has ducts 150, 151, 152, 153 and a filter shown in FIG. An exhaust system for exhausting from the exhaust fan 154 is provided. In addition, an air supply system that cleans the outside air and guides it to the mixed injection processing chamber 104 or the like is also provided. The supply port of this air supply system is formed in the ceiling portion of the mixed injection processing chamber 104.

An exhaust path 134 is connected to the back wall of the dust storage chamber 13a. The exhaust path 134 is connected to the duct 152. For this reason, it is possible to prevent the gas generated from the used ampoule or the like in the dust storage chamber 13a from going out.

An exhaust path 133 is connected to the side surface of the dust communication tube 132. The exhaust path 133 is connected to the duct 151. For this reason, it is possible to prevent the gas generated from the used ampoule in the garbage bag 135 from going out.

Also, when the sealed dust cover 132a is opened and the used ampoule is thrown away, just before it is thrown away, or always during the co-infusion process, air is sucked through the exhaust passage 133 and set in the dust communicating tube 132. The garbage bag 135 may be deflated. As described above, when the garbage bag 135 is deflated, the used vials and the like dropped from the sealed dust lid 132a are stopped by the garbage bag 135 and fall directly to the bottom of the garbage box 131. can avoid. Alternatively, the used vials and the like are slowed down by the garbage bag 135 and slowly fall to the bottom of the garbage box 131. For this reason, it is possible to suppress a situation in which the discarded drug containers 10 collide and break. If the vial is broken, the anticancer drug may leak and be exposed. When exchanging the garbage bag 135, the air in the garbage bag 135 may be made as small as possible by pushing a ventilation button for exchange (not shown).

Although it is desirable to provide both the exhaust path 133 and the exhaust path 134, only one of them may be provided.

The dust storage chamber door 13 may be locked by a mechanical operation by an actuator such as an electromagnetic solenoid (not shown), and an operation button for releasing the lock by operating the actuator may be provided. Further, a forced exhaust fan may be provided in the exhaust paths 133 and 134. Further, the lock may be released after the forced exhaust fan is operated for a certain time after the operation button is operated. Further, the unlocking may be notified by lamp lighting or the like. Further, a forced exhaust switch 13b may be provided in the dust storage chamber 13a, and the forced exhaust fan of the exhaust path 134 may be operated when the forced exhaust switch 13b is operated. Further, both or one of the forced exhaust fans provided in the exhaust paths 133 and 134 may be operated at all times or during the mixed injection process. The garbage bag 1
A sensor for detecting the presence or absence of 35 may be provided in the dust storage chamber 13a, and an error notification may be made when the dust storage chamber door 13 is closed without the dust bag 135.

As shown in FIG. 18, the ampoule cutter 31 has a file part 31 a for notching the neck of the ampoule that is the medicine container 10. For example, when the ampule is grasped and taken out from the temporary storage shelf 33, the first robot arm 21 grasps the body part below a certain distance from the neck. The dimension information of each part of the ampule can be acquired from the master table. The first robot arm 21 rubs the ampoule's neck against the file portion 31a. The shavings produced during the notching process are received by the waste tray 31b.

The first robot arm 21 inserts a notched ampule into the hole 31d of the head insertion portion 31c from below, and projects the head above the neck upward. A pusher 31e is provided in the head insertion part 31c so as to be located on the side of the head. A cam acting on the rear end of the pusher 31e is provided in the drive box 31f. When the cam rotates once, the pusher 31e reciprocates once by the operation of the cam. The cam is rotated by a motor (not shown) provided in the drive box 31f.

The controller 500 causes the head of the ampule to protrude upward from the hole 31d by the first robot arm 21, and then moves the pusher 31e in a direction to push the head. The moving pusher 31e pushes and breaks the head, and the broken head falls into the waste box 31g. The controller 500 can execute an operation of causing the first robot arm 21 to grip the waste box 31g and throwing the head into the garbage bag 135, for example, after the end of one mixed injection process. As for the waste tray 31b, waste can be discarded by the operation of the first robot arm 21. The ampoule cutter 31 is provided with a handle 31h, and a person can move on the rail 31i (see FIG. 3) by a human operation so that a person can dispose of the waste in the waste tray 31b and the waste box 31g. It is like that.

As shown in FIG. 19, a syringe table 35 a is placed on the weighing meter 35. The measurement result of the weighing scale 35 is notified to the controller 500. By measuring with the syringe 11 with the weighing meter 35, the amount of the actually extracted drug solution (the weight of the drug solution-filled syringe 11-the known weight of the empty syringe 11) can be measured. The syringe mounting table 35a holds the syringe 11 obliquely upward so that liquid leakage is unlikely to occur during weighing. Further, a cover 35b is provided on the upper surface of the main body portion of the weighing meter 35 so that the main body portion is difficult to touch the air in the mixed injection processing chamber 104.

As shown in FIG. 20, the needle bending detection unit 36 includes a first optical sensor 361 and a second optical sensor 362 that are arranged so that the light beams are not parallel to each other. Each optical sensor includes a light emitting unit and a light receiving unit. In addition, the needle bending detection unit 36 is formed with a long hole 36a into which the injection needle 11c is inserted and moved. The second robot arm 22 inserts and moves the injection needle 11c attached to the syringe 11 into the elongated hole 36a before inserting it into the mixed injection port of the infusion bag 12. When the light beam is blocked by the injection needle 11c due to this movement, the first optical sensor 361 and the second optical sensor 362 are turned off. By using the position information of the injection needle 11c when blocking the light beam, the bending of the injection needle 11c can be detected.

FIG. 27 is an explanatory diagram of needle bending detection. As described above, as the initial operation, the second robot arm 22 positions the reference needles N and M at a predetermined start point of the needle bending detection unit 36, and at the same time in the Y direction ( The reference member 363 is moved in a direction that is not parallel to the light beam of the first optical sensor 361 and the light beam of the second optical sensor 362. The position data (distance data) of the points a1 and a2 and the points b1 and b2 can be acquired based on the speed of the movement and the timer values when the sensors 361 and 362 are turned on / off. The distance from the a1 point to the a2 point is A, and the distance from the b1 point to the b2 point is C. Further, the interval between the reference needles N and M is E, and if the position through which the reference needle N passes is defined as the reference point position in the X direction, the reference needle M passes through the point E from the reference point position in the X direction.

Next, the second robot arm 22 holds the syringe 11 used in the actual mixed injection process, and the injection needle 11c is positioned at a predetermined start point of the needle bending detection unit 36. The start point is a position (originally on the path) that is a distance Xc from the origin position in the X direction. The injection needle 1
The light beams of the sensors 361 and 362 are blocked on the needle tip side of 1c. The second robot arm 22 moves the injection needle 11c in the Y direction at a constant speed simultaneously with the timer start. The position data (distance data) on the original path when the needle tip approaches the point a3 and b3 on the injection needle detection path based on the speed of this movement and the timer value when the sensors 361 and 362 are turned on / off. ) Can be obtained. The distance from the a3 point to the a2 point is B, and the distance from the b1 point to the b3 point is D. If the injection needle 11c is not bent, the injection needle detection path essentially matches the path (Xp = Xc).

In FIG. 27, it is assumed that the needle tip side is bent with respect to the center of the injection needle 11c when viewed from the plunger 11b side. In this case, the needle tip side passes through the injection needle detection path that originally deviates from the path. When the injection needle detection path is at a distance Xp from the reference point position in the X direction, the bending component in the X direction of the injection needle is represented by Xc−Xp. Further, the bending component in the Y direction of the injection needle 11c is represented by α.

Focusing on the above A, B, E, and Xp, the expression Xp = E−E × B / A is obtained assuming that there is no needle bending. When attention is paid to the above C, D, E, and Xp, an equation of Xp = EE−D × C is obtained. Furthermore, B / A = D / C is obtained from both equations.

However, the distance B and the distance D that are values on the injection needle detection path cannot be used as they are. Specifically, if there is a bending component α in the Y direction of the injection needle 11c, the sensors 361 and 362 will respond later than the point a3 by the distance of the component α from the timer start. The distance B is corrected to B + α. Therefore, Xp = EE− (B + α) / A. Similarly, since the sensors 361 and 362 respond after the start of the timer by the distance of the component α after the point b3, the distance D is corrected to D−α. Therefore, Xp = EE− (D−α) / C.

Further, from (B + α) / A = (D−α) / C, α = (A × D−B × C) / (A + C), and the bending amount of the injection needle 11c in the Y direction is obtained. Then, if α obtained here is substituted into Xp = EE− (B + α) / A, Xp is obtained. Further, when Xc−Xp is calculated, the amount of bending of the injection needle 11c in the X direction can be obtained.

The controller 500 operates the second robot arm 22 so that the needle tip position at the time of puncturing the co-infusion port of the infusion bag 12 is corrected based on the obtained needle bending amount. Thereby, an injection needle can be stabbed in the aimed position. Note that the needle bending inspection may be performed once for a new injection needle 11c, or may be performed multiple times when the injection needle 11c is inserted into the mixed injection port of the infusion bag 12 multiple times. Good. Further, in detecting the bending of the needle, the thickness of the injection needle 11c can be determined from the time required to pass the light beam (sensor-off time interval), and misuse of the injection needle 11c can also be determined.

The position of the injection needle 11c can be determined from the coordinate position of the robot arm as well as the needle position measurement by the timer start. Further, when the first optical sensor 361 is provided with a rotating plate that rotates, for example, about 45 ° in a plane, and the rotating plate is rotated so as not to shield the elongated hole 36a, the first optical sensor 361 is moved to the second light. The sensor 362 can be used instead. In this case, the reference needle and the injection needle 11c are moved in a plurality of times.

In the above example, the bending of the injection needle in the X direction and the Y direction is detected using the two optical sensors 361 and 362, but the bending of the injection needle in the X direction and the Y direction is detected by one optical sensor. Also good. The bending in the X direction can be detected by one sensor (in this case, the optical sensor 361) because Xp is obtained from the ratio of the distances a1 to a2 and the distances a3 to a2 in FIG. In the bending in the Y direction, the direction of the syringe 11 is rotated by 90 degrees around the axis of the syringe 11 by the second robot arm 22 or the like, and the syringe 11 is again moved along the original path as shown in FIG. . In this case as well, the bending in the X direction can be detected by one optical sensor, but since the syringe 11 is rotated 90 degrees, the detected bending is the bending in the Y direction.

Note that the needle 11c may be imaged with a camera, and needle bending may be detected by image recognition on the captured image.

As shown in FIG. 22, the medicine barcode reader 34 includes two rollers 34a that are spaced apart and rotate in the same direction. The driving roller 34a is rotationally driven by a motor or the like.

When the first robot arm 21 takes out the resin pharmaceutical liquid container 100 from the medicine tray 102, the body part 100a of the resin pharmaceutical liquid container 100 is gripped by the pair of gripping claws 25a. The first robot arm 21 places the resin pharmaceutical solution container 100 between the two rollers 34 a in the chemical barcode reader 34. When the resin pharmaceutical solution container 100 is placed between the two rollers 34a and then the roller 34a is rotated, the resin pharmaceutical solution container 100 is rotated and the label 100g can be directed to the reader unit 34b. A similar operation is performed on the drug container 10.

23, when the first robot arm 21 places the resin / pharmaceutical solution container 100 between the two rollers 34a in the medicine barcode reader 34, as shown in FIG. When holding the resin / pharmaceutical solution container 100 positioned between the pair of gripping claws 25a, the container holding portion 25 is set so that the claw operating surfaces of the pair of gripping claws 25a are perpendicular to the central axis of the roller 34a. To control the attitude. Thereby, the said nail | claw operation | movement surface in the said pair of holding nail | claw 25a becomes perpendicular | vertical with respect to the central axis of the said resin pharmaceutical liquid container 100. FIG. The controller 500 controls the posture of the container holding unit 25 so that the gripping movement direction of the pair of gripping claws 25a is parallel to a plane including the central axis of the two rollers 34a.

The controller 500, for example, stops the two rollers 34a after a set time after the chemical barcode reader 34 recognizes the barcode 100h of the label 100g, thereby changing the central axis of the two rollers 34a. The hard part forming surface is orthogonal to the surface to include (the direction orthogonal to the surface including the central axis of the two rollers 34a is a specific direction). That is, the controller 500 determines that the hard portion forming surface is located on the surface including the central axis of the two rollers 34a based on a known positional relationship between the position where the barcode 100h is read and the hard portion 180. The set time is calculated so as to be orthogonal. For example, if the positional relationship between the barcode 100h and the hard part 180 is different by 30 degrees with respect to the central axis of the resin pharmaceutical solution container 100 (main body part 170), the set time is taken into account 30 degrees. By setting it as the time which did, the said hard part formation surface can be orthogonally crossed with respect to the surface containing the central axis of the said 2 roller 34a. In the above, in order to make the hard part forming surface orthogonal to the surface including the central axis of the two rollers 34a, the resin pharmaceutical is used for the set time based on the time when the barcode reader 34 recognizes the barcode 100h. Although the liquid container 100 is rotated, instead of this, as shown in FIG. 25, the orientation of the hard part 180 is detected, and the hard part forming surface is the center of the two rollers 34a based on the detection result. You may make it orthogonal to the surface containing an axis | shaft. As a means for detecting the orientation of the hard part 180, a reflective optical sensor 199 can be used. The direction of the hard part forming surface when the means for detecting the hard part forming surface detects the hard part and the direction when the hard part forming surface is orthogonal to the surface including the central axis of the two rollers 34a The controller 500 stores in advance the angle difference between the two and the controller 500, and the controller 500 controls the rotation of the two rollers 34a on the basis of this difference, so that the hard part forming surface is moved to the central axis of the two rollers 34a. You may make it orthogonal to the surface to contain. The two rollers 34a and the controller 500 correspond to the direction control unit.

Thus, when the resin pharmaceutical solution container 100 positioned between the two rollers 34a is gripped by the pair of gripping claws 25a of the container holding portion 25 whose posture is controlled as described above, the resin pharmaceutical solution container 100 The pair of grip claws 25a approach along a direction perpendicular to the hard part forming surface 100 (a direction different from the specific direction).

The first robot arm 21 holds the resin pharmaceutical solution container 100 between the two rollers 34a with the pair of holding claws 25a. At this time, the pair of gripping claws 25 a can sandwich (hold) the resin pharmaceutical solution container 100 while avoiding the hard portion 180. Then, the gripped resin pharmaceutical solution container 100 is placed on a temporary placement table, and the pair of gripping claws 25 a are once separated from the resin pharmaceutical solution container 100. On the temporary placement table, the resin pharmaceutical solution container 100 is placed obliquely so that the upper side of the resin pharmaceutical solution container 100 faces the back side. Next, the first robot arm 21 controls the container holding unit 25 to have the same posture as when the resin pharmaceutical solution container 100 is placed on the temporary placement table, and this time the pair of gripping claws 25a. Then, the neck 100b or the grip piece 100e of the resin pharmaceutical solution container 100 is gripped. At this time, the pair of gripping claws 25a can grip the neck portion 100b or the grip piece portion 100e, avoiding the hard portion 180. When gripping the resin pharmaceutical liquid container 100, when the pair of gripping claws 25a approach along the direction parallel to the hard part forming surface of the resin pharmaceutical liquid container 100 and sandwich the hard part 180 from both sides, The hard part 180 may slide with respect to the gripping claws 25a, and the resin pharmaceutical solution container 100 may jump or suddenly rotate and fall from the gripping claws 25. The sliding occurs because the hard portion 180 is difficult to bend when sandwiched from both sides, and therefore, when the pair of gripping claws 25a are sandwiched, the flexure is small and cannot contact the pair of gripping claws 25a on a wide surface. It is. In particular, since the second hard portion 182 has a property that it is difficult to bend, the pair of gripping claws 25a are moved along the direction parallel to the hard portion forming surface to grip the grip piece 100e. 2 When approaching the hard part 182, there is a high possibility that the resin pharmaceutical solution container 100 falls from the pair of gripping claws 25a. In the above, when the pair of gripping claws 25a approach along the direction perpendicular to the hard part forming surface of the resin pharmaceutical liquid container 100, the pair of gripping claws 25a avoid the hard part 180 and Although the liquid container 100 is gripped, the direction in which the pair of gripping claws 25a approach is not necessarily perpendicular to the hard portion forming surface, and is not parallel (preferably 15 degrees or more with the hard portion forming surface). Any other direction may be used. If the direction in which the pair of gripping claws 25a approach is close to the direction parallel to the hard part forming surface, the hard part 180 initially contacts the pair of gripping claws 25a, but the distance between the pair of gripping claws 25a is further increased. When contracted, the resin pharmaceutical solution container 100 rotates according to the movement of the pair of gripping claws 25a. Finally, the pair of gripping claws 25a has a wide area that is not the hard part 180, for example, the trunk part 100a and the neck part 100b. Alternatively, the grip piece 100e can be contacted and firmly held.

In the above example, the chemical barcode reader 34 that reads the barcode 100h is used. However, the present invention is not limited to this.

For example, from the image data obtained by an image acquisition unit such as a camera or a scanner while the resin pharmaceutical solution container 100 is placed and rotated on a turntable (the pair of rollers 34a of the medicine barcode reader 34 may be used). The center or edge of the label 100g may be determined. In this case, the positional relationship between the position where the center or edge of the label 100g is detected and the rib portion 100f is stored in the master table for each type of the resin pharmaceutical solution container 100. Then, based on the image data obtained by the information acquisition unit and the information on the master table while rotating the resin pharmaceutical solution container 100 on the turntable, the rotation of the turntable is stopped, The rib portion 100f can be directed in a predetermined direction. As described above, since the label 100g is affixed to the center side of the body portion 100a from a direction orthogonal to the hard portion forming surface, the position of the center or edge of the label 100g and the rib portion 100f. The relationship is almost constant.

Alternatively, from the image data obtained by an image acquisition unit such as a camera or a scanner while the resin pharmaceutical solution container 100 is placed and rotated on a turntable (which may be the pair of rollers 34a of the medicine barcode reader 34). The position of the rib portion 100f may be directly determined. Then, when the rib portion 100f is directed in a predetermined direction, the rotation of the turntable is stopped. The rib portion 100f is linearly formed at two locations along the outer wall surface of the trunk portion 100a and the neck portion 100b within one plane passing through the central axis of the trunk portion 100a. Since it is not transparent and is longer than the vertical line of the label 100g, it is possible to directly determine the position of the rib portion 100f from these information and the image data.

When the first robot arm 21 grips the neck portion 100b of the gripping piece portion 100e and the neck portion 100b of the resin pharmaceutical solution container 100 placed on the temporary placement table, the first robot arm 21 receives light (for example, infrared rays) after gripping. The resin pharmaceutical solution container 100 is moved so that the label 100g faces the label detection unit 401 that emits the light. If the return of the emitted infrared rays cannot be detected and the presence of the label 100g cannot be affirmed, the label detection unit 401 performs error processing assuming that a gripping error of the resin pharmaceutical solution container 100 has occurred. If no gripping error has occurred, the first robot arm 21 measures the weight by placing the resin pharmaceutical solution container 100 on the drug weight meter 351, and then again the neck 100b of the resin pharmaceutical solution container 100. And the resin pharmaceutical solution container 100 is moved again to the position of the label detection unit 401. Also in this case, if no gripping error occurs, the first robot arm 21 moves the resin pharmaceutical solution container 100 closer to the second robot arm 22.

As shown in FIG. 24, the second robot arm 22 grips the grip piece 100e of the resin pharmaceutical solution container 100 with the pair of separate grip claws 262b. At this time, the claw operating surfaces of the pair of gripping claws 25a and the claw operating surfaces of the pair of separate gripping claws 262b are both horizontal. Then, the first robot arm 21 has the pair of gripping claws 25a centered on the center of the circular portion including the tip recesses of the pair of gripping claws 25a, that is, the center axis of the resin pharmaceutical solution container 100. And reciprocate in a horizontal plane. The number of reciprocations is the number of times that the plug 100d is reliably twisted off from the opening 100c. In the above example, the pair of separate gripping claws 262b is fixed and only the pair of gripping claws 25a are rotated. However, the time required for opening the plugs is set so that they rotate in opposite directions. May be shortened.

After completion of the prescribed number of reciprocating rotations, the first robot arm 21 moves the pair of gripping claws 25a slightly downward. The first robot arm 21 measures the weight by placing the resin pharmaceutical solution container 100 with the stopper 100d removed on the drug weight meter 351, and then measuring the resin pharmaceutical solution container 100 again. The resin pharmaceutical solution container 100 is placed on the temporary placement table. On the other hand, the second robot arm 22 performs an operation of throwing the stopper 100d into the garbage bag 135. Thereafter, the first robot arm 21 holds the syringe 11 and sets the syringe 11 on the syringe holding portion 261 of the second robot arm 22. After this setting, the first robot arm 21 grips the neck 100b of the resin pharmaceutical solution container 100 on the temporary table and performs weight measurement, label detection, and the like. The weight measurement may be omitted, and the resin pharmaceutical liquid container 100 may be shifted to the chemical liquid suction operation without being separated from the first robot arm 21.

The first robot arm 21 moves the resin pharmaceutical solution container 100 close to the second robot arm 22. The second robot arm 22 sucks the drug solution in the resin pharmaceutical solution container 100 with the syringe 11, puts this drug solution in a vial (other drug container), and powdered drug (drug contained in another drug solution container). The solution is mixed and dissolved, and the solution is sucked from the vial and injected into the infusion bag 12. In addition, since the said neck part 100b which exists in the position close | similar to the said opening part 100c is hold | gripped with the said pair of holding claws 25a, the advantage shown below is acquired. For example, even if the resin pharmaceutical solution container 100 is gripped slightly obliquely, the opening 100c is in a position close to the neck 100b, so the position of the opening 100c with respect to the gripping position of the gripping claw 25a. The relationship is unlikely to shift. That is, in order for the second robot arm 22 to suck the drug solution in the resin pharmaceutical solution container 100 by the syringe 11, the operation to put the injection needle of the syringe 11 into the opening 100 c of the resin drug solution container 100 fails. Is less likely to occur.

  In the above, the pair of gripping claws 25a grips the neck portion 100b of the resin pharmaceutical solution container 100 placed on the temporary placement table, and the pair of separate gripping claws 262b grips the gripping piece portion 100e. 100 may be opened, but the pair of gripping claws 25a may grip the gripping piece portion 100e, and the pair of separate gripping claws 262b may grip the neck portion 100b to open the resin pharmaceutical solution container 100. In the above, the resin pharmaceutical solution container 100 oriented in a specific direction by the orientation control means is gripped by the gripping claws 25a, but based on the orientation of the hard part 180 detected by the means for detecting the orientation of the hard part 180, The gripping claws 25a may grip the resin pharmaceutical solution container 100 while avoiding the hard portion 180.

The controller 500 images the direction of the needle insertion confirmation transparent window 38 with the needle insertion confirmation camera 44 when the injection port of the infusion bag 12 is punctured with the injection needle 11c. The needle insertion confirmation camera 44 images the infusion bag 12 located outside the mixed injection processing chamber 104 and the syringe 11 (injection needle 11c) in the mixed injection processing chamber 104 so as to fit in one image. From this image, it can be confirmed whether or not the distal end side of the injection needle 11c is located in the infusion bag 12. This image can be displayed on the touch panel monitor 14, for example. The image is stored in the storage unit for final inspection.

For example, the infusion bag 12 in which the co-infusion process is appropriately completed by operating the OK button on the touch panel monitor 14 on which the image is displayed is lowered by the infusion bag ascending / descending inclined portion 113. Then, when the OK button is operated as described above, and further when the final audit OK button is operated, the controller 500 releases the lock for opening and closing the adjustment container take-out door 15. In other words, the adjustment container take-out door 15 cannot be opened unless an inspection is performed by a person. Of course, the adjustment container take-out door 15 can be opened for error processing. In addition, in this way, since the infusion bag 12 that has been subjected to the mixed injection process is returned to the adjustment container 101 that is the same as the adjustment container 101 placed in the main body 300 of the mixed injection device 1, there is no need to rewrite patient information or drug information. become. Moreover, it is not necessary to prepare a separate tray exclusively for discharge.

  In addition to the medicine tray 102 and the infusion bag 12, the adjustment container 101 may store a cleaning tool. The cleaning tool is used to wipe the mixed injection port of the infusion bag 12 after injecting a solution or the like into the infusion bag 12. The cleaning tool is taken into the mixed injection processing chamber 104 by the first robot arm 21 together with the syringe 11 and the chemical solution container 10. After the solution or the like is injected into the infusion bag 12, the second robot arm 22 wipes the mixed injection port of the infusion bag 12 with a cleaning tool. Absorbent cotton can be used for the cleaning tool. In addition, as shown in FIG. 26, the cleaning tool 299 may be accommodated in the adjustment container 101 in the state accommodated in the container 297 containing cleaning liquid agents 298, such as alcohol. In addition, the second robot arm 22 reduces the amount of the cleaning liquid 298 contained in the cleaning tool 299 by squeezing the cleaning tool 299 with the separate gripping claws 262b before the cleaning tool 299 wipes the mixed injection port of the infusion bag 12 with the cleaning tool 299. Even. As an example of the narrowing method, there is a method of bringing the pair of separate gripping claws 262b closer to each other while the cleaning tool 299 is gripped by the pair of separate gripping claws 262b. As another example, there is a method in which the cleaning tool 299 is gripped by a pair of separate gripping claws 262 b and the surface of the cleaning tool 299 is pressed against the inner wall of the container 297. In the method of pressing against the inner wall of the container 297, the center of the cleaning tool 299 in the vertical direction (FIG. 26A) or between the center and the upper end (FIG. 26B) of the container 297. Press against the inner wall.

DESCRIPTION OF SYMBOLS 1 Mixed injection apparatus 10 Drug container 11 Syringe 12 Infusion bag 21 1st robot arm 22 2nd robot arm 25 Container holding part 25a A pair of holding claws 26 Syringe operation part 262b A pair of separate holding claws (a pair of claws) 34 A medicine barcode reader DESCRIPTION OF SYMBOLS 100 Resin pharmaceutical liquid container 100a Body part 100b Neck part 100c Opening part 100d Plug part 100e Grasp piece part 100f Rib part 100h Bar code 101 Adjustment container 104 Mixed injection processing chamber

Claims (3)

A container holding part for holding a resin pharmaceutical solution container having a cylindrical main body part and a hard part existing at two positions different from each other by 180 degrees with respect to the center of the main body part outside the main body part When,
A syringe operation unit that holds the syringe and sucks the drug solution in the resin pharmaceutical solution container held in the container holding unit by the syringe;
In the mixed injection device provided with a detection means for detecting the direction of the hard portion,
The container holding part has a pair of gripping claws for sandwiching the resin pharmaceutical solution container,
The said container holding | maintenance part clamps the said main-body part with the said pair of holding nail | claw based on the detection result of the said detection means, The co-infusion apparatus characterized by the above-mentioned. Orientation for controlling the orientation of a resin pharmaceutical solution container having a cylindrical main body and a hard part existing at two positions different from each other by 180 degrees with respect to the center of the main body on the outside of the main body A control unit;
A container holding unit for holding the resin pharmaceutical solution container whose direction is controlled by the direction control unit;
A syringe operation unit that holds the syringe and sucks the drug solution in the resin pharmaceutical solution container held in the container holding unit by the syringe;
In the mixed injection device provided with a detection means for detecting the direction of the hard portion,
The container holding part has a pair of gripping claws for sandwiching the resin pharmaceutical solution container,
Based on the detection result of the detection means, the direction control unit directs the hard portion in a specific direction,
The co-infusion apparatus, wherein the container holding part holds the main body part from a direction different from the specific direction by bringing a pair of gripping claws close to the resin pharmaceutical solution container. A resin pharmaceutical solution having a cylindrical main body portion and a hard portion existing at two positions different from each other by 180 degrees with respect to the center of the main body portion on the outside of the main body portion, to which drug solution information is attached An orientation control unit for controlling the orientation of the container;
A container holding unit for holding the resin pharmaceutical solution container whose direction is controlled by the direction control unit;
A syringe operation unit that holds the syringe and sucks the drug solution in the resin pharmaceutical solution container held in the container holding unit by the syringe;
In the co-infusion apparatus comprising a reading unit that reads the liquid information when the liquid information is in a specific direction,
The container holding part has a pair of gripping claws for sandwiching the resin pharmaceutical solution container,
The orientation control unit, after reading by the reading means, directs the hard part in a specific direction based on the chemical solution information and the positional relationship of the hard part,
The co-infusion apparatus, wherein the container holding part holds the main body part from a direction different from the specific direction by bringing a pair of gripping claws close to the resin pharmaceutical solution container.

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