JP2018047229A - Coinjection device and program - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a coinjection device capable of efficiently performing coinjection processing including a stirring process for stirring a pharmaceutical.SOLUTION: A coinjection device 1 includes: a coinjection processing part 300 that performs coinjection processing of injecting a pharmaceutical in a first container into a second container on the basis of preparation data; and a stirring device 32 that is used for a stirring process for stirring the pharmaceutical in the first container for use in the coinjection processing. The stirring process included in the coinjection processing on the basis of the preparation data can be performed before timing of starting to perform the coinjection processing on the basis of the preparation data.SELECTED DRAWING: Figure 22

Description

  The present invention relates to a co-infusion apparatus that performs a co-infusion process for injecting a medicine such as an anticancer drug contained in a medicine container into an infusion container.

  A co-infusion apparatus is known that performs a co-infusion process in which a medicine such as an anticancer drug contained in a medicine container such as a vial bottle is sucked with a syringe and the medicine is injected into an infusion container containing the infusion solution (for example, , See Patent Document 1). Here, when the medicine stored in the medicine container is a powder medicine, in the mixed injection process, a stirring step of injecting a solution such as infusion into the medicine container and stirring the medicine in the medicine container is performed. The Moreover, the said stirring process may be performed when a chemical | medical agent is a liquid.

JP 2012-250016 A

  However, the stirring process may take a relatively long time, and the waiting time until the stirring process is completed may hinder the efficiency of the mixed injection process.

  The objective of this invention is providing the mixed injection apparatus which can perform the mixed injection process including the stirring process which stirs a chemical | drug | medicine efficiently.

  The co-infusion apparatus according to the present invention includes a co-infusion processing unit that performs a co-infusion process including an injection step of injecting a medicine in the first container into the second container based on the preparation data, and the first container used in the co-infusion process. An agitation device used in an agitation process for agitating the drug in the inside, and a preliminary agitation processing unit capable of executing the agitation process before the execution start timing of the mixed injection process based on the preparation data.

  The co-infusion apparatus according to the present invention includes a co-infusion processing unit that executes an infusion process including an injection process for injecting a medicine in the first container into the second container based on the preparation data, and an execution start set by a user operation. Reservation with time designation for executing the mixed injection processing based on timing, reservation without time specification for executing the mixed injection processing at a timing at which the execution start timing is not set by a user operation and other mixed injection processing is not executed, and A reservation setting processing unit capable of selectively accepting, as a reservation condition, a temporary reservation for executing the mixed injection process in preference to the preparation data reserved in the reservation with time specification and the reservation without time specification.

  ADVANTAGE OF THE INVENTION According to this invention, the mixed injection apparatus which can perform the mixed injection process including the stirring process which stirs a chemical | medical agent efficiently is provided.

FIG. 1 is a block diagram showing a system configuration of a co-infusion apparatus according to an embodiment of the present invention. FIG. 2 is a perspective view showing an external configuration of the co-infusion apparatus according to the embodiment of the present invention. FIG. 3 is a perspective view of a state where a part of the accommodation unit of the co-infusion apparatus according to the embodiment of the present invention is omitted. FIG. 4 is a front view of the co-infusion apparatus according to the embodiment of the present invention with a main door and a part of the front wall removed. FIG. 5 is a perspective view showing a tray used in the co-infusion apparatus according to the embodiment of the present invention. FIG. 6 is a perspective view of the co-infusion apparatus according to the embodiment of the present invention as viewed from below. FIG. 7 is a perspective view showing a holding portion of the first robot arm of the co-infusion apparatus according to the embodiment of the present invention. FIG. 8 is a perspective view showing a holding portion of the second robot arm of the co-infusion apparatus according to the embodiment of the present invention. FIG. 9 is a schematic plan view showing a tray transport portion of the co-infusion apparatus according to the embodiment of the present invention. FIG. 10 is a perspective view showing the mechanism of the tray transport unit of the co-infusion apparatus according to the embodiment of the present invention. FIG. 11 is a perspective view showing an ampoule cutter of the co-infusion apparatus according to the embodiment of the present invention. FIG. 12 is a perspective view showing the internal configuration of the stirring device of the co-infusion apparatus according to the embodiment of the present invention. FIG. 13 is a perspective view showing a medicine reading unit of the co-infusion apparatus according to the embodiment of the present invention. FIG. 14 is a perspective view showing a needle bending detection unit of the co-infusion apparatus according to the embodiment of the present invention. FIG. 15 is a perspective view showing an internal structure of the injection needle attaching / detaching device of the mixed injection device according to the embodiment of the present invention. FIG. 16 is a perspective view showing an internal structure of the injection needle attaching / detaching device of the mixed injection device according to the embodiment of the present invention. FIG. 17 is a diagram illustrating an example of a captured image of the needle insertion confirmation camera of the co-infusion apparatus according to the embodiment of the present invention. FIG. 18 is a diagram illustrating a configuration of a storage unit of the co-infusion apparatus according to the embodiment of the present invention. FIG. 19 is a diagram illustrating a configuration of a storage unit of the co-infusion apparatus according to the embodiment of the present invention. FIG. 20 is a diagram showing the configuration of the accommodation unit of the co-infusion apparatus according to the embodiment of the present invention. FIG. 21 is a diagram illustrating a configuration of a storage unit of the co-infusion apparatus according to the embodiment of the present invention. FIG. 22 is a flowchart illustrating an example of the procedure of the loading preparation process executed by the co-infusion apparatus according to the embodiment of the present invention. FIG. 23 is a flowchart showing an example of the procedure of the mixed injection control process executed by the mixed injection apparatus according to the embodiment of the present invention. FIG. 24 is a flowchart illustrating an example of a batch preparation inspection process performed by the co-infusion apparatus according to the embodiment of the present invention. FIG. 25 is a flowchart showing an example of a procedure of batch agitation inspection processing executed by the co-infusion apparatus according to the embodiment of the present invention. FIG. 26 is a flowchart illustrating an example of a procedure of schedule management processing executed by the co-infusion apparatus according to the embodiment of the present invention. FIG. 27 is a diagram showing an example of a display screen in the schedule management process executed by the co-infusion apparatus according to the embodiment of the present invention. FIG. 28A is a diagram showing an example of a display screen in the schedule management process executed by the co-infusion apparatus according to the embodiment of the present invention. FIG. 28B is a diagram showing an example of a display screen in the schedule management process executed by the co-infusion apparatus according to the embodiment of the present invention. FIG. 28C is a diagram showing an example of a display screen in the schedule management process executed by the co-infusion apparatus according to the embodiment of the present invention. FIG. 29 is a flowchart illustrating an example of a procedure of batch total amount sampling inspection processing executed by the co-infusion apparatus according to the embodiment of the present invention. FIG. 30 is a perspective view showing an external configuration of the co-infusion apparatus according to the embodiment of the present invention. FIG. 31 is a diagram showing an example of a display screen in the schedule management process executed by the co-infusion apparatus according to the embodiment of the present invention. FIG. 32 is a diagram showing an example of a display screen in the schedule management process executed by the co-infusion apparatus according to the embodiment of the present invention. FIG. 33 is a diagram showing an example of a display screen in the schedule management process executed by the co-infusion apparatus according to the embodiment of the present invention. FIG. 34 is a diagram showing an example of a display screen in the schedule management process executed by the co-infusion apparatus according to the embodiment of the present invention. FIG. 35 is a diagram showing an example of a display screen in the schedule management process executed by the co-infusion apparatus according to the embodiment of the present invention. FIG. 36 is a flowchart showing an example of the procedure of the loading preparation process executed by the co-infusion apparatus according to the embodiment of the present invention. FIG. 37 is a diagram showing the configuration of the accommodation unit of the co-infusion apparatus according to the embodiment of the present invention.

[First Embodiment]
Hereinafter, embodiments of the present invention will be described with reference to the accompanying drawings for understanding of the present invention. In addition, the following embodiment is an example which actualized this invention, Comprising: The thing of the character which limits the technical scope of this invention is not.

[Mixed injection device 1]
As shown in FIGS. 1 and 2, the co-infusion apparatus 1 according to this embodiment includes a co-infusion control unit 100, a medicine loading unit 200, a co-infusion processing unit 300, a storage unit 700, and a stirring device 32. In the mixed injection device 1, the operations of the mixed injection processing unit 300 and the storage unit 700 are controlled by the mixed injection control unit 100 based on the preparation data, so that the anticancer indicated in the preparation data by the syringe is controlled. A mixed injection process is performed in which a medicine such as an agent is injected from a first container such as one or a plurality of ampoules or vials containing a predetermined amount of medicine into a second container such as an infusion bag. The mixed injection process includes a process of sucking a drug from a first container such as an ampoule or a vial with a syringe and injecting the medicine into a second container such as another ampoule or a vial.

[Mixed injection control unit 100]
First, a schematic configuration of the mixed injection control unit 100 will be described with reference to FIG. The mixed injection control unit 100 includes a first control unit 400 and a second control unit 500 that are communicably connected. The first control unit 400 is provided on the medicine loading unit 200 side, and the second control unit 500 is provided on the mixed injection processing unit 300 side.

  Note that the processing sharing of each of the first control unit 400 and the second control unit 500 described in the present embodiment is merely an example, and each processing procedure such as the mixed injection processing is performed by the first control unit 400 and the second control unit. It may be executed by any one of the control units 500. In addition, the mixed injection control unit 100 may include only one control unit or three or more control units as another embodiment. Furthermore, part or all of the processing executed by the first control unit 400 and the second control unit 500 may be executed by an electronic circuit such as an ASIC or DSP.

  The first control unit 400 can communicate with a host system 600 such as an electronic medical record system or a dispensing management system that inputs preparation data to the co-infusion apparatus 1. The preparation data is data for preparation generated based on prescription data or the prescription data itself. The prescription data includes, for example, prescription delivery date, patient ID, patient name, patient birth date, drug information (drug code, drug name, dose, etc.), dosage form information (internal use, external use, etc.), usage information ( 3 times a day after every meal, etc.), medical treatment type (outpatient, hospitalization, etc.), clinical department, ward, and hospital room. The preparation data includes, for example, preparation ID, patient information (patient ID, patient name, etc.), doctor information, drug information, drug prescription amount, drug container type (drug ampule, drug solution vial, or powder drug) Vials, etc.), information on preparation details (chemical containers, syringes, types of needles used, etc.), preparation procedure information (work contents, dissolved drug, solvent, dissolved drug volume, solvent volume, sampling volume) ), Preparation date, prescription classification, medication date, department, ward, preparation end designation time (or scheduled start time), required time, and the like.

  The first control unit 400 is a personal computer including a CPU 401, a ROM 402, a RAM 403, a data storage unit 404, an operation unit 405, and the like. The first controller 400 is connected to various electrical components such as a display 203, a barcode reader 204, and an air cleaning device 205, which will be described later, provided in the medicine loading unit 200.

  The CPU 401 is a processor that executes processing according to various control programs. The ROM 402 is a non-volatile memory in which programs such as BIOS executed by the CPU 401 are stored in advance. The RAM 403 is a volatile memory or a non-volatile memory used for development of various control programs and temporary storage of data by the CPU 401.

  The data storage unit 404 is a nonvolatile storage device such as a hard disk that stores various application programs and various data for causing the CPU 401 to execute various processes. For example, the preparation data input from the host system 600 is stored in the data storage unit 404.

  The first control unit 400 stores, in the data storage unit 404, identification information of a tray 101 to be described later corresponding to each preparation data, together with the preparation data input from the host system 600. For example, the first control unit 400 associates the preparation data with the identification information of the tray 101. It is also conceivable that information indicating the correspondence between the preparation data and the identification information of the tray 101 is input from the host system 600 to the co-infusion apparatus 1 together with the preparation data.

  The data storage unit 404 stores various databases such as an injection needle master, a medicine master, a patient master, a doctor master, a prescription category master, a clinical department master, and a ward master. In the injection needle master, the shape of the tip of the injection needle is stored for each type of injection needle. The shape of the needle tip of the injection needle includes the outer diameter of the needle tube of the injection needle, the angle of the tip, the length of the cut surface (inclined surface), and the like. The medicine master includes a medicine code, a medicine name, a JAN code (or RSS), a medicine bottle code, a classification (dosage form: powder (powder), tablet, liquid medicine, topical medicine, etc.), specific gravity, medicine type ( Normal drugs, anticancer drugs, poison drugs, narcotics, powerful drugs, antipsychotics, therapeutic drugs, etc.), compounding changes, excipients, precautions, types of drug containers (ampoules, vials), drug containers Information such as the capacity (predetermined amount) and the weight of the chemical container is included. In addition, in the said medicine master, as the information of the infusion bag 12 in which infusion solutions such as physiological saline or glucose are stored, for example, the container type (soft bag, hard type, AL type) of the infusion bag 12 and the infusion bag 12 also includes information such as the amount of infusion contained in the liquid 12 and the amount of liquid that can be injected into the infusion bag 12.

  Further, the data storage unit 404 stores in advance a first mixed injection control program for causing the CPU 401 to execute various processes. The first mixed injection control program is read from a recording medium such as a CD, a DVD, a BD, and a flash memory by a reading device (not shown) provided in the first control unit 400 and installed in the data storage unit 404. May be.

  The operation unit 405 includes various operation units such as a keyboard, a mouse, or a touch panel that accept various user operations in the first control unit 400.

  The second control unit 500 is a personal computer including a CPU 501, a ROM 502, a RAM 503, a data storage unit 504, an operation unit 505, and the like. The second control unit 500 includes a first robot arm 21, a second robot arm 22, a tray transport unit 110, a touch panel monitor 14, an IC reader 101c, an IC reader 15a, a tray, which will be described later, provided in the mixed injection processing unit 300. Various electrical components such as a confirmation camera 41 and a syringe confirmation camera 42 are connected.

  The CPU 501 is a processor that executes processing according to various control programs. The ROM 502 is a non-volatile memory in which programs such as BIOS executed by the CPU 501 are stored in advance. The RAM 503 is a volatile memory or a non-volatile memory used for development of various control programs by the CPU 501 and temporary storage of data.

  The data storage unit 504 is a hard disk or the like for storing various application programs for causing the CPU 501 to perform various processes and various data. Specifically, the data storage unit 504 stores in advance a second mixed injection control program for causing the CPU 501 to execute mixed injection processing described later. The second mixed injection control program is read from a recording medium such as a CD, a DVD, a BD, and a flash memory by a reading device (not shown) provided in the second control unit 500 and installed in the data storage unit 504. May be. Further, the medicine master similar to the data storage unit 404 is also stored in the data storage unit 504, and the second control unit 500 can refer to the medicine master. As another embodiment, the second control unit 500 may be configured to acquire information on the medicine master via the first control unit 400.

  Note that the present invention provides the first mixed injection control program, the second mixed injection control program, the first mixed injection control program, and the first for causing the CPU 401 and the CPU 501 to execute various processes in the mixed injection control unit 100. It may be understood as an invention of a mixed injection control program in which two mixed injection control programs are integrated. The present invention also provides a computer-readable recording medium that records the first mixed injection control program, the second mixed injection control program, or the mixed injection control program in which the first mixed injection control program and the second mixed injection control program are integrated. It may be considered as an invention. Furthermore, the present invention may be understood as an invention of a co-infusion method including one or a plurality of processing procedures executed in the co-infusion apparatus 1.

  The operation unit 505 includes various operation units such as a keyboard, a mouse, and a touch panel that receive various user operations in the second control unit 500.

[Chemical loading unit 200]
Next, a schematic configuration of the medicine loading unit 200 will be described with reference to FIGS. 2 and 3. FIG. 3 is a diagram illustrating a main part of the internal configuration of the medicine loading unit 200.

  As shown in FIGS. 2 and 3, the medicine loading unit 200 is a clean bench including a door 201, a work table 202, a display 203, a barcode reader 204, and an air cleaning device 205. The medicine loading unit 200 and the mixed injection processing unit 300 are communicated with each other through a tray loading port 114 (see FIG. 6) and a tray discharge port 701 (see FIG. 21) formed on the side surface of the mixed injection processing unit 300. Yes.

  The work table 202 is used to perform preparation work for mixed injection processing executed by the mixed injection apparatus 1, and the barcode reader 204, the tray 101, and the like are placed on the work table 202. Further, a tray discharge port 206 that is opened and closed when the tray 101 discharged from the storage unit 700 is taken out is provided on the front surface of the work table 202. In the work table 202, an IC reader 207 (see FIG. 21) capable of reading information from the IC tag 101b of the tray 101 placed on the work table 202 is provided. Note that the reading result by the IC reader 207 is input to the first control unit 400.

  The display 203 is a display unit such as a liquid crystal display or an organic EL display that displays various types of information in accordance with control instructions from the first control unit 400. Specifically, the display 203 displays preparation data and the like that are candidates for co-infusion in the co-infusion apparatus 1. Further, the barcode reader 204 reads a barcode described in a prescription or a preparation instruction, and inputs the content of the barcode to the first control unit 400. The air cleaning device 205 supplies air into the medicine loading unit 200 through a predetermined filter. The display 203 may be supported by, for example, a front panel 700A (see FIGS. 18 to 21) included in the housing unit 700.

  The door 201 is a transparent member that is provided on the front surface of the medicine loading unit 200 and can be opened and closed vertically. As shown in FIG. 2, the user performs a preparatory work for the mixed injection process executed by the mixed injection device 1 in a state where the door 201 is slightly opened and a hand is placed in the medicine loading unit 200. Specifically, as shown in FIG. 5, the tray 101 placed on the work table 202 has a chemical container 10 (an example of a first container) used in the mixed injection process performed by the mixed injection apparatus 1. A syringe 11 and an infusion bag 12 (an example of a second container) are accommodated. The infusion bag 12 contains a prescribed amount of infusion solution such as physiological saline, glucose, or high calorie infusion solution corresponding to the type of the infusion bag 12. Moreover, although the chemical | medical agent accommodated in the said chemical | medical agent container 10 is an anticancer agent, for example, chemical | medical agents other than an anticancer agent may be sufficient. The preparation operation includes, for example, a loading operation in which the medicine container 10, the syringe 11, and the infusion bag 12 are placed at predetermined positions of the tray 101 and the tray 101 is loaded into the storage unit 700. . Hereinafter, when the chemical container 10 is an ampule, the chemical container 10 is referred to as an ampule 10A, and when the chemical container 10 is a vial, the chemical container 10 is referred to as a vial 10B. is there.

  As shown in FIG. 5, the tray 101 includes an electronic paper 101a on which a patient name and application are displayed as characters, and an IC tag 101b (recording medium) such as an RFID (Radio Frequency Identification) tag capable of reading and writing various types of information. Example). The IC tag 101b is provided on the bottom surface of the tray 101, and identification information for identifying the tray 101 is stored in the IC tag 101b.

  Further, the tray 101 holds an instrument mounting portion 102 (see FIG. 9) on which the drug container 10 and the syringe 11 (syringe 11a, injection needle 11c, cap 11d) are mounted, and the infusion bag 12. And an infusion bag holding part 103 (see FIG. 5). The instrument mounting part 102 and the infusion bag holding part 103 can be individually attached to and detached from the tray 101.

  As shown in FIG. 5, the instrument mounting portion 102 is provided with a support portion 102 </ b> A that supports the ampoule 10 </ b> A in an inclined state. The ampoule 10A is set in a state where the ampoule 10A is stood diagonally by the support portion 102A. Thereby, a chemical | medical agent does not accumulate in the neck part of the said ampoule 10A. In addition to the ampoule 10A, the injection needle 11c to which the cap 11d is attached is also set in a state where it is stood obliquely on the support portion 102A.

  The injection needle 11c includes an injection needle with a syringe filter. Specifically, when the ampoule 10A is used, a piece when the neck of the ampoule 10A is folded is injected from the syringe 11 into the infusion bag 12, or the piece flows into the syringe 11. In order to prevent this, a syringe needle with a syringe filter is used. The syringe filter is a filter generally referred to as a coma filter, and has a function of preventing passage of foreign substances other than chemicals. For example, a syringe filter manufactured by Nippon Pole is generally known.

  On the other hand, the vial bottle 10B and the syringe 11 are set in a state in which they are laid on the device mounting portion 102 as shown in FIGS. At this time, the syringe 11 is in a state where the syringe 11a and the injection needle 11c are separated. Of course, the arrangement form in the equipment mounting portion 102 described here is an exemplification, and the present invention is not limited to this.

  As shown in FIG. 5, the infusion bag holding portion 103 is provided with a chuck portion 140 for fixing the mixed injection port (neck portion) of the infusion bag 12. In the preparatory work, the user sets the infusion bag 12 in the infusion bag holding portion 103 in a state where the infusion bag 12 is held by the chuck portion 140. Further, the infusion bag holding portion 103 is provided with an engagement hole portion 103a used when the infusion bag holding portion 103 is raised and lowered.

  The tray 101 is housed in the housing unit 700 after the medicine container 10, the syringe 11, and the infusion bag 12 are set by a user. As will be described later, the storage unit 700 can store a plurality of trays 101. Thereby, as will be described later, the tray 101 is automatically supplied from the storage unit 700 to the mixed injection processing unit 300 through the tray discharge port 701 and the tray loading port 114 as necessary. Thereafter, the tray 101 is discharged from the tray outlet 15 (see FIG. 3) of the mixed injection processing unit 300 in a state where the infusion bag 12 is accommodated after completion of the mixed injection processing in the mixed injection processing unit 300. Alternatively, it is discharged from the tray discharge port 206 (see FIG. 3) of the medicine loading unit 200 through the storage unit 700. The mixed injection processing unit 300 may be provided with a carry-in port through which a user can directly supply the tray 101 from the medicine loading unit 200 to the mixed injection processing unit 300.

[Mixed injection processing unit 300]
Next, a schematic configuration of the mixed injection processing unit 300 will be described.

  As shown in FIGS. 2 to 4, the front side of the mixed injection processing unit 300 is provided with a main door 301, a syringe outlet door 302, a garbage storage chamber door 13, a touch panel monitor 14, a tray outlet 15, and the like. .

  The main door 301 is opened and closed to access the mixed injection processing chamber 104 when, for example, cleaning the mixed injection processing chamber 104 provided in the mixed injection processing unit 300. Moreover, in the said co-infusion apparatus 1, besides the said infusion bag 12 with which the chemical | medical agent was inject | poured out, it is also possible to pay out the said syringe 11 in the state with which the chemical | medical agent was filled. The syringe outlet door 302 is opened and closed when the syringe 11 is taken out from the mixed injection processing chamber 104.

  The waste storage chamber door 13 is for removing the waste from the waste storage chamber 13a in which waste such as the chemical container 10 and the syringe 11 after being used in the mixed injection processing in the mixed injection processing chamber 104 is stored. Is opened and closed. In addition, the tray discharge port 15 is opened and closed to take out the tray 101 on which the infusion bag 12 is placed after the medicine is mixedly injected by the mixed injection processing in the mixed injection processing chamber 104.

  The touch panel monitor 14 is a display unit such as a liquid crystal display or an organic EL display that displays various types of information in response to control instructions from the second control unit 500. The touch panel monitor 14 has a touch panel that accepts a touch operation by a user. The touch panel monitor 14 can display, for example, images or videos taken by various cameras described later.

  In addition, as shown in FIG. 4, the waste storage chamber 13 a includes a waste container 13 b for discarding a liquid such as an infusion stored in the infusion bag 12, and a weighing meter for measuring the weight of the waste container. 13c. The waste container 13b can be attached to and detached from the dust storage chamber 13a in a state where the dust storage chamber door 13 is opened. A communication port (not shown) that communicates with the waste container 13b is formed on the bottom surface of the mixed injection processing chamber 104 above the waste container 13b. The second robot arm 22 to be described later can operate the syringe 11 to discard the liquid in the syringe 11 from the communication port into the waste container 13b. The weighing scale 13c has a load cell that inputs an electric signal corresponding to the weight of the waste container 13b to the second control unit 500, for example.

  Accordingly, the second control unit 500 acquires the amount of liquid discarded when the liquid is discarded based on the weighing result of the waste container 13b by the weighing meter 13c before and after the liquid is discarded into the disposal container 13b. It is possible. For example, the second control unit 500 collates the amount of liquid discarded from the syringe 11 with a disposal amount determined based on the preparation data and the like, and if the collation result is inconsistent, an error is detected in the touch panel monitor 14. Etc. to inform the user. In addition, the second control unit 500 records the verification result in the data storage unit 504 as history information of the mixed injection process. Thereby, it is possible to accurately check the consistency of the amount of waste from the syringe 11 and manage the amount of waste liquid.

  In addition, as a case where the disposal of the liquid using the syringe 11 is performed, for example, the liquid amount in the infusion bag 12 exceeds the maximum allowable amount set in advance corresponding to the infusion bag 12 in the mixed injection process. In addition, it is conceivable that the infusion solution is previously extracted from the infusion bag 12 and discarded. In such a case, the second controller 500 measures the amount of liquid extracted from the infusion bag 12 by the syringe 11 using a weighing meter 35 or the like provided in the mixed injection processing chamber 104, You may collate with the said preparation data. Further, the second control unit 500 may collate the weighing result by the weighing meter 35 with the weighing result by the weighing meter 13c.

[Mixed injection processing chamber 104]
As shown in FIGS. 3 and 4, the mixed injection processing chamber 104 includes a first robot arm 21, a second robot arm 22, an ampoule cutter 31, the stirring device 32, a mounting shelf 33, a chemical reading unit 34, a weighing unit. A total 35, a needle bending detection unit 36, a mixed injection communication port 37, a needle insertion confirmation transparent window 38, a dust cover 132a, and the like are provided. Further, as shown in FIG. 6, 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. Yes.

[First robot arm 21 and second robot arm 22]
The first robot arm 21 and the second robot arm 22 are drive units having a multi-joint structure, and are provided in a hanging manner with a base end fixed to the ceiling side of the mixed injection processing chamber 104. For example, the joints of the first robot arm 21 and the second robot arm 22 are 5 to 8 axes, respectively. In the co-infusion apparatus 1, each work process in the co-infusion process is executed by the double-arm first robot arm 21 and the second robot arm 22.

  Specifically, the second control unit 500 individually drives drive motors provided at the joints of the first robot arm 21 and the second robot arm 22, so that the first robot arm 21 and the second robot arm 21 are driven. The robot arm 22 is caused to execute each operation in the mixed injection process. Note that the mixed injection processing unit 300 has, for example, a configuration including one robot arm, a configuration including three or more robot arms, or a configuration not using a robot arm as long as the mixed injection processing unit 300 can execute the mixed injection processing. It may be.

  As shown in FIG. 6, the first robot arm 21 includes a holding portion 25 that can hold devices such as the medicine container 10 and the syringe 11, and the holding portion 25 has a predetermined movable range. It is possible to move to an arbitrary position. The second robot arm 22 can hold and move equipment such as the medicine container 10 and the syringe 11 to an arbitrary position, and performs operations of sucking and injecting medicine by the syringe 11. The holding part 26 which can be provided is provided. The second robot arm 22 can move the medicine container 10 and the syringe 11 to any position within a predetermined movable range.

  As shown in FIG. 7, the holding part 25 of the first robot arm 21 includes a pair of gripping claws 25a, a motor 251, two screw shafts 252 and 253 rotated by the motor 251, and the screw Nut blocks 254 and 255 screwed to the shafts 252 and 253. The pair of gripping claws 25a are fixed to the nut blocks 254 and 255, respectively. Then, 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 approach and separate from each other to hold and release the holding portion 25.

  The pair of gripping claws 25a is a gripping portion having a recess suitable for holding the vial bottle 10B and a recess suitable for holding the ampoule 10A on the distal end side. FIG. 7 shows a state in which both the ampoule 10A and the vial bottle 10B are held, but in reality, one ampoule 10A or the vial bottle 10B is held.

  Further, the holding unit 25 can hold the injection needle 11c or the syringe 11 with the cap 11d attached by the pair of gripping claws 25a. Meanwhile, the second control unit 500 can measure the diameter of the syringe 11 according to the driving amount of the motor 251 when the syringe 11 is held by the pair of gripping claws 25a of the holding unit 25. Is possible. Accordingly, the second controller 500 can determine whether the syringe 11 is a syringe designated by the preparation content information of the preparation data.

  As shown in FIG. 8, the holding unit 26 of the second robot arm 22 includes a syringe holding unit 261, a plunger holding unit 262, and a moving unit 263. The syringe holder 261 includes a pair of gripping claws 261 a that hold the syringe 11 a of the syringe 11. The pair of gripping claws 261a are gripping portions that hold and release the syringe 11a of the syringe 11 by being close to and away from each other by a mechanism similar to the drive mechanism used in the holding portion 25. In addition, in the pair of gripping claws 261a, inclined portions 261b that are inclined downward from the upper end surface of the gripping claws 261a toward the facing surface are formed on opposing surfaces facing each other.

  The plunger holding portion 262 includes a pair of gripping claws 262 a that hold the collar portion of the plunger 11 b of the syringe 11. The pair of gripping claws 262a are gripping portions that hold and release the flange portion of the plunger 11b of the syringe 11 by being close to and separated from each other by a mechanism similar to the driving mechanism used in the holding portion 25. is there. A gripping claw 262b is fixed to the upper surface of each gripping claw 262a. Each of the gripping claws 262b is a gripping part that approaches and separates the pair of gripping claws 262a by approaching and separating, and grips not only the syringe 11 but also other devices such as the drug container 10. In addition, the recessed part for the collar part of the said plunger 11b to enter is formed in the upper surface of the opposing side of said pair of holding claw 262a. Further, the tip ends of the pair of gripping claws 262b protrude forward from the pair of gripping claws 262a, and the pair of gripping claws 262b can easily grip equipment such as the ampoule 10A and the vial bottle 10B. The grip claw 262b may be provided on the grip claw 261a.

  The moving part 263 can move the plunger holding part 262 in the moving direction of the plunger 11 b of the syringe 11. The moving unit 263 moves the plunger 11b by a driving mechanism such as a motor, a screw shaft rotated by the motor, a nut block screwed to the screw shaft, and a guide. The plunger holding part 262 is fixed to the nut block, and moves by the movement of the nut block.

[Tray transport unit 110]
Further, the mixed injection processing unit 300 is provided with a tray transport unit 110 capable of reciprocally transporting the tray 101 between the tray loading port 114 at the right end in FIG. 6 and the tray transport termination unit 110a at the left end. It has been.

  FIG. 9 is a schematic plan view showing an example of the conveyance path of the tray 101 in the tray conveyance unit 110. Note that the inside of the tray transfer unit 110 is set at a positive pressure as compared with the inside of the mixed injection processing chamber 104. As shown in FIG. 9, the tray transport unit 110 allows the tray 101 to pass through the rear side of the dust storage chamber 13 a located below the mixed injection processing chamber 104 and below the dust cover 132 a. It is provided to convey. Thereby, the said garbage storage chamber 13a can be accessed from the front side of the said co-infusion apparatus 1. FIG. In FIG. 9, in order to show the conveyance path of the tray conveyance unit 110, the tray 101 that moves in the tray conveyance unit 110 is indicated by a two-dot chain line, and a plurality of the trays are simultaneously included in the tray conveyance unit 110. 101 does not exist. The tray transport unit 110 may be configured to simultaneously transport the plurality of trays 101 between the tray loading port 114 and the tray transport termination unit 110a in the tray transport unit 110.

  The tray transport start section 110b of the tray transport section 110 is not capable of drawing the tray 101 inserted from the tray loading port 114 into the interior or discharging the tray 101 from the tray loading port 114. The illustrated belt conveyor is provided. An IC reader 101c and an IC reader 15a that can read information from the IC tag 101b provided in the infusion bag holding unit 10 of the tray 101 are provided. For example, the IC reader 101c and the IC reader 15a are RFID readers that read information from RFID tags. The IC reader 101c is provided in the tray conveyance start section 110b in which the tray 101 is loaded from the tray loading port 114, and the IC reader 15a is configured such that the tray 101 is discharged from the tray discharge port 15. It is provided in the tray conveyance end portion 110a.

  When the second control unit 500 determines that the tray 101 is inserted into the tray conveyance start unit 110b from the tray loading port 114 based on a sensor output (not shown), the IC reader 101c performs the IC operation. Information is read from the tag 101b. Further, when the second control unit 500 determines that the tray 101 is inserted into the tray conveyance termination unit 110a based on a sensor output (not shown), the information is read from the IC tag 101b by the IC reader 15a. . Similarly, when the tray 101 is transported from the tray transport start section 110b toward the storage unit 700 via the tray loading port 114, the second control section 500 also uses the IC reader 101c to Information can be read from the IC tag 101b. Then, the second control unit 500 executes a tray collation process for determining whether or not the tray 101 is appropriate according to the reading results of the IC reader 101c and the IC reader 15a.

  The second control unit 500 determines that the tray 101 has reached a predetermined position in the tray transport unit 110 through the tray loading port 114 based on, for example, an output of a sensor (not shown). Then, a shutter 111 that communicates and shields the tray transfer unit 110 and the mixed injection processing chamber 104 is slid in the horizontal direction. When the shutter 111 is opened, the equipment placement unit 102 is exposed in the mixed injection processing chamber 104. FIG. 9 shows a state in which the equipment placing portion 102 is exposed in the mixed injection processing chamber 104.

  As shown in FIG. 10, the tray transporting unit 110 moves up and down the equipment placement unit 102 in the tray 101 moved into the tray transporting unit 110 through the tray loading port 114. An elevating part 112 is provided. The tray lifting / lowering unit 112 lifts the equipment placing unit 102 from the bottom to the top by driving the four shafts 112a provided in a vertically movable manner, for example.

  Then, the second control unit 500 raises the equipment placing unit 102 by the tray lifting / lowering unit 112, and then performs imaging by the tray confirmation camera 41. The tray confirmation camera 41 photographs from above the medicine container 10 and the syringe 11 placed on the predetermined equipment placement unit 102. The second control unit 500 executes an image recognition process using an image captured by the tray confirmation camera 41, and the number of the medicine containers 10 and the syringes 11 (the syringe 11a and the injection needle) indicated by the preparation data. 11c) or the like is present on the equipment placement unit 102.

  As shown in FIG. 10, a bag elevating part 113 for elevating the infusion bag holding part 103 is provided in the tray transfer terminal part 110 a located in the left space of the mixed injection processing chamber 104. After the second control unit 500 transports the tray 101 to the front of the bag lifting / lowering unit 113, the second control unit 500 hooks the hook portion 113a of the bag lifting / lowering unit 113 into the engagement hole 103a from below. Then, the second control unit 500 drives the arc gear portion 113b formed with the hook portion 113a to rotate by a motor 113c, thereby raising the infusion bag holding portion 103 and opening the mixed injection port of the infusion bag 12. It is located in the mixed injection communication port 37. In addition, the second control unit 500 controls the motor 113c to drive the bag elevating unit 113 to incline the infusion bag holding unit 103 so that the mixed injection port of the infusion bag 12 faces upward or downward. can do.

  In particular, the second controller 500 controls the motor 113c to adjust the driving amount of the bag lifting / lowering unit 113, thereby adjusting the inclination angle of the mixed injection port of the infusion bag 12 to a preset inclination angle. Is possible.

  Specifically, in the medicine master, corresponding to each type of the infusion bag 12, an upper limit injection amount that can be injected into the infusion bag 12 without air bleeding, and the upper limit injection amount that is set when the upper limit injection amount is exceeded. An exceptional inclination angle that is an inclination angle of the mixed injection port of the infusion bag 12 is stored. Then, in the mixed injection process based on the preparation data, the second control unit 500 uses the syringe 11 in advance when the amount of liquid injected into the infusion bag 12 exceeds the upper limit injection amount. An air venting process for extracting air from the infusion bag 12 is executed. In this case, the amount of air in the infusion bag 12 is reduced. Therefore, when the inclination of the infusion bag 12 becomes large, the liquid in the infusion bag 12 may come into contact with the rubber stopper of the mixed injection port of the infusion bag 12, and the liquid is removed when the injection needle 11 c is extracted from the rubber stopper. May leak out.

  On the other hand, in the mixed injection device 1, when the amount of liquid injected into the infusion bag 12 is equal to or less than the upper limit injection, the second control unit 500 sets the inclination angle of the mixed injection port of the infusion bag 12. It is set to a preset specified angle. The specified angle is, for example, a value set as an inclination angle of the mixed injection port common to a plurality of types of infusion bags 12.

  On the other hand, when the amount of liquid injected into the infusion bag 12 in the mixed injection process exceeds the upper limit injection amount, the second control unit 500 sets the inclination angle of the mixed injection port of the infusion bag 12 to the exceptional inclination angle. To do. The exceptional inclination angle is an angle at which the inclination angle of the mixed injection port of the infusion bag 12 with respect to the vertical direction is smaller than at least the prescribed angle. That is, the exceptional inclination angle is an angle at which the infusion bag 12 is closer to a vertical state than the specified angle. Thereby, when the inclination angle of the mixed injection port of the infusion bag 12 is set to the exceptional inclination angle, the possibility that the liquid in the infusion bag 12 contacts the rubber stopper of the mixed injection port is reduced, When the injection needle 11c is extracted from the rubber stopper, the possibility of liquid leaking is reduced. The exceptional inclination angle may be used when, for example, the type of the infusion bag 12 is a so-called AL type with a small amount of air inside.

  Further, as shown in FIG. 6, a dome-shaped light 120 and an infusion camera 121 for illuminating the infusion bag 12 conveyed to the tray conveyance end portion 110a are provided above the tray conveyance end portion 110a. Yes. The infusion camera 121 is provided in the center of the dome-shaped light 120 and reads a barcode attached to the surface of the infusion bag 12. Accordingly, the second control unit 500 can determine whether the infusion bag 12 is appropriate according to the barcode information read by the infusion camera 121.

[Ampule cutter 31]
As shown in FIG. 11, the ampoule cutter 31 is provided with a file part 31a, a waste tray 31b, a head insertion part 31c, a drive box 31f, a waste box 31g, and a grip part 31h.

  The file portion 31a is a member for notching the neck of the ampoule 10A, and the waste generated by the notch processing in the file portion 31a falls on the waste tray 31b. Specifically, in the co-infusion apparatus 1, the first robot arm 21 holds the ampoule 10A and slides with the neck of the ampoule 10A in contact with the file portion 31a, so that the neck of the ampoule 10A is reached. Notched.

  The head insertion part 31c is positioned on the side of the head of the ampoule 10A protruding upward from the hole 31d and the hole 31d into which the head of the ampoule 10A to which the notch processing has been applied is inserted from below. And a pusher 31e. On the other hand, the drive box 31f has a cam provided therein and a drive motor for driving the cam. When the cam is driven by the drive motor, the pusher 31e is moved by the cam to the ampoule 10A. It reciprocates in the direction of approaching and separating from the head.

In the mixed injection device 1, the first robot arm 21 holds the ampoule 10A by the gripping claws 25a, the head of the ampoule 10A is inserted into the hole 31d from below, and the head above the neck is moved upward. To protrude. Thereafter, when the drive motor of the drive box 31f is driven by the second controller 500 and the pusher 31e is moved in the direction of pushing the head of the ampoule 10A, the pusher 31e pushes the head. To be folded. At this time, the head folded by the pusher 31e falls into the waste box 31g. The grip portion 31h is used by a user when the ampule cutter 31 is slid along a rail 31i (see FIG. 4) that slidably supports the ampule cutter 31.

[Agitator 32]
The agitator 32, when a medicine that needs to be dissolved such as powder (powder) is contained in the vial 10B, injects an infusion or medicine into the vial 10B to dissolve the medicine, Used when producing mixed chemicals. Specifically, the stirring device 32 is used in a stirring step of stirring the chemicals in the vial bottle 10B.

  As shown in FIG. 12, the stirrer 32 is provided with a roller 32a, a pressing portion 32b, a rotation support portion 32c, a support base 32d, a horizontal swing mechanism 32e, a support portion 32f, a drive motor 32g, and the like. Yes. The two rollers 32a are opposed to each other with a predetermined distance therebetween. One roller 32a is rotatably supported, and the other roller 32a is connected to the drive motor 32g. Each of the rollers 32a is elongated in the axial direction, and the stirring device 32 can simultaneously stir the two vial bottles 10B placed on both ends of the roller 32a in the axial direction. .

  The pressing portion 32b is a driven roller that is used to press the vial 10B placed on the roller 32a from above and rotates as the vial 10B rotates. The rotation support portion 32c rotates the pressing portion 32b in a direction of contacting or separating from the vial bottle 10B by a drive motor (not shown).

  The support base 32d supports the roller 32a, the pressing portion 32b, the rotation support portion 32c, and the like. The horizontal swing mechanism 32e has a crank mechanism, for example, and can swing the support base 32d in the axial direction of the roller 32a.

  The support portion 32f has U-shaped notches into which the neck of the vial bottle 10B is fitted at both ends in the axial direction of the roller 32a. When the vial 10B is placed on the roller 32a, the neck of the vial 10B is engaged with the notch. Accordingly, when the support base 32d is swung in the axial direction of the roller 32a by the horizontal swing mechanism 32e, the vial bottle 10B swings following the swing of the roller 32a in the axial direction. The medicine in the vial bottle 10B is stirred in the horizontal direction.

  On the other hand, when the vial 10B is placed between the two rollers 32a and the drive motor 32g is driven, the vial 10B is rotated by the other roller 32a connected to the drive motor 32g. Then, the medicine in the vial bottle 10B is stirred. At this time, the one roller 32a rotates in the same direction as the other roller 32a by the rotation of the vial bottle 10B. Further, if at least one of the rollers 32a is driven eccentrically, it is possible to stir the vial bottle 10B placed on the roller 32a in the vertical direction (vertical direction).

[Mounting shelf 33]
As shown in FIG. 4, the placement shelf 33 is used to temporarily place the medicine container 10, the syringe 11, and the like in the mixed injection process executed in the mixed injection device 1. The placement shelf 33 is provided at a position accessible by both the first robot arm 21 and the second robot arm 22. In the mounting shelf 33, the vial bottle 10B is placed in a state where it is stood at a predetermined position. On the other hand, the placement shelf 33 is provided with an inclination holding part for holding the ampoule 10A in an inclined state, and the ampoule 10A is placed in an inclined state on the inclination holding part. Further, the mounting shelf 33 is formed with a neck holding hole having a predetermined diameter in which the neck portion of the syringe 11 is fitted, and the syringe 11 has the neck portion in a state where the injection needle 11c is not attached. Temporarily placed face down. The size of the storage shelf 33 is preferably determined in advance by the number of trays 101 that can be stored in the storage unit 700. For example, the size of the mounting shelf 33 is the same as that of the medicine container 10 and the syringe 11 used in the mixed injection process corresponding to the number of the trays 101 that can be stored in the storage unit 700. It is thought that it is a size.

[Chemical reading unit 34]
The medicine reading unit 34 reads a barcode indicating medicine information of the contained medicine described on a label attached to the medicine container 10 such as the ampoule 10A and the vial bottle 10B. Specifically, the medicine reading unit 34 includes two rollers 34a and a barcode reader 34b as shown in FIG. The rollers 34a are arranged to face each other with a predetermined interval. One of the rollers 34a is rotatably supported, and the other roller 34a is connected to a drive motor (not shown). The two rollers 34a are driven by the drive motor to rotate the medicine container 10 placed between the rollers 34a in the circumferential direction. Thereby, since the said chemical | medical agent container 10 can be rotated once in the circumferential direction, the whole region of the label affixed on the said chemical | medical agent container 10 can be turned to the said barcode reader 34b. The barcode reader 34b reads the barcode from the label of the chemical container 10 rotated by the roller 34a.

[Weighing meter 35]
The weighing instrument 35 is used to measure the weight of the syringe 11 in the mixed injection process executed in the mixed injection device 1, and the measurement result by the weighing instrument 35 is input to the second control unit 500. The weigh scale 35 is disposed within the movable range of the second robot arm 22 and measures the weight of the syringe 11 placed by the second robot arm 22. In addition to the weighing meter 35, it is also conceivable that a weighing meter for weighing the drug container 10 or the syringe 11 is provided on the mounting shelf 33.

[Needle bend detector 36]
As shown in FIG. 14, the needle bending detection unit 36 is formed with a long hole 36a into which the injection needle 11c of the syringe 11 can be inserted and moved. The needle bending detection unit 36 irradiates and receives detection light across the elongated hole 36a, and the first optical sensor 361 and the second optical sensor 362 are arranged so that the detection lights are not parallel to each other. Is provided. That is, the detection light irradiation directions of the first optical sensor 361 and the second optical sensor 362 are different. Detection results from the first optical sensor 361 and the second optical sensor 362 are input to the second controller 500.

  Then, the second robot arm 22 inserts the injection needle 11c attached to the syringe 11 into the elongated hole 36a and moves it up and down. At this time, when the detection light of each of the first optical sensor 361 and the second optical sensor 362 is blocked by the injection needle 11c, the first optical sensor 361 and the second optical sensor 362 are turned off.

  Thereby, the second control unit 500 can detect the bending of the injection needle 11c and the like using the position information of the injection needle 11c when the detection light is blocked. In addition, it is also conceivable as another embodiment that the injection needle 11c is photographed with a camera and needle bending or the like is detected by image recognition on the photographed image. Then, when the injection needle 11c is bent, the second control unit 500, for example, based on the bending amount of the injection needle 11c, the infusion bag 12 with the injection needle 11c by the second robot arm 22, for example. It is possible to adjust the position of the needle tip when puncturing the rubber stopper of the mixed injection port.

[Mixed-flow communication port 37]
As shown in FIG. 3, the mixed injection communication port 37 is formed in a dome-shaped portion protruding outward on the side wall of the mixed injection processing chamber 104, and the dome-shaped portion of the infusion bag 12 extends vertically. A notch for passing the mixed injection port is formed. Therefore, when the infusion bag holding part 103 is raised, the mixed injection port of the infusion bag 12 is located in the mixed injection processing chamber 104. As a result, the injection needle 11 c of the syringe 11 held by the second robot arm 22 can be inserted into the mixed injection port of the infusion bag 12.

[Needle insertion confirmation transparent window 38]
The needle insertion confirmation transparent window 38 is a window through which the infusion bag 12 of the tray transfer terminal portion 110a can be seen from the mixed injection processing unit 300, and the injection needle 11c of the syringe 11 is inserted into the infusion bag 12. Used when taking an image to check the status.

[Syringe confirmation camera 42]
Further, as shown in FIG. 6, the syringe confirmation camera 42 is disposed on the ceiling portion of the mixed injection processing unit 300. The syringe confirmation camera 42 is used to photograph the syringe 11 in order to confirm the presence and amount of the medicine sucked into the syringe 11. The syringe confirmation camera 42 may capture an image within a fixed imaging range, but can be arbitrarily changed in position and size of the imaging range by being controlled by the second control unit 500. It may be possible. Further, as will be described later, in the mixed injection device 1, the syringe 11 and the medicine container 10 are photographed at a time by the syringe confirmation camera 42, and a highly reliable inspection image is provided. The second control unit 500 uses the data storage unit 404, the data storage unit, and the data storage unit 404, the data storage unit, in order to check the appropriateness of the mixed injection processing executed by the mixed injection device 1, for example, with the image taken by the syringe confirmation camera 42. 504 or a storage unit such as a hard disk provided outside the mixed injection device 1. Then, the second control unit 500 causes the touch panel monitor 14 or a display device such as the display 203 to display an image captured by the syringe confirmation camera 42 during the inspection by the user.

[Injection needle attaching / detaching device 43]
As shown in FIGS. 15 and 16, the injection needle attaching / detaching device 43 is inserted with the tip of the injection needle 11 c having the cap 11 d fitted upward into the hole 43 b of the chuck portion 43 a in which the cut portion is formed. When the motor 43c is driven, the hole 43b of the chuck portion 43a is expanded by a cam mechanism (not shown), and the injection needle 11c can be inserted together with the cap 11d. When the driving of the motor 43c is stopped, the holding state of the cap 11d and the injection needle 11c is maintained by the spring 43d. When the needle turning motor 43e is driven, the gear 43f and the gear 43g are rotated, the chuck portion 43a is rotated, and the cap 11d and the injection needle 11c are rotated.

  Each of the injection needle 11c and the cap 11d is provided with a rib that contacts when the cap 11d rotates in the circumferential direction with the injection needle 11c attached. Therefore, the injection needle 11c rotates with the cap 11d when the cap 11d of the injection needle 11c is rotated by the chuck portion 43a, and is attached to and detached from the syringe 11a. In the injection needle attaching / detaching device 43, the syringe needle 11 is moved closer to or away from the chuck portion 43a by the second robot arm 22 while the cap 11d is held by the chuck portion 43a. It is also possible to automatically attach and detach the cap 11d with respect to 11c. In the injection needle attaching / detaching device 43, since the tip of the injection needle 11c faces upward, the tip opening of the syringe 11a from which the injection needle 11c is removed faces upward, and dripping from the neck opening of the syringe 11a. Can be prevented.

[Needle insertion confirmation camera 44]
The needle insertion confirmation camera 44 photographs the infusion bag 12 located outside the mixed injection processing chamber 104 and the syringe 11 in the mixed injection processing chamber 104 so as to fit in one image. The second controller 500 photographs the direction of the needle insertion confirmation transparent window 38 with the needle insertion confirmation camera 44 when the rubber stopper of the mixed injection port of the infusion bag 12 is punctured with the injection needle 11c. Then, an image captured by the needle insertion confirmation camera 44 is displayed on the touch panel monitor 14, for example. FIG. 17 is an example of an image taken by the needle insertion confirmation camera 44. Thereby, the user can confirm whether or not the distal end side of the injection needle 11c is located in the infusion bag 12 by the captured image. The photographed image is stored in a storage unit such as a hard disk provided inside or outside the mixed injection device 1 for final inspection, for example. When it is determined on the touch panel monitor 14 on which the photographed image is displayed that the co-infusion process has been properly completed by the user operating the OK button, the infusion bag 12 is lowered by the bag elevating unit 113. , Returned to the tray 101.

[Bactericidal lamp 45]
The germicidal lamp 45 is turned on, for example, 3 hours before the start of the mixed injection process. As shown in FIG. 6, one of the two germicidal lamps 45 is provided at a position between the first robot arm 21 and the second robot arm 22. Therefore, the amount of sterilization light blocked by the first robot arm 21 and the second robot arm 22 is reduced, and the inside of the mixed injection processing chamber 14 can be sterilized uniformly. Further, the mixed injection processing unit 300 sucks air in the mixed injection processing chamber 104 from a slit 104b (see FIGS. 3 and 4) formed in a lower portion of the side wall of the mixed injection processing chamber 104, and the mixed injection processing chamber 300. An exhaust system for exhausting air from an exhaust fan (not shown) provided above 104 is provided. In addition, an air supply system is also provided that cleans the outside air from an air inlet formed in the ceiling portion of the mixed injection processing chamber 104 and guides it to the mixed injection processing chamber 104 and the like.

  Next, the accommodation unit 700 will be described with reference to FIGS. 18 is a front view of the medicine loading unit 200 and the storage unit 700, FIG. 19 is a sectional view taken along the line II in FIG. 18, and FIG. 20 is a sectional view taken along the line II-II in FIG. FIG. 21 is a schematic diagram showing the internal configuration of the storage unit 700. As shown in FIG. In addition, below, it demonstrates using the up-down-left-right and front-back direction shown in FIGS.

  The accommodation unit 700 includes a tray carry-in unit 710, an elevating unit 800, a tray transport unit 900, and the like, and is controlled by the mixed injection control device 100. The tray carry-in unit 710 and the elevating unit 800 are disposed behind the work table 202, and the tray transport unit 900 is disposed below the work table 202. A plurality of the trays 101 can be accommodated in the accommodation unit 700, and the mixed injection control device 100 can carry out an arbitrary tray 101 from the accommodation unit 700. The specific configuration of the storage unit 700 is not limited to the configuration described here as long as the same function can be achieved.

  The tray carry-in unit 710 includes a shutter 712 that opens and closes a tray loading port 711 used to carry the tray 101 into the storage unit 700, and a drive unit 713 that is used to open and close the shutter 712. The driving unit 713 is, for example, a belt conveyor including a motor, a gear, a tension roller, and a belt, and the shutter 712 connected to the belt when the tension roller is rotated by the motor and the gear. Is opened and closed. When the shutter 712 is opened, the user can load the tray 101 into the lifting unit 800 of the storage unit 700 by sliding the tray 101 backward on the work table 202. Become. The tray loading port 711 is disposed at a position vertically separated from the tray discharge port 206. Specifically, the tray loading port 711 is disposed at a position higher than the tray discharge port 206. Has been.

  The elevating unit 800 includes a movable casing 810 supported so as to be vertically movable, a plurality of tray accommodating portions 811 arranged in the vertical direction in the movable casing 810, and the tray accommodating portion 811 with respect to the tray accommodating portion 811. Drive units 812 and 813 used for loading and unloading of the tray 101, and an elevating mechanism 820 for elevating the movable casing 810 in the vertical direction are provided. The movable casing 810 is supported so as to be slidable in the vertical direction by, for example, a rail portion (not shown) formed on the inner surface of the casing of the accommodation unit 700. The movable casing 810 includes a state in which at least the uppermost tray accommodating portion 811 is positioned above the tray loading port 711 and a lowermost tray accommodating portion 811 positioned below the tray loading port 711. It is possible to move up and down between the states. In particular, the movable housing 810 includes a state in which the tray 101 can move between the tray accommodating portion 811 and the tray carry-in portion 710, and the tray accommodating portion 811 and the tray transport. The tray 101 moves up and down within a range in which the tray 101 can be positioned in a movable state.

  The tray accommodating portion 811 includes one of a pair of left and right belts 814 that can support the tray 101, a plurality of stretching rollers 815 that support each of the belts 814 so as to travel, and the stretching roller 815. It is a belt conveyor including a magnet gear 816 connected thereto. The driving unit 812 and the driving unit 813 are motors capable of rotating the magnet gears 812a and 813a in the forward direction and the reverse direction. The magnet gears 812a and 813a can synchronously rotate the magnet gear 816 disposed at the opposing position by a magnetic force. That is, the driving force of the driving units 812 and 813 is transmitted from the magnet gears 812a and 813a to the magnet gear 816 of the tray accommodating unit 811 without contact. The magnet gear 816 causes the stretching roller 815 and the belt 814 to travel.

  Therefore, even if the elevating unit 800 includes the tray accommodating portions 811 having three or more stages, each of the tray accommodating portions 811 can be driven using the two driving portions 812 and 813. . Therefore, in the co-infusion apparatus 1, dust generation and cost in the elevating unit 800 can be suppressed as compared with the case where a drive unit such as a motor is provided for each tray accommodating unit 811, and the moving in the vertical direction is performed. The moving housing 810 can be reduced in weight.

  Here, the magnet gear 812a and the magnet gear 813a are arranged at different positions in the vertical direction. Specifically, the magnet gear 812a is located at a position facing the magnet gear 816 of the tray accommodating portion 811 disposed at a position where the tray 101 can be loaded from the work table 202 via the tray loading port 711. Has been placed. The magnet gear 813a is located below the magnet gear 812a, and the tray accommodating portion 811 is disposed at a position where the tray 101 can move between the tray accommodating portion 811 and the tray transporting portion 900. The magnet gear 816 is disposed at a position facing the magnet gear 816.

  Accordingly, the storage unit 700 can transfer the tray 101 between, for example, the tray storage unit 811 and the tray transfer unit 900 by effectively using the area below the work table 202. is there. Hereinafter, the position of the tray accommodating portion 811 where the tray 101 can be carried from the work table 202 to the tray accommodating portion 811 is referred to as a first movement position, and between the tray accommodating portion 811 and the tray conveying portion 900. The position of the tray accommodating portion 811 where the tray 101 can move may be referred to as a second movement position.

  The lifting mechanism 820 is a belt conveyor including a motor 821, a pair of left and right belts 822, and a plurality of stretching rollers 823. The motor 821 drives each of the belts 822 in the vertical direction by driving the stretching roller 823. Each of the belts 822 is connected to the movable casing 810. The elevating mechanism 820 moves the movable casing 810 in the vertical direction by causing each belt 822 to run in the vertical direction by forward or reverse rotation of the motor 821.

  The tray transport unit 900 includes a first transport unit 910, a second transport unit 920, an IC reader 930, and a third transport unit 940. The first transport unit 910 can transport the tray 101 in the front-rear direction, and the second transport unit 920 can transport the tray 101 in the left-right direction. For example, each of the first transport unit 910, the second transport unit 920, and the third transport unit 940 is a belt conveyor including a motor, a gear, a stretch roller, a belt, and the like, and the belt is the motor, The tray 101 held on the belt can be conveyed by being driven by a gear and the stretching roller.

  More specifically, the first transport unit 910 can transport the tray 101 stored in the tray storage unit 811 toward the tray discharge port 206. Further, the first transport unit 910 can store the tray 101 in the tray storage unit 811. The second transport unit 920 is configured to be movable in the vertical direction, and the usable state in which the tray 101 placed on the first transport unit 910 can be transported in the left-right direction, and the usable state. It is possible to move between the retracted state (see FIG. 21) retracted downward. The third transport unit 940 can transport the tray 101 between the second transport unit 920 and the tray discharge port 701 when the second transport unit 920 is in the usable state.

  For example, the second transport unit 920 holds the tray 101 placed at a predetermined position on the first transport unit 910 while moving from the retracted state to the usable state. The tray 101 can be transported to and from the third transport unit 930 by moving to the third transport unit 930. Further, when the second transport unit 920 shifts from the usable state to the retracted state, the first transport unit 910 holds the tray 101 placed on the second transport unit 920. And move the tray 101 to the first transport unit 910.

  Accordingly, the second transport unit 920 can transport the tray 101 discharged from the tray accommodating unit 811 onto the first transport unit 910 to the third transport unit 940 in the usable state. Is possible. In addition, the second transport unit 920 receives the tray 101 supplied from the mixed injection processing unit 300 via the tray discharge port 701 in the usable state, via the third transport unit 940, and It can be conveyed to the first conveyance unit 910.

  The IC reader 930 can read information from the IC tag 101 b of the tray 101 placed on the first transport unit 910 of the tray transport unit 900. The identification information of the tray 101 read from the IC tag 101 b by the IC reader 930 is input to the second control unit 500.

  As another embodiment, the co-infusion apparatus 1 further includes a stock shelf that can accommodate a plurality of trays 101, and the storage unit 700 carries the tray 101 into the stock shelf and the stock. A configuration that can arbitrarily carry out the tray 101 from the shelf is also conceivable. As a result, a large number of the trays 101 can be temporarily stored in the stock shelf and automatically discharged as necessary. Such a configuration is, for example, when the mixed injection device 1 has a batch preparation inspection function to be described later, and it is necessary to temporarily stock a plurality of the trays 101 that are not inspected after the mixed injection processing is completed. Is preferred.

  Further, the stock shelf is provided with a door with a key that is opened and closed to take out the tray 101 from a position different from the storage unit 700 side with respect to the individual storage portion in which each tray 101 is individually stored. It is possible that Thereby, for example, the user can take out each of the trays 101 as necessary from the stock shelf and collectively inspect them, and the user who can take out the tray 101 has a specific key that holds the door key. It can be restricted to users.

[Mixed injection processing]
Next, an example of a basic processing procedure of the mixed injection process executed when the mixed injection processing unit 300 is controlled by the mixed injection control unit 100 in the mixed injection device 1 will be described. In the mixed injection process, as will be described below, the second control unit 500 controls the first robot arm 21 and the second robot arm 22 and the like, based on the preparation data. The medicine is sucked from the medicine container 10 with the syringe 11 and the medicine is injected from the syringe 11 into another container such as the infusion bag 12.

[Mixed injection process using ampoule 10A]
First, the basic operation of the co-infusion process when injecting the medicine contained in the ampoule 10A into the infusion bag 12 will be described.

  When the tray 101 is supplied to the tray transport unit 110, the second control unit 500 reads the identification information of the tray 101 from the IC tag 101b of the tray 101 by the IC reader 101c. Then, the second control unit 500 opens the shutter 111 when the identification information of the tray 101 matches the identification information previously associated with the preparation data of the mixed injection process. Thereafter, the second control unit 500 raises the equipment placement unit 102 of the tray 101 by the tray lifting / lowering unit 112 of the tray transport unit 110 and exposes it to the mixed injection processing chamber 104.

  Next, the second control unit 500 photographs the equipment placement unit 102 with the tray confirmation camera 41. Then, the second control unit 500 performs the position and orientation of the equipment such as the ampule 10A and the syringe 11 placed on the equipment placement section 102 by the image recognition process based on the image captured by the tray confirmation camera 41. To figure out. In particular, every time the ampule 10A or the syringe 11 is taken out from the device mounting unit 102, the second control unit 500 captures the device mounting unit 102 with the tray confirmation camera 41, and the latest from the captured image. The position and direction of the ampule 10A and the syringe 11 are grasped.

  Subsequently, the second controller 500 uses the first robot arm 21 to place the syringe 11 placed on the device placement unit 102 exposed in the mixed injection processing chamber 104 on the placement shelf 33. Temporary placement. Further, the second control unit 500 sets the ampoule 10 </ b> A placed on the equipment placing unit 102 to the medicine reading unit 34 by the first robot arm 21. Then, the second control unit 500 reads information such as the type of medicine stored in the ampoule 10 </ b> A by the medicine reading unit 34.

  Further, the second control unit 500 sets the first injection needle 11c to the injection needle attaching / detaching device 43 by the first robot arm 21, and the second injection needle 11c to the placement shelf 33. Temporary placement. Here, the first injection needle 11c is an injection needle without a syringe filter, and the second injection needle 11c is an injection needle with a syringe filter. Note that a cap 11 d is attached to the injection needle 11 c placed on the device placement section 102, and the cap 11 d is attached / detached by the injection needle attaching / detaching device 43. It is also conceivable that the injection needle 11c is set on the tray 101 in a state where it is mounted on the syringe 11a of the syringe 11. In this case, the step of setting the injection needle 11c in the syringe 11 is omitted.

  When the second control unit 500 takes out all the devices on the device placing unit 102, the tray placing unit 102 is lowered by the tray lifting / lowering unit 112 of the tray transporting unit 110, thereby the tray 101. Return to. The second control unit 500 confirms whether or not all the devices on the device mounting unit 102 have been taken out by an image recognition process based on a photographed image by the tray confirmation camera 41.

  Thereafter, the second control unit 500 closes the shutter 111 and causes the tray transport unit 110 to transport the tray 101 to the tray transport termination unit 110a. Next, the second control unit 500 sets the mixed injection port of the infusion bag 12 held by the infusion bag holding unit 103 of the tray 101 by the bag elevating unit 113 of the tray transport unit 110 to the mixed injection processing chamber. It is located in the mixed injection communication port 37 formed in 104.

  Then, the second control unit 500 moves the ampoule 10 </ b> A set in the medicine reading unit 34 to the placement shelf 33 by the second robot arm 22. Next, the second control unit 500 takes out the syringe 11 from the placement shelf 33 by the first robot arm 21 and sets it on the second robot arm 22. Subsequently, the second controller 500 causes the second robot arm 22 to move the syringe 11 to the syringe needle attaching / detaching device 43 to set the syringe needle 11c in the syringe 11. Thereafter, the second controller 500 causes the second robot arm 22 to move the syringe 11 to the needle bend detector 36 to detect whether the injection needle 11c is bent. It is also conceivable that the injection needle 11c is set on the tray 101 while being mounted on the syringe 11. In this case, the step of setting the injection needle 11c in the syringe 11 is omitted.

  Next, the second control unit 500 takes out the ampoule 10A from the placement shelf 33 using the first robot arm 21 and folds the head of the ampoule 10A using the ampoule cutter 31. Then, the second control unit 500 causes the ampule 10A and the syringe 11 to approach each other by the first robot arm 21 and the second robot arm 22, and moves the injection needle 11c of the syringe 11 to the ampule 10A. Insert inside. Thereafter, the second control unit 500 operates the plunger 11b with the second robot arm 22 and sucks the amount of medicine predetermined by the preparation data from the ampoule 10A with the syringe 11.

  At this time, the first robot arm 21 and the second robot arm 22 gradually tilt the posture of the ampoule 10A and the syringe 11. For example, in the state where the mouth of the ampoule 10A is directed vertically upward and the injection needle 11c of the syringe 11 is directed vertically downward, a certain amount of medicine is sucked from the ampoule 10A, and then the ampoule 10A is A state in which the medicine is moved to the side of the mouth (neck) by tilting about 10 degrees with respect to the direction is formed. This makes it possible to suck up the medicine without leaving as much as possible without putting the tip of the injection needle 11c of the syringe 11 on the bottom of the ampoule 10A.

  Thereafter, the second controller 500 controls one or both of the first robot arm 21 and the second robot arm 22 to suck the ampule 10A and the medicine after the medicine is sucked. In this state, the syringe 11 is moved within the imaging range of the syringe confirmation camera 42. The second control unit 500 captures the ampule 10A and the syringe 11 at a time using the syringe confirmation camera 42, and records the captured image in the data storage unit 504 as an inspection image. For example, the syringe confirmation camera 42 captures the predetermined photographing range. On the other hand, the syringe control camera 42 so that the ampule 10A and the syringe 11 after the second controller 500 is moved by the first robot arm 21 and the second robot arm 22 can be photographed at a time. It is also conceivable that the shooting range can be changed.

  Next, the second control unit 500 replaces the injection needle 11 c of the syringe 11 with the first robot arm 21 and the second robot arm 22. Specifically, the second controller 500 uses the second robot arm 22 to move the syringe 11 to the needle bend detector 36 and detects whether the injection needle 11c is bent. The second robot arm 22 moves the syringe 11 to the injection needle attaching / detaching device 43 to attach the cap 11d to the injection needle 11c. Then, the second control unit 500 rotates the cap 11 d by the injection needle attaching / detaching device 43 to remove the injection needle 11 c from the syringe 11. The removal of the injection needle 11c may be performed by rotating the cap 11d by the first robot arm 21 and the second robot arm 22.

  Then, the second controller 500 opens the dust lid 132a, and the cap attached to the injection needle 11c includes the injection needle 11c gripped by the injection needle attaching / detaching device 43 by the first robot arm 21. 11d is dropped into the garbage storage chamber 13a and discarded. Thereafter, the second control unit 500 causes the first robot arm 21 to set the injection needle 11c with the syringe filter from the placement shelf 33 to the injection needle attaching / detaching device 43. Then, the second control unit 500 moves the syringe 11 to the injection needle attaching / detaching device 43 by the second robot arm 22 and attaches the injection needle 11 c to the syringe 11. Also in this case, the second control unit 500 moves the syringe 11 to the needle bending detection unit 36 by the second robot arm 22 and detects the presence or absence of the bending of the injection needle 11c. Thus, in the co-infusion apparatus 1, the injection needle 11c is replaced when the drug is sucked from the ampule 10A and when the infusion is injected into the infusion bag 12, and the fragments of the ampule 10A are replaced with the infusion bag. 12 is prevented.

  Then, the second control unit 500 punctures the injection needle 11c of the syringe 11 into the rubber stopper of the mixed injection port of the infusion bag 12 conveyed to the tray conveyance termination unit 110a by the second robot arm 22. Then, the mixed medicine in the syringe 11 is injected into the infusion bag 12. On the other hand, the second control unit 500 opens the dust lid 132a and drops the ampoule 10A into the dust storage chamber 13a by the first robot arm 21 and discards it. The second controller 500 moves the syringe 11 to the injection needle attaching / detaching device 43 by the second robot arm 22 and attaches the cap 11d to the injection needle 11c of the syringe 11. The syringe 11 is dropped into the garbage storage chamber 13a and discarded.

  Thereafter, the second control unit 500 executes a preparation inspection process for inspecting the result of the mixed injection process after the mixed injection process is completed. In the preparation inspection process, the second control unit 500 displays, for example, various photographed images captured in the mixed injection process on the touch panel 14 and accepts an inspection completion operation for the mixed injection process. As a result, the user can check whether or not the mixed injection process is appropriate while looking at the touch panel monitor 14. Then, when receiving the inspection completion operation, the second control unit 500 transports the tray 101 to the tray discharge port 15 so that the tray 101 can be taken out.

[Mixed injection process using vial 10B]
Subsequently, when the medicine stored in the vial bottle 10B is a medicine such as a powder medicine that needs to be dissolved, the basics of the mixed injection process when the medicine is mixed with the infusion solution and then injected into the infusion bag 12 are as follows. The operation will be described.

  When the tray 101 is supplied to the tray transport unit 110, the second control unit 500 reads the identification information of the tray 101 from the IC tag 101b of the tray 101 by the IC reader 101c. Then, the second control unit 500 opens the shutter 111 when the identification information of the tray 101 matches the identification information previously associated with the preparation data of the mixed injection process. Thereafter, the second control unit 500 raises the equipment placement unit 102 of the tray 101 by the tray lifting / lowering unit 112 of the tray transport unit 110 and exposes it to the mixed injection processing chamber 104.

  Next, the second control unit 500 photographs the equipment placement unit 102 with the tray confirmation camera 41. Then, the second controller 500 determines the position of the equipment such as the vial 10B and the syringe 11 placed on the equipment placing section 102 by the image recognition process based on the image taken by the tray confirmation camera 41. Know the direction. In particular, each time the second control unit 500 takes out the vial 10B or the syringe 11 from the instrument mounting unit 102, the second control unit 500 captures the instrument mounting unit 102 with the tray confirmation camera 41, and from the captured image. The latest position and orientation of the vial 10B and the syringe 11 are grasped.

  Subsequently, the second controller 500 uses the first robot arm 21 to place the syringe 11 placed on the device placement unit 102 exposed in the mixed injection processing chamber 104 on the placement shelf 33. Temporary placement. In addition, the second control unit 500 sets the vial 10 </ b> B placed on the device placement unit 102 to the medicine reading unit 34 by the first robot arm 21. Then, the second control unit 500 reads information such as the type of medicine stored in the vial bottle 10 </ b> B by the medicine reading unit 34.

  Next, when the second control unit 500 takes out all the devices on the device placing unit 102, the tray placing unit 102 is lowered by the tray lifting and lowering unit 112 of the tray transporting unit 110, and the tray. Return to 101. The second control unit 500 confirms whether or not all the devices on the device mounting unit 102 have been taken out by an image recognition process based on a photographed image by the tray confirmation camera 41.

  Thereafter, the second control unit 500 closes the shutter 111 and causes the tray transport unit 110 to transport the tray 101 to the tray transport termination unit 110a. Next, the second control unit 500 sets the mixed injection port of the infusion bag 12 held by the infusion bag holding unit 103 of the tray 101 by the bag elevating unit 113 of the tray transport unit 110 to the mixed injection processing chamber. It is located in the mixed injection communication port 37 formed in 104.

  Then, the second control unit 500 moves the vial 10 </ b> B set in the medicine reading unit 34 to the placement shelf 33 by the second robot arm 22. On the other hand, in parallel with the movement process, the second control unit 500 uses the first robot arm 21 to move the injection needle 11c of the syringe 11 placed on the device placement unit 102 to the cap 11d. It is set in the injection needle attaching / detaching device 43 with the attached state.

  Next, the second control unit 500 takes out the syringe 11 from the placement shelf 33 by the first robot arm 21 and sets it on the second robot arm 22. Subsequently, the second controller 500 causes the second robot arm 22 to move the syringe 11 to the syringe needle attaching / detaching device 43 to set the syringe needle 11c in the syringe 11. Thereafter, the second controller 500 causes the second robot arm 22 to move the syringe 11 to the needle bend detector 36 to detect whether the injection needle 11c is bent. It is also conceivable that the injection needle 11c is set on the tray 101 with the syringe 11a attached to the syringe 11a. In this case, the step of setting the injection needle 11c in the syringe 11 is omitted.

  Subsequently, the second control unit 500 punctures the injection needle 11c of the syringe 11 into the rubber stopper of the mixed injection port of the infusion bag 12 conveyed to the tray conveyance termination unit 110a by the second robot arm 22. Then, the infusion solution of the dissolution amount indicated by the preparation data is aspirated from the infusion bag 12. On the other hand, the second control unit 500 takes out the vial 10 </ b> B placed on the placement shelf 33 by the first robot arm 21.

  Then, the second controller 500 causes the vial 10B and the syringe 11 to approach each other by the first robot arm 21 and the second robot arm 22, and moves the injection needle 11c of the syringe 11 to the The vial bottle 10B is punctured. Thereafter, the second controller 500 operates the plunger 11b with the second robot arm 22 to inject the infusion in the syringe 11 into the vial 10B. Thus, when the medicine is a powder medicine, in the mixed injection process, a dissolving step is performed in which the infusion is extracted from the infusion bag 12 by the syringe 11 and the infusion is injected from the syringe 11 into the vial bottle 10B. Is done. Thereby, the medicine in the vial bottle 10B is dissolved by the infusion solution. At this time, the posture of the syringe 11 and the vial bottle 10B is such that the injection needle 11c of the syringe 11 is directed vertically downward, and the mouth of the vial bottle 10B is directed vertically upward.

  Next, the second controller 500 uses the first robot arm 21 to set the vial bottle 10B into which the infusion solution has been injected into the stirring device 32. Thereby, in the said stirring apparatus 32, the stirring process in which the chemical | medical agent and infusion solution in the said vial bottle 10B are stirred is performed. The stirring time in the stirring step is determined in advance depending on the type of the medicine, for example. Moreover, the said stirring time may be predetermined for every combination of the said chemical | medical agent and the said infusion solution, and may be changed with the chemical | medical agent quantity in the said vial bottle 10B. When the stirring process by the stirring device 32 is completed, the second control unit 500 takes out the vial 10B from the stirring device 32 by the first robot arm 21.

  Here, the second control unit 500 executes a stirring inspection process for checking a stirring result in the stirring step after the stirring step. In the stirring inspection process, the second controller 500 controls the first robot arm 21 to move the vial 10B to a posture and position where the bottom or side of the vial 10B can be visually recognized by the user. Then, a confirmation operation by the user for the touch panel monitor 15 or the like is awaited. The second controller 500 controls the first robot arm 21 in response to a predetermined operation on the touch panel monitor 15 so that the user can visually recognize the bottom or side of the vial 10B from different angles. A swing process for moving the vial 10B to a plurality of states (postures and positions) is executed. Thereby, the user can confirm the dissolution degree of the medicine in the vial bottle 10B from different angles.

  Thereafter, when the confirmation operation is performed, the second control unit 500 proceeds with the mixed injection process. On the other hand, when a predetermined re-stirring operation is performed, the second control unit 500 sets the vial bottle 10B to the stirring device 32 again without proceeding to the next processing step of the mixed injection processing, and Re-execute the stirring process. Note that the second control unit 500 may display a photographed image of the bottom or side surface of the chemical container 10 photographed after the stirring step on the touch panel monitor 15 in the stirring inspection process.

  Then, the second controller 500 causes the vial 10B and the syringe 11 to approach each other by the first robot arm 21 and the second robot arm 22, and moves the injection needle 11c of the syringe 11 to the The vial bottle 10B is punctured. Thereafter, the second controller 500 operates the plunger 11b with the second robot arm 22 to suck the mixed drug in the vial bottle 10B with the syringe 11. At this time, the posture of the syringe 11 and the vial bottle 10B is such that the mouth portion of the vial bottle 10B is directed vertically downward and the injection needle 11c of the syringe 11 is directed vertically upward.

  Thereafter, the second control unit 500 controls one or both of the first robot arm 21 and the second robot arm 22 to remove the vial 10B and the medicine after the medicine is sucked. The syringe 11 in the sucked state is moved into the imaging range of the syringe confirmation camera 42. The second control unit 500 captures the vial 10B and the syringe 11 at a time using the syringe confirmation camera 42, and records the captured images in the data storage unit 504 as inspection images. For example, the syringe confirmation camera 42 captures the predetermined photographing range. On the other hand, the syringe confirmation camera is configured so that the vial 10B and the syringe 11 can be photographed at a time after the second controller 500 is moved by the first robot arm 21 and the second robot arm 22. It is also conceivable that the 42 shooting ranges can be changed.

  Then, the second control unit 500 punctures the injection needle 11c of the syringe 11 into the rubber stopper of the mixed injection port of the infusion bag 12 conveyed to the tray conveyance termination unit 110a by the second robot arm 22. Then, the mixed medicine in the syringe 11 is injected into the infusion bag 12. Thus, in the mixed injection process, an injection process is performed in which the medicine is sucked from the vial bottle 10B by the syringe 11 and the medicine is injected from the syringe 11 into the infusion bag 12.

  On the other hand, the second controller 500 opens the dust lid 132a and drops the vial 10B into the dust storage chamber 13a by the first robot arm 21 and discards it. The second controller 500 moves the syringe 11 to the injection needle attaching / detaching device 43 by the second robot arm 22 and attaches the cap 11d to the injection needle 11c of the syringe 11. The syringe 11 is dropped into the garbage storage chamber 13a and discarded.

  Thereafter, the second control unit 500 executes a preparation inspection process for inspecting the result of the mixed injection process after the mixed injection process is completed. In the preparation inspection process, the second control unit 500 displays, for example, various photographed images captured in the mixed injection process on the touch panel 14 and accepts an inspection completion operation for the mixed injection process. As a result, the user can check whether or not the mixed injection process is appropriate while looking at the touch panel monitor 14. Then, when receiving the inspection completion operation, the second control unit 500 transports the tray 101 to the tray discharge port 15 so that the tray 101 can be taken out.

  In addition, it is also considered that the chemical | medical agent accommodated in the said vial bottle 10B is a chemical | medical agent like a chemical | medical solution which does not need to melt | dissolve. The mixed injection process in this case is the same as the mixed injection process in the case where the chemical contained in the vial bottle 10B is a chemical such as powder that needs to be dissolved, except that the stirring step is not executed. Therefore, explanation is omitted. Moreover, even when the chemical | medical agent accommodated in the said vial bottle 10B is a liquid, the said stirring process may be performed depending on the kind of said chemical | medical agent.

[Pre-stirring function]
By the way, the stirring process that may be executed in the mixed injection process may take a relatively long time, and the waiting time until the stirring process is completed may hinder the efficiency of the mixed injection process. . On the other hand, the co-infusion apparatus 1 according to the present embodiment has a pre-agitation function that can execute the agitation process in the co-infusion process in advance before the execution timing of the co-infusion process. Specifically, the mixed injection control unit 100 uses the first control unit 400 or the second control unit 500 according to the first mixed injection control program or the second mixed injection control program, which will be described later. The pre-stirring function is realized by executing the process. Here, the mixed injection control device 100 when executing the loading preparation process and the mixed injection control process is an example of a preliminary agitation processing unit. In addition, the said 1st control part 400 and the said 2nd control part 500 may set the said prior stirring function effectively, when the said chemical | medical agent container 10 is the said vial bottle 10B.

[Load preparation process]
First, an example of the loading preparation process executed by the mixed injection control device 100 will be described with reference to FIG.

<Step S1>
In step S1, the first control unit 400 waits for a loading preparation start operation by the user using the operation unit 405 (S1: No). For example, the first control unit 400 determines that the loading preparation start operation has been performed when the preparation data selection operation is performed by the user. When the loading preparation start operation is performed (S1: Yes), the process proceeds to step S2.

  By the way, the first control unit 400 receives, as the loading preparation start operation, an operation of immediately executing the mixed injection process based on the preparation data, and the completion time or completion time zone of the mixed injection process for the preparation data. It is possible to accept a reservation for the scheduled completion time. When the completion time slot is reserved, a reservation in units of one hour is accepted as a time range in which the mixed injection process is to be completed, for example, between T1 and T2. For example, the first control unit 400 can set reservations for the preparation data equal to or less than a preset maximum reservation number equal to the number of the tray accommodating units 811. The reservation process is not limited to the start of the loading preparation process, and may be executed at the end of the loading preparation process.

  When the scheduled completion time is set, the first control unit 400 automatically estimates the time required for the mixed injection process based on the preparation data, and calculates a time obtained by subtracting the required time from the scheduled completion time. It is set as the execution start timing of the mixed injection process. For example, the required time is calculated based on the required time table information stored in the data storage unit 404. In the required time table, as the information for calculating the required time according to the contents of the mixed injection process, the required time of each step of the mixed injection process is set in advance for each content of the mixed injection process.

  In addition, the first control unit 400 may accept a reservation for the scheduled start time indicating the start time or the completion time zone of the mixed injection process for the preparation data, not limited to the scheduled completion time. Good. When the start time zone is reserved, a reservation in units of one hour is accepted as a time range in which the mixed injection process is to be started, for example, between T1 and T2. For example, when the scheduled start time is set for the preparation data, the first control unit 400 sets the scheduled start time as the execution start timing of the mixed injection process. Furthermore, as a time range from the start to the completion of the mixed injection process, it is also conceivable that an execution time zone reservation is accepted in units of one hour, for example, between T1 and T2. When the execution time zone is set for the preparation data, the first control unit 400 sets the execution start timing of the mixed injection processing so that the mixed injection processing is completed within the execution time zone. The first controller 400 may be able to reserve only the mixed injection process for one piece of the preparation data. In addition, the reservation target is not limited to the scheduled completion time, scheduled start time, or execution time zone of the mixed injection process, and the completion of the injection process of injecting the drug solution collected from the drug container 10 into the infusion bag 12 in the mixed injection process The scheduled time, the scheduled start time, and the execution time zone may be reserved.

<Step S2>
In step S <b> 2, the first control unit 400 executes a process of associating the preparation data selected as a processing target with the identification information of the tray 101. Specifically, the first control unit 400 uses the IC reader 207 provided on the work table 202 to transfer the tray 101 from the IC tag 101b of the tray 101 placed on the work table 202. Read identification information. Then, the first control unit 400 stores the identification information read from the IC tag 101b in the data storage unit 404 as identification information of the tray 101 corresponding to the preparation data selected as a processing target. . For example, the correspondence between the preparation data and the identification information of the tray 101 is managed by table information. Further, the first control unit 400 also transmits information indicating a correspondence relationship between the preparation data and the identification information of the tray 101 to the second control unit 500 and causes the data storage unit 504 to store the information. Accordingly, the first control unit 400 and the second control unit 500 can recognize the correspondence relationship between the preparation data and the identification information of the tray 101 based on the correspondence relationship.

<Step S3>
After that, in steps S3 to S8, the first control unit 400 sets the medicine container 10, the syringe 11, the infusion bag 12 and the like necessary for the mixed injection processing based on the preparation data on the tray 101. Execute processing to assist. Specifically, first, in step S3, the first control unit 400 uses a message and an image for instructing reading of identification information such as a GS1 data bar attached to the infusion bag 12 as the preparation data. The information is displayed on the display 203 together with information including the type of the infusion bag 12 included. Then, when the identification information of the infusion bag 12 is read by the barcode reader 204 and the collation result with the preparation data matches, the first control unit 400 shifts the process to step S4. In addition, the said 1st control part 400 displays an error message, for example, when the collation result with the identification information of the said infusion bag 12 and the said preparation data does not correspond.

<Step S4>
In step S <b> 4, the first controller 400 causes the display 203 to display a message and an image for guiding the placement of the infusion bag 12 in the tray 101. Thereby, the user can easily arrange the infusion bag 12 at a predetermined position in the tray 101.

<Step S5>
In step S5, the first control unit 400 includes a message, an image, and the like for instructing reading of identification information such as a GS1 data bar attached to the medicine container 10 in the preparation data. The information is displayed on the display 203 together with information including 10 types. Then, when the bar code reader 204 reads the identification information of the medicine container 10 and the collation result with the preparation data matches, the first control unit 400 shifts the process to step S6. In addition, the said 1st control part 400 displays an error message, for example, when the collation result with the identification information of the said chemical | drug | medicine container 10 and the said preparation data does not correspond.

<Step S6>
In step S <b> 6, the first controller 400 causes the display 203 to display a message, an image, and the like for guiding the placement of the medicine container 10 in the tray 101. Thereby, the user can easily arrange the medicine container 10 at a predetermined position in the tray 101. In addition, when the said some chemical | medical agent container 10 is required, said step S5-S6 is repeatedly performed.

<Step S7>
In step S <b> 7, the first controller 400 causes the display 203 to display a message and an image for guiding the placement of the syringe 11 in the tray 101. Thereby, the user can easily arrange the syringe 11 at a predetermined position in the tray 101. When a plurality of the syringes 11 are necessary, the step S7 is repeatedly executed.

<Step S8>
When all guidance of the equipment necessary for the mixed injection process based on the preparation data is completed, in the subsequent step S8, the first control unit 400 displays that the preparation for the preparation data is completed, and An operation key or the like for accepting the confirmation operation is displayed.

<Step S9>
In step S9, the first control unit 400 determines whether or not the confirmation operation is performed. If the confirmation operation is performed (S9: Yes), the process proceeds to step S10, and the confirmation operation is performed. Until (S9: No), the process is made to wait in step S9.

<Step S10>
In step S <b> 10, the first controller 400 opens the shutter 712 of the storage unit 700. Specifically, the first controller 400 transmits an instruction to open the shutter 712 to the second controller 500. Accordingly, the second controller 500 controls the storage unit 700 to open the shutter 712.

  Note that the second control unit 500 controls the position of the movable casing 810 so that the unused tray storage unit 811 is disposed at the first movement position before opening the shutter 712. For example, the second control unit 500 controls the storage unit 700 so that the unused tray storage unit 811 is disposed at the first movement position while the storage unit 700 is in a standby state (not operating). It is possible to do. In addition, after receiving the opening instruction in step S10, the second control unit 500 may move the movable casing 810 to place the unused tray storage unit 811 at the first movement position. Good. In addition, when there are a plurality of unused tray accommodating portions 811, the second control unit 500 is configured to move the moving casing required for movement to the first movement position among the plurality of tray accommodating portions 811. It can be considered that the tray accommodating portion 811 having the smallest movement amount 810 is selected and moved to the first movement position.

  For example, the data storage unit 504 stores storage table information indicating whether or not each of the tray storage units 811 is in use. In the storage table information, the identification information of the tray 101 stored in each of the tray storage units 811 is stored in association with each of the tray storage units 811, and the identification information of the corresponding tray 101 is stored. The tray 101 that is not used is unused. The second control unit 500 updates the storage table information when the tray 101 is loaded into the tray storage unit 811 and when the tray 101 is discharged from the tray storage unit 811.

<Step S11>
In step S11, when the tray 101 is stored in the tray storage unit 811 of the storage unit 700, the second control unit 500 associates the identification information of the tray 101 with the tray storage unit 811. Execute. Specifically, the second control unit 500 updates the storage table information stored in the data storage unit 504 based on the correspondence between the identification information of the tray 101 and the tray storage unit 811. Accordingly, the second control unit 500 can recognize the tray storage unit 811 of the storage destination of each tray 101 based on the storage table information. Whether the tray 101 is accommodated in the tray accommodating portion 811 is detected by an optical sensor (not shown) provided in the tray accommodating portion 811.

<Step S12>
Next, in step S12, the second control unit 500 controls the storage unit 700 to perform a confirmation operation for confirming the correspondence between the tray 101 stored in the tray storage unit 811 and the preparation data. Run. This prevents the erroneous tray 101 from being stored in the tray storage portion 811.

  Specifically, the second control unit 500 moves the movable casing 810 so that the tray storage unit 811 that has been determined that the tray 101 is stored in step S11 is disposed at the second movement position. Is moved downward. Thereafter, the second control unit 500 discharges the tray 101 accommodated in the tray accommodating unit 811 to the first conveying unit 910 of the tray conveying unit 900 and is provided in the first conveying unit 910. The identification information of the tray 101 is read from the tag 101 b of the tray 101 by the IC reader 930. Then, the second control unit 500 collates the identification information of the tray 101 read by the IC reader 930 with the identification information of the tray 101 corresponding to the preparation data received from the first control unit 400. . Here, if the collation result is the same, the second control unit 500 returns the tray 101 to the tray accommodating unit 811, ends a series of the loading preparation processes, and returns the process to step S <b> 1. On the other hand, if the collation results are inconsistent, the second control unit 500 notifies the display 203 or the like via the first control unit 400 of an error and discharges the tray 101 toward the tray discharge port 206. To do. As a result, the user can take out the tray 101 from the tray discharge port 206.

[Mixed injection control processing]
Next, an example of the mixed injection control process will be described with reference to FIG.

<Step S21>
In step S21, the second control unit 500 determines whether or not the execution start timing of the mixed injection process has come. Specifically, when the second control unit 500 receives an execution start request from the first control unit 400, the second control unit 500 determines that the execution start timing of the mixed injection process has arrived. If it is determined that the execution start timing has arrived (S21: Yes), the process proceeds to step S211. If the execution start timing has not arrived (S21: No), the process proceeds to step S22.

  For example, when the user performs the selection operation of the preparation data using the operation unit 405 and the immediate start operation of the mixed injection process based on the preparation data using the operation unit 405, the first control unit 400 An execution start request for the mixed injection process is transmitted to the second control unit 500. The first control unit 400 starts execution of the mixed injection process for the prepared data when the execution start timing of the mixed injection process based on the preparation data is reserved or when the execution start timing arrives. The request is transmitted to the second controller 500.

  The execution start request includes, for example, an execution procedure of the mixed injection process based on the preparation data. Further, the execution procedure of the mixed injection process based on the preparation data is transmitted from the first control unit 400 to the second control unit 500 in advance and stored in the data storage unit 504, and the execution start request includes the It is also conceivable that identification information of the preparation data is included.

<Step S22>
In step S22, the second control unit 500 determines whether the preparation data reserved by the first control unit 400 includes preparation data to be subjected to a pre-stirring process for executing the stirring step in advance. to decide. Specifically, in the medicine master, a pre-stirring target flag indicating whether or not it is a target of the pre-stirring process is stored in association with each medicine. When the preparation data includes the chemical set as the target of the preliminary stirring process by the preliminary stirring target flag, the second control unit 500 sets the preparation data as the target of the preliminary stirring process. It is judged that. In addition, whether the second control unit 500 is a target of the prior stirring process according to the combination of the drug in the drug container 10 and the infusion solution in the infusion bag 12 that are stirred in the stirring step. May be judged. Note that the second control unit 500, when a user operation for selecting any of the preparation data as a target of the preliminary stirring process has been performed in advance, the selected preparation data is It may be determined that the target is a pre-stirring treatment target. And when it is judged that the object of the said prior stirring process exists (S22: Yes), a process transfers to step S23, and when it is judged that the object of the said prior stirring process does not exist (S22: No) ), The process is returned to step S21.

<Step S23>
In step S23, the second control unit 500 determines whether or not the preliminary stirring process can be performed. For example, the second control unit 500 may determine whether or not the mixed injection process is being performed, and may determine that the preliminary stirring process is executable when the mixed injection process is not being performed. Conceivable. Further, it may be considered that the second control unit 500 determines that the preliminary agitation process can be executed in a specific time zone such as night or midnight set in advance. Note that the index for determining whether or not the preliminary stirring process can be performed is not limited to that described here. If it is determined that the preliminary stirring process is executable (S23: Yes), the process proceeds to step S24, and if it is determined that the preliminary stirring process is not executable (S23: No). ), The process is returned to step S21. When the second control unit 500 performs a user operation for selecting the preparation data and starting the preliminary stirring process, the second control unit 500 executes the preliminary stirring process for the preparation data. Also good.

  Moreover, in the said step S23, the said 2nd control part 500 is that the required time of the said stirring process matched with the chemical | medical agent of the said chemical | drug | medicine container 10 in the said chemical | medical agent master is more than the predetermined minimum required time. It is also conceivable to determine that the preliminary stirring process is performed. That is, when the time required for the stirring step is less than the lower limit required time, it is excluded from the target of the preliminary stirring process. Thus, the preliminary stirring process is executed only when the stirring process takes a long time, and the preliminary stirring process is suppressed from being performed unnecessarily. The second control unit 500 can arbitrarily set the lower limit required time according to a user operation. On the other hand, the second controller 500 performs the pre-stirring on the condition that the time required for the stirring step associated with the chemical in the chemical container 10 in the chemical master is less than a predetermined upper limit required time. It may be determined that the processing is to be executed. That is, when the time required for the stirring step is equal to or longer than the upper limit required time, it may be excluded from the target of the preliminary stirring process. In this case, the pre-stirring process is performed only when the stirring process does not require a long time, and due to the pre-stirring process, the mixed injection process based on the other preparation data is performed. Delays are suppressed. The second control unit 500 can arbitrarily set the upper limit required time according to a user operation.

<Step S24>
In step S <b> 24, the second control unit 500 controls the mixed injection processing unit 300 and the storage unit 700 to execute the preliminary stirring process. When a plurality of the preparation data to be subjected to the preliminary stirring process are reserved, the preparation data to be processed are sequentially selected and the preliminary stirring process is executed in steps S21 to S24. The

  Note that the order of the preparation data selected as the processing target of the pre-stirring process is an order based on time factors such as the scheduled completion time or the execution start timing set in advance corresponding to the preparation data. Not exclusively. For example, it is also conceivable as another embodiment that the preparation data is selected in the order received from the host system 6 or the preparation data is selected at random. In addition, the preparation data including the medicine with a long time required for the stirring process set in advance is preferentially selected, or the preparation data using the same medicine or infusion solution is continued. It is conceivable that the order is determined. Further, an index value indicating ease of coagulation after execution of the stirring step is stored in the drug master, and it is considered that the preparation data is selected in order from a drug that is difficult to coagulate based on the index value. It is done.

  Here, a specific processing example of the preliminary stirring processing will be described.

  First, the second control unit 500 controls the storage unit 700, and the mixed injection of the tray 101 associated with the preparation data selected as a processing target from the tray storage unit 811 of the storage unit 700 is performed. It is automatically conveyed to the tray conveyance unit 110 of the processing unit 300. The second control unit 500 identifies the tray storage unit 811 in which the tray 101 corresponding to the preparation data is stored based on the storage table information.

  Thereafter, the second control unit 500 controls the first robot arm 21 to set the chemical container 10 placed on the tray 101 to the stirring device 32 and to use the chemical container 10 with the stirring device 32. The stirring step of stirring the chemical inside is performed.

  Specifically, when the tray 101 is supplied to the tray transport unit 110, the second controller 500 reads the identification information of the tray 101 from the IC tag 101b of the tray 101 by the IC reader 101c. Then, the second control unit 500 opens the shutter 111 when the identification information of the tray 101 matches the identification information previously associated with the preparation data of the mixed injection process. Thereafter, the second control unit 500 raises the equipment placement unit 102 of the tray 101 by the tray lifting / lowering unit 112 of the tray transport unit 110 and exposes it to the mixed injection processing chamber 104.

  Next, the second control unit 500 photographs the equipment placement unit 102 with the tray confirmation camera 41. Then, the second control unit 500 performs the image recognition process based on the image captured by the tray confirmation camera 41 to determine the position of the equipment such as the medicine container 10 and the syringe 11 placed on the equipment placement section 102. Know the direction. In particular, each time the second control unit 500 takes out the medicine container 10 or the syringe 11 from the device mounting unit 102, the second control unit 500 captures the device mounting unit 102 with the tray confirmation camera 41, and from the captured image. The position and direction of the latest medicine container 10 and the syringe 11 are grasped.

  Subsequently, the second controller 500 uses the first robot arm 21 to place the syringe 11 placed on the device placement unit 102 exposed in the mixed injection processing chamber 104 on the placement shelf 33. Temporary placement. In addition, the second control unit 500 sets the medicine container 10 placed on the device placement unit 102 to the medicine reading unit 34 by the first robot arm 21. Then, the second control unit 500 reads information such as the type of medicine stored in the medicine container 10 by the medicine reading unit 34.

  Next, when the second control unit 500 takes out all the devices on the device placing unit 102, the tray placing unit 102 is lowered by the tray lifting and lowering unit 112 of the tray transporting unit 110, and the tray. Return to 101. The second control unit 500 confirms whether or not all the devices on the device mounting unit 102 have been taken out by an image recognition process based on a photographed image by the tray confirmation camera 41.

  Thereafter, the second control unit 500 closes the shutter 111 and causes the tray transport unit 110 to transport the tray 101 to the tray transport termination unit 110a. Next, the second control unit 500 sets the mixed injection port of the infusion bag 12 held by the infusion bag holding unit 103 of the tray 101 by the bag elevating unit 113 of the tray transport unit 110 to the mixed injection processing chamber. It is located in the mixed injection communication port 37 formed in 104.

  Then, the second control unit 500 moves the medicine container 10 set in the medicine reading unit 34 to the placement shelf 33 by the second robot arm 22. On the other hand, in parallel with this movement process, the second control unit 500 uses the first robot arm 21 to attach and detach the injection needle 11c of the syringe 11 placed on the device placement unit 102. Set in the device 43.

  Next, the second control unit 500 takes out the syringe 11 from the placement shelf 33 by the first robot arm 21 and sets it on the second robot arm 22. Subsequently, the second controller 500 causes the second robot arm 22 to move the syringe 11 to the syringe needle attaching / detaching device 43 to set the syringe needle 11c in the syringe 11. Thereafter, the second controller 500 causes the second robot arm 22 to move the syringe 11 to the needle bend detector 36 to detect whether the injection needle 11c is bent.

  Subsequently, the second control unit 500 punctures the injection needle 11c of the syringe 11 into the rubber stopper of the mixed injection port of the infusion bag 12 conveyed to the tray conveyance termination unit 110a by the second robot arm 22. Then, the infusion solution of the dissolution amount indicated by the preparation data is aspirated from the infusion bag 12. On the other hand, the second control unit 500 takes out the medicine container 10 placed on the placing shelf 33 by the first robot arm 21.

  Then, the second controller 500 causes the medicine container 10 and the syringe 11 to approach each other by the first robot arm 21 and the second robot arm 22, and moves the injection needle 11 c of the syringe 11 to the The medicine container 10 is punctured. Thereafter, the second controller 500 injects the infusion in the syringe 11 into the drug container 10 by operating the plunger 11b by the second robot arm 22.

  In the mixed injection processing chamber 104, a dedicated container in which the infusion used in the pre-stirring process is stored is stored. In the pre-stirring process, the infusion in the dedicated container is transferred to the chemical container 10. It may be injected. It is also conceivable that a plastic ampule in which the infusion solution used in the pre-stirring process is stored in advance in the tray 101 and the infusion solution in the plastic ampule is used in the pre-stirring process.

  Next, the second controller 500 uses the first robot arm 21 to set the chemical container 10 into which the infusion solution has been injected into the stirring device 32. Thereby, in the said stirring apparatus 32, the stirring process in which the chemical | medical agent and infusion solution in the said chemical | medical agent container 10 are stirred is performed. When the stirring process by the stirring device 32 is completed, the second control unit 500 takes out the chemical container 10 from the stirring device 32 by the first robot arm 21.

  Then, the second control unit 500 controls the first robot arm 21 to move and place the medicine container 10 on the placement shelf 33 in the mixed injection processing part 300 and to place the medicine container 10. Are stored in the data storage unit 504 in association with the identification information of the preparation data. The placement shelf 33 is an example of a first placement portion on which a plurality of the medicine containers 10 can be placed. The medicine container 10 after the stirring step is placed on the placement shelf 33. The second control unit 500 when executing the process for causing the control unit to perform the process is an example of a first placement processing unit. In addition, the second control unit 500 controls the first robot arm 21 and the second robot arm 22 to move the syringe 11 to the placement shelf 33 in the mixed injection processing unit 300 for placement. At the same time, the position of the syringe 11 on the placement shelf 33 is stored in the data storage unit 504 in association with the identification information of the preparation data. Thereby, the 2nd control part 500 can specify the position of the medicine container 10 and the syringe 11 used in the mixed injection processing based on the preparation data. In addition, the said syringe 11 used by the said pre-stirring process may be previously provided in the said mounting shelf 33 for every kind of the said infusion as an exclusive syringe used by the said pre-stirring process. .

  On the other hand, the second control unit 500 controls the tray transport unit 110 to return the infusion bag 12 to the tray 101 and move the tray 101 from the tray transport termination unit 110a to the tray transport start unit 110b. Let Thereafter, the second control unit 500 controls the belt conveyor (not shown) provided in the tray conveyance start unit 110 b of the tray conveyance unit 110, and the storage unit 700 side via the tray loading port 114. The tray 101 is supplied. The second control unit 500 controls the storage unit 700 to store the tray 101 in the tray storage unit 811. The tray storage unit 811 used at this time is associated with the identification information of the tray 101 in the storage table information. Also in this case, the second controller 500 uses the IC reader 101c and the IC reader 930 to collate the correspondence between the identification information of the tray 101 and the preparation data. In this way, in the preliminary stirring process, the tray 101 moves from the storage unit 700 to the mixed injection processing unit 300 side, but the tray 101 is not carried into the mixed injection processing chamber 104 but the storage unit. It will be returned to 700. Therefore, contamination of the tray 101 in the preliminary stirring process is prevented, and contamination of the tray accommodating unit 811 on which the tray 101 returned from the mixed injection processing unit 300 is placed is prevented.

  In the mixed injection device 1, the dedicated syringe 11 and the plastic ampule used exclusively in the preliminary stirring process can be placed on the mounting shelf 33, and the dedicated syringe 11 and the plastic ampule are used. The pre-stirring process may be executed. For example, in the mixed injection device 1, the second control unit 500 performs a replenishment request operation such as the dedicated syringe 11 or the plastic ampoule used in the preliminary stirring process, and sends the pre-mixing processing unit 300 to the front. When the tray on which the dedicated syringe 11 or the plastic ampule used exclusively for the article pre-stirring process is loaded is loaded, the second robot arm 22 is controlled to move the syringe 11 or the plastic ampule forward. It is set on the writing shelf 33. Further, the dedicated syringe 11 or the plastic ampoule used for the pre-stirring process may be placed at a predetermined position on the placement shelf 33 by the user.

  By the way, in the preparation data currently reserved, when there are a plurality of the preparation data having a common combination and concentration of the chemical and the solution to be stirred in the preliminary stirring process, It is conceivable that the pre-stirring process is executed only for the preparation data whose number is smaller than the total number. This makes it possible to use the chemical container 10 after the preliminary stirring process for the mixed injection process corresponding to any of the plurality of preparation data. Specifically, it is conceivable that the second control unit 500 reassigns the medicine container 10 corresponding to one of the preparation data as the medicine container 10 used in the other preparation data. Thereby, the waste of the chemical container 10 when the mixed injection process based on any of the preparation data is canceled is suppressed as compared with the case where the pre-stirring process is executed for all the preparation data. . In addition, it is possible that the said 2nd control part 500 requires the confirmation operation by the preset user at the time of the reallocation of the said chemical | drug | medicine container 10 and the said preparation data. For example, at the start of the mixed injection process based on the preparation data, the second control unit 500 adds the medicine container 10 having a common combination and concentration of medicine and infusion contained in the preparation data to the placement unit 33. If already placed, an operation screen for selecting whether or not to use the medicine container 10 in the mixed injection process based on the preparation data is displayed. Then, the second control unit 500 uses the chemical container 10 in the mixed injection process when an operation for using the chemical container 10 is performed on the operation screen.

<Step S211>
On the other hand, when the execution start timing of the mixed injection process comes (S21: Yes), the second control unit 500 executes the mixed injection process in subsequent steps S211 to S212. As described above, the second control unit 500 executes the mixed injection process when, for example, the immediate start operation by the user is performed, or when the reserved execution start timing arrives. That is, the execution start timing of the mixed injection process includes the time when the reserved execution start timing arrives or the time when the user performs the immediate start operation. Specifically, in step S <b> 211, the second control unit 500 controls the storage unit 700 so that the tray 101 associated with the preparation data whose execution start timing has arrived is stored in the storage unit 700. It is automatically supplied from the tray accommodating portion 811 to the mixed injection processing portion 300.

  At this time, the second control unit 500 carries out the identification information of the tray 101 read from the IC tag 101b of the tray 101 that is unloaded from the tray accommodating unit 811 and placed on the first conveying unit 910. It can be considered that the identification information of the tray 101 associated with the preparation data is collated. The second control unit 500 supplies the tray 101 to the mixed injection processing unit 300 when the collation result is coincident, and notifies an error when the collation result is not coincident. The tray 101 is discharged toward the tray discharge port 206. Thereby, the accuracy of the correspondence between the tray 101 and the preparation data is ensured.

<Step S212>
In step S212, the second control unit 500 executes the mixed injection process based on the preparation data. However, when the preparation data is preparation data in which the stirring step has already been performed by the preliminary stirring process, the mixed injection is performed using the chemical container 10 after stirring by the preliminary stirring process. A process is performed and the said stirring process is abbreviate | omitted.

  Specifically, in the mixed injection process, the chemical container 10 that has been the target of the preliminary stirring process is not subjected to the process of taking out from the tray 101, and is placed in the placement shelf 33 during the preliminary stirring process. The said chemical | medical agent container 10 after the stirring process mounted is used. Similarly, in the mixed injection process, the syringe 11 used in the pre-stirring process is not executed to remove from the tray 101 and is placed on the placement shelf 33 during the pre-stirring process. The syringe 11 is used.

  The second control unit 500 omits the stirring process for the chemical container 10 in the mixed injection process using the chemical container 10 that has already been stirred after the stirring process is performed in the preliminary stirring process. To do. Thereby, the required time after the execution start timing of the mixed injection process is shortened. The second control unit 500 executes the stirring step in the mixed injection process compared to the case where the pre-stirring process is not performed for the chemical container 10 stirred in the pre-stirring process. It may be possible to reduce the time for execution.

  As described above, in the co-infusion apparatus 1, the pre-mixing process based on the preparation data can be executed using a time such as when the co-infusion apparatus 1 is not used. is there. Therefore, the time required for the mixed injection process when the mixed injection process based on the preparation data on which the pre-stirring process has been performed is subsequently performed is shortened, and the mixed injection process can be efficiently executed. Become.

  By the way, in the said mixed injection apparatus 1, after the said pre-stirring process is performed about some preparation data, when the said mixed injection process about the preparation data is not performed continuously, the said mixed injection process about the preparation data is carried out. The mixed injection process or the pre-stirring process based on other preparation data may be executed before the execution start timing comes. That is, in the co-infusion apparatus 1, between the stirring step executed by the pre-stirring processing unit for one piece of the preparation data and the injection step executed by the co-injection processing unit for the preparation data, At least one of the stirring step and the injection step for the preparation data may be executed. Therefore, as another embodiment, the execution start timing is such that at least one of the stirring step and the injection step corresponding to the other preparation data is executed after execution of the stirring step corresponding to the one preparation data. It may be a later timing. For example, it is conceivable that after the preliminary stirring process is sequentially executed for a plurality of the preparation data at night or the like, the mixed injection process for the plurality of preparation data is executed the next morning or the like.

[Batch preparation inspection function]
By the way, as described above, in the co-infusion apparatus 1, the preparation inspection process is executed to inspect the result of the co-infusion process after the co-infusion process is completed. However, in this case, the preparation inspection process is executed every time the mixed injection process ends, and the user needs to check the preparation result each time.

  On the other hand, the mixed injection apparatus 1 includes the storage unit 700 that can store a plurality of the trays 101 as described above. Therefore, the mixed injection device 1 stocks the plurality of trays 101 after the mixed injection process is performed in the storage unit 700, and collectively executes the preparation inspection process for the preparation data corresponding to each of the trays 101. It is conceivable to have a batch preparation inspection function. Specifically, the mixed injection control unit 100 executes a batch preparation inspection process described later using the first control unit 400 or the second control unit 500 according to the first mixed injection control program or the second mixed injection control program. By doing so, the batch preparation inspection function is realized. The second control unit 500 can switch between valid and invalid of the batch preparation inspection function according to a user operation, and the same applies to other functions of the co-infusion apparatus 1. The said mixed injection control part 100 when performing the said batch preparation inspection process is an example of an accommodation process part and a preparation inspection process part here.

[Batch preparation inspection process]
Hereinafter, an example of the batch preparation inspection process executed by the mixed injection device 1 when the batch preparation inspection function is effective will be described with reference to FIG.

<Step S31>
First, in step S31, the second control unit 500 determines whether or not the mixed injection process has ended, and if it is determined that the mixed injection process has ended (S31: Yes), the process proceeds to step S32. If it is determined that the mixed injection process has not ended (S31: No), the process proceeds to step S33.

<Step S32>
In step S <b> 32, the second control unit 500 executes a process for stocking the tray 101 storing the infusion bag 12 after the mixed injection process in the storage unit 700. Specifically, the second control unit 500 controls the tray transport unit 110 to return the infusion bag 12 to the tray 101, and moves the tray 101 from the tray transport termination unit 110a to the tray transport start unit 110b. To move. Subsequently, the second control unit 500 controls the tray transport unit 110 to supply the tray 101 to the storage unit 700 side through the tray loading port 114.

  Thereafter, the second control unit 500 controls the storage unit 700 to store the tray 101 in the tray storage unit 811 of the elevating unit 800. At this time, the second control unit 500 updates the storage table information indicating the correspondence between the identification information of the tray 101 and the tray storage unit 811. The second controller 500 reads the identification information of the tray 101 with the IC reader 930 before the tray 101 is accommodated in the tray accommodating portion 811 of the accommodating unit 700, and the identification information is read out. The identification information of the tray 101 associated with the data is collated.

<Step S33>
In step S33, the second control unit 500 determines whether or not a predetermined preparation inspection start operation has been performed on the touch panel monitor 14 or the like. For example, the second controller 500 causes the touch panel monitor 14 to display a list of the prepared data that has been subjected to the mixed injection process in response to a user operation, and when one or a plurality of the prepared data is selected. It is determined that the preparation inspection start operation has been performed on one or a plurality of the preparation data. If it is determined that the preparation inspection start operation has been performed (S33: Yes), the process proceeds to step S34. If the preparation inspection start operation has not been performed (S33: No), the process proceeds to step S31. Returned to

<Step S34>
In step S34, the second control unit 500 executes the preparation inspection process on one or a plurality of the preparation data. Specifically, the second control unit 500 sequentially executes the preparation inspection process for one or a plurality of the preparation data selected when the preparation inspection start operation is performed.

  Each time the second control unit 500 performs the inspection completion operation indicating that the result of the mixed injection process is appropriate in the preparation inspection process corresponding to the preparation data, the tray corresponding to the preparation data is processed. 101 are sequentially discharged from the storage unit 700 toward the tray discharge port 206. As a result, the user can take out the tray 101 from the tray discharge port 206. The tray 101 is not discharged until the inspection completion operation is performed. That is, the second control unit 500 limits the removal of the tray 101 after execution of the mixed injection process until it is determined that the result of the mixed injection process is appropriate in the preparation inspection process.

  Thus, in the said mixed injection apparatus 1, it is possible to perform the said preparation inspection process collectively about each of the said preparation data in order by the said batch preparation inspection function. Therefore, it is not necessary for the user to perform a confirmation operation every time the mixed injection process is completed, and the load on the user operation is reduced.

[Batch stirring inspection function]
Moreover, in the said co-infusion apparatus 1, as mentioned above, in order to inspect the stirring result by the said stirring process after completion | finish of the said stirring process, the said stirring inspection process is performed. On the other hand, the co-infusion apparatus 1 may include the storage unit 700 that can store a plurality of the trays 101 as described above, and may execute the preliminary stirring process for a plurality of the chemical containers 10. Here, also in the preliminary stirring process, when the stirring inspection process is executed every time the stirring process is completed, the user needs to check the stirring result each time.

  Therefore, the co-infusion apparatus 1 stocks the plurality of medicine containers 10 after being agitated in the agitation process executed by a plurality of the prior agitation processes in the placement shelf 33, and a plurality of the medicines. It is conceivable to provide a collective stirring inspection function capable of executing the stirring inspection process collectively for the container 10. Specifically, the mixed injection control unit 100 executes a batch agitation inspection process described later using the first control unit 400 or the second control unit 500 according to the first mixed injection control program or the second mixed injection control program. By doing so, the collective stirring inspection function is realized.

[Batch agitation inspection process]
Hereinafter, an example of the batch agitation inspection process executed by the mixed injection device 1 when the batch agitation inspection function is effective will be described with reference to FIG.

<Step S41>
First, in step S41, the second control unit 500 determines whether or not the stirring process has ended, and if it determines that the stirring process has ended (S41: Yes), the process proceeds to step S42, If it is determined that the stirring step has not ended (S41: No), the process proceeds to step S43.

<Step S42>
In step S <b> 42, the second control unit 500 executes a process for stocking the chemical container 10 after the stirring process on the storage shelf 33. Here, the second control unit 500 when executing such processing is an example of a placement processing unit. Specifically, the second controller 500 controls the first robot arm 21 to move the medicine container 10 to the placement shelf 33. The data storage unit 504 stores arrangement table information indicating the correspondence between the identification information of the medicine container 10 and the arrangement on the placement shelf 33, and the second control unit 500 performs the step. In S42, the arrangement table is updated.

<Step S43>
In step S43, the second controller 500 determines whether a predetermined stirring inspection start operation has been performed on the touch panel monitor 14 or the like. For example, the second control unit 500 displays a list of the chemical containers 10 on which the stirring process has been performed on the touch panel monitor 14 according to a user operation, and one or a plurality of the chemical containers 10 are selected. In addition, it is determined that the stirring inspection start operation has been performed for one or a plurality of the chemical containers 10. If it is determined that the stirring inspection start operation has been performed (S43: Yes), the process proceeds to step S44. If the stirring inspection start operation has not been performed (S43: No), the process proceeds to step S41. Returned to

<Step S44>
In step S <b> 44, the second control unit 500 executes the stirring inspection process for one or a plurality of the chemical containers 10 after the stirring step placed on the mounting shelf 33. The said 2nd control part 500 when performing the process which concerns here is an example of a stirring inspection process part. Specifically, the second control unit 500 sequentially executes the stirring inspection process for one or a plurality of the chemical containers 10 selected when the stirring inspection start operation is performed.

  The second control unit 500 permits the use of the chemical container 10 every time the inspection completion operation is performed in the stirring inspection process corresponding to the chemical container 10. That is, the second control unit 500 restricts the use of the chemical container 10 stirred in the preliminary stirring process until the stirring inspection process is executed.

  Thus, in the co-infusion apparatus 1, it is possible to collectively execute the stirring inspection process for each of the chemical containers 10 that has been the target of the preliminary stirring process by the collective stirring inspection function. Therefore, it is not necessary for the user to perform a confirmation operation every time the stirring step is completed, and the load on the user operation is reduced.

[Schedule management function]
As described above, the mixed injection device 1 has a schedule management function capable of reserving the mixed injection processing for one or a plurality of the preparation data. Specifically, the mixed injection control unit 100 executes a schedule management process described later according to the first mixed injection control program or the second mixed injection control program using the first control unit 400 or the second control unit 500. Thus, the schedule management function is realized.

[Schedule management processing]
Hereinafter, an example of the schedule management process will be described with reference to FIG.

<Step S51>
First, in step S51, the first control unit 400 determines whether or not a reservation setting operation by the user for the operation unit 405 has been performed. If the first control unit 400 determines that the reservation setting operation has been performed (S51: Yes), the process proceeds to step S52. Further, when the first control unit 400 determines that the reservation setting operation is not performed (S51: No), the first control unit 400 shifts the processing to step S54.

  Specifically, the first control unit 400 displays the prescription selection screen P0 when a predetermined operation for displaying the prescription selection screen P0 is performed using the operation unit 405, and The reservation setting operation of the mixed injection process based on the preparation data is accepted in accordance with the operation of the operation unit 405 during display of the prescription selection screen P0. In the reservation setting operation, the preparation data to be reserved is selected and the scheduled completion time of the mixed injection process of the preparation data is designated.

  FIG. 27 is a diagram showing an example of the prescription selection screen P0. As shown in FIG. 27, in the prescription selection screen P0, a region A1 in which a list of one or a plurality of the preparation data input to the co-infusion apparatus 1 is displayed, and the preparation displayed in the region A1. An area A2 in which conditions for extracting data can be set is displayed. The area A1 includes a selection operation unit A3 that can arbitrarily select the preparation data to be reserved from each of the preparation data, and an input area A4 that can input a scheduled completion time of each of the preparation data.

  In the prescription selection screen P0, the first control unit 400 is selected as a reservation target by the selection operation unit A3, and the reservation setting key A5 is operated in a state where the scheduled completion time is input to the input area A4. If it is determined that the reservation setting operation has been performed, it is determined. Note that it may be determined that the reservation setting operation has been performed on the condition that the selection operation unit A3 has selected the reservation target.

  In the reservation setting operation, the scheduled start time of the mixed injection process may be specified instead of the scheduled completion time of the mixed injection process of the preparation data. For example, the scheduled completion time or the scheduled start time is specified by inputting a date and time. The designation of the scheduled completion time or the scheduled start time may be performed by inputting an elapsed time from the current date and time.

<Step S52>
In step S52, the first control unit 400 determines whether the total number of the preparation data already reserved and the current reservation is within a predetermined maximum number of reservations. The maximum number of reservations is a number determined in advance by the specifications of the co-infusion apparatus 1 and corresponds to the number of trays 101 that can be loaded into the co-infusion apparatus 1. For example, in the co-infusion apparatus 1 according to the present embodiment, since the number of trays 101 that can be loaded into the storage unit 700 is six, the maximum reserved number is considered to be six. Here, when the first control unit 400 determines that the total number of reservations is within the maximum number of reservations (S52: Yes), the process proceeds to step S53. If the first control unit 400 determines that the total number of reservations exceeds the maximum number of reservations (S52: No), for example, after displaying a predetermined error message, the process returns to step S51. .

<Step S53>
In step S53, the first control unit 400 executes a reservation setting process for reserving the mixed injection process based on one or a plurality of the preparation data according to the reservation setting operation. Here, the first control unit 400 when executing the reservation setting process is an example of a reservation setting process unit. Specifically, the first control unit 400 causes the mixed injection process based on the preparation data to be completed at the scheduled completion time according to the preparation data and the scheduled completion time specified by the reservation setting operation. Is set to the execution start timing of the mixed injection process. Note that the information on the execution start timing of the mixed injection process based on each of the preparation data is stored in the data storage unit 404 as schedule information, and is updated by the first control unit 400 in step S53 or step S57 described later. The

  For example, the data storage unit 404 stores the required time for each preparation content specified by the preparation data, or stores information for calculating the required time, and the first control unit 400 Based on the required time, the required time for the mixed injection process is calculated. Then, the first control unit 400 sets the execution start timing based on the scheduled completion time and the time required for the mixed injection process. When the scheduled start time of the mixed injection process is specified by the reservation setting operation, the execution start timing is set according to the scheduled start time, for example, the scheduled start time is set as the execution start timing. The The calculation of the time required for the mixed injection process and the setting of the execution start timing may be performed in consideration of whether or not the preliminary stirring process is executed.

  Then, the first control unit 400 transmits reservation information such as the execution start timing set for the preparation data together with the preparation data to the second control unit 500. For example, the reservation information includes, in addition to the execution start timing, information indicating a correspondence relationship between information for identifying the preparation data to be reserved and the identification information of the tray 101 corresponding to the preparation data. Is also included.

  Specifically, as shown in FIG. 27, in the prescription selection screen P0, the scheduled completion time is input to each of the five input areas A4, and the five selection operation units A3 are operated, so that the preparation data is stored. When selected as a reservation target, the first control unit 400 sets the execution start timing of each of the preparation data such that each of the preparation data ends before each scheduled completion time. FIG. 28A is a diagram showing a setting result of execution start timings of the five pieces of preparation data shown in FIG. In addition, the first control unit 400 displays an error on the display 203 to the user when the execution start timing cannot be set so that the five pieces of preparation data are completed before the scheduled completion time. Inform.

<Step S54>
In step S54, the first control unit 400 determines whether a reservation change start operation for starting the change of the schedule information is performed on the operation unit 405, and the reservation change start operation is performed. Is performed (S54: Yes), the process proceeds to step S55. For example, the first control unit 400 determines that the reservation change start operation has been performed when the reservation list key A6 displayed on the prescription selection screen P0 is operated. When the reservation change start operation is not performed (S54: No), the process is returned to step S51.

<Step S55>
In step S55, the first control unit 400 causes the display 203 to display a schedule setting screen P1 based on the schedule information. 28A to 28C are diagrams showing display examples of the schedule setting screen P1.

  As shown in FIGS. 28A to 28C, the first control unit 400 displays the execution start timing of each of the preparation data along the time axis on the schedule setting screen P1 based on the schedule information. Here, the first control unit 400 when executing such processing is an example of a display processing unit. Thereby, the user can easily grasp the execution start timing of the mixed injection processing corresponding to each of the preparation data by looking at the schedule setting screen P1. In the schedule setting screen P1, not only the execution start timing of the mixed injection process corresponding to each of the preparation data, but also other information such as the scheduled completion time or the scheduled start time may be specified.

<Steps S56 to S57>
In Steps S56 to S57, the first control unit 400 executes a change process for changing the execution start timing corresponding to each of the preparation data. The said 1st control part 400 when performing the change process which concerns here is an example of a change process part.

  First, in step S56, the first control unit 400 determines whether or not a change operation such as an execution start timing, scheduled start time, and scheduled completion time of the preparation data has been performed on the operation unit 403. . If it is determined that the change operation has been performed (S56: Yes), the process proceeds to step S57. If it is determined that the change operation has not been performed (S56: No), the process proceeds to step S55. To do.

  In step S57, the first control unit 400 executes a process of changing the schedule information according to the change operation. Specifically, the order of the execution start timing of each of the preparation data is changed according to the execution start timing, scheduled start time, scheduled completion time, etc. of the preparation data after being changed by the changing operation.

  Specifically, the first control unit 400 can change the execution start timing of each of the preparation data in accordance with a user operation on the operation unit 405 during the display of the schedule setting screen P1. For example, in FIG. 28A, in the schedule setting screen P1, five preparation data whose patient IDs are “0007”, “0004”, “0008”, “0002”, and “0006” are reserved. An example is displayed. In FIGS. 28A to 28C, in the display area of each of the preparation data, the start end is the execution start timing of the mixed injection process, the end is the execution end timing of the mixed injection process, and the interval is that the mixed injection process is being executed. Each is shown. The schedule setting screen P1 includes not only the patient ID but also an order number. Etc. may be displayed.

  Then, as shown in FIG. 28A, an operation for moving later by drag and drop of an area corresponding to the preparation data whose identification information is “0008” on the schedule setting screen P1 by a user operation. It may be performed as the change operation. In this case, as shown in FIG. 28B, the first control unit 400 causes the execution start timing of the preparation data whose identification information is “0008” to be displayed later. Subsequently, as shown in FIG. 28B, an operation for moving forward by a drag-and-drop operation of an area corresponding to the preparation data whose identification information is “0002” by the user operation is the change operation. It may be done as In this case, as shown in FIG. 28C, the first control unit 400 causes the execution start timing of the preparation data with the identification information “0002” to be shifted and displayed.

  Thereafter, when a predetermined confirmation operation is performed, the first control unit 400 confirms a change in the execution start timing of the preparation data and updates the schedule information. Thus, in the co-infusion apparatus 1, the user can easily change the execution start timing of the preparation data by an operation of intuitively moving the execution start timing of the preparation data on the schedule setting screen P1. is there. The first control unit 400, when the change operation is performed, or when the confirmation operation is performed, when the execution time of the mixed injection process based on a plurality of the preparation data overlaps, The user is notified by displaying a warning message or the like to call attention to that effect on the schedule setting screen P1.

<Step S58>
In step S58, the first control unit 400 determines whether or not a reservation change end operation for ending the change of the schedule information has been performed on the operation unit 405. When the reservation change end operation is performed (S58: Yes), the schedule setting screen P1 is closed and the process returns to step S51. If the reservation change end operation is not performed (S58: No), the process returns to step S55.

  Then, in the mixed injection device 1, as described above, when the first control unit 400 determines that the execution start timing of the reserved preparation data has arrived in the mixed injection control process (FIG. 23) (S21). : Yes), the fact is notified to the second control unit 500, and the mixed injection process based on the preparation data is executed. Here, the first control unit 500 and the second control unit 500 when executing the processing are examples of a reservation execution processing unit.

[Batch total quantity sampling inspection function]
By the way, in the mixed injection process, when the whole amount of medicine in the medicine container 10 is collected, a whole quantity sampling inspection may be performed to confirm that the medicine does not remain in the medicine container 10 by the user. . For example, the progress of the co-infusion process may be limited after the user is notified of the end of the total amount collection until the confirmation operation by the user is performed each time the total amount is collected. In this case, in the case where a total amount of medicine is collected for a plurality of the medicine containers 10 in the mixed injection process based on the preparation data, the whole quantity sampling inspection is executed each time the whole quantity is collected for each of the medicine containers 10. Will be. Therefore, it is necessary for the user to perform an operation on the co-infusion apparatus 1 every time collection of the whole amount of each of the medicine containers 10 is completed.

  On the other hand, it is conceivable that the co-infusion apparatus 1 includes a collective total amount sampling inspection function that collectively executes a total amount sampling inspection for a plurality of the medicine containers 10. Specifically, the mixed injection control unit 100 performs a collective total amount sampling inspection process described later according to the first mixed injection control program or the second mixed injection control program using the first control unit 400 or the second control unit 500. By executing the function, the collective whole quantity sampling inspection function is realized.

[Batch total collection inspection process]
Hereinafter, with reference to FIG. 29, an example of the batch total amount sampling inspection process executed by the mixed injection device 1 when the batch total amount sampling inspection function is effective will be described. Note that the batch total amount collection inspection process is executed together with the mixed injection process.

<Step S61>
In step S61, the second control unit 500 determines whether or not there are a plurality of the chemical containers 10 to be collected in the mixed injection process based on the preparation data. Here, if it is determined that there are a plurality of the drug containers 10 that are the targets for collecting all amounts (S61: Yes), the process moves to step S62, and if there are not a plurality of the drug containers 10 that are the targets for collecting all amounts When it is determined (S61: No), the collective total amount collection process ends.

<Step S62>
In step S <b> 62, the second control unit 500 determines whether or not the collection of the total amount of any of the plurality of medicines 10 to be collected is complete. Here, if it is determined that the total amount collection has been completed (S62: Yes), the process proceeds to step S63, and if the total amount collection has not been completed (S62: No), the process waits in step S62.

<Step S63>
In step S63, the second control unit 500 controls the first robot arm 21 to place the medicine container 10 to be collected in the placement shelf 33, which is determined to have been completed in step S62. Put. At this time, the second control unit 500 associates the medicine container 10 and the placement on the placement shelf 33 with each other and stores them in the data storage unit 504. The placement shelf 33 is an example of a second placement unit, and the first shelf when the processing for placing the medicine container 10 after the collection of the total amount on the placement shelf 33 is executed. The 2 control unit 500 is an example of a second placement processing unit. In the present embodiment, the placement shelf 33 is an example of the first placement portion and the second placement portion, but the first placement portion and the second placement portion are individually provided. It may be.

<Step S64>
In step S <b> 64, the second control unit 500 breaks whether or not all of the plurality of drug containers 10 that are targets of collecting all of the preparation data have been collected. Here, if it is determined that all the total amount collection has been completed (S64: Yes), the process proceeds to step S65, and if it is determined that all the total amount collection has not been completed (S64: No), the processing is performed. Goes to step S62.

<Step S65>
In step S65, the second control unit 500 notifies that all of the plurality of drug containers 10 that are the target of collection of all amounts in the preparation data have been collected. For example, the second controller 500 causes the touch panel monitor 14 to display the end of the total amount collection. In addition, the second controller 500 may display the end of the total amount collection on the display 203 via the first controller 400.

<Step S66>
In step S <b> 66, the second control unit 500 determines whether or not a start operation for collecting all the amounts has been performed on the touch panel monitor 14. Here, if it is determined that the start operation for the total amount sampling inspection has been performed (S66: Yes), the process proceeds to step S67, and until the start operation for the total amount sampling inspection is performed (S66: No), the processing is performed. Wait in step S66.

<Step S67>
In step S <b> 67, the second control unit 500 sequentially executes a total amount collection inspection process for inspecting the result of the total amount collection for each of the drug containers 10 after the total amount is collected. The said 2nd control part 500 when performing the process which concerns here is an example of a whole quantity collection inspection process part. Specifically, in the total amount collection inspection process, the second control unit 500 controls the first robot arm 21 so that the bottom or side surface of the medicine container 10 is in a position and posture that can be visually recognized by the user. The chemical container 10 is moved. Thereafter, when the second control unit 500 accepts an inspection confirmation operation of the medicine container 10 by the user, the second control unit 500 starts a whole quantity sampling inspection process for the next medicine container 10. After that, when the total amount collection inspection process is completed for all the medicine containers 10, the inspection results are stored in the data storage unit 504.

  The second control unit 500 controls the first robot arm 21 in response to an operation from the user, and changes the bottom or side surface of the medicine container 10 to a plurality of postures that can be confirmed from a plurality of angles. It is possible. Thereby, the user can check the medicine container 10 from different angles, and can appropriately determine whether or not the entire amount of the medicine container 1 has been collected normally. . In addition, the second control unit 500 sequentially displays one or a plurality of images in which the bottom part or the side surface of the medicine container 10 is photographed in advance without changing the medicine container 10 to a visually recognizable position and posture. Is also possible.

  In addition, here, a case has been described in which the whole quantity collection inspection process is executed after the completion of all the whole quantity collection included in the mixed injection process. However, as another embodiment, the second control unit 500 includes the batch preparation inspection. It is also conceivable to execute the whole quantity sampling inspection process at the time of processing.

[Pre-air injection function]
In the co-infusion apparatus 1, the second controller 500 controls the second robot arm 22 to suck infusion in the infusion bag 12 using the syringe 11, and then inserts the injection needle 11 c into the infusion bag. It is conceivable to suck a predetermined amount of air in the infusion bag 12 before extracting from the infusion bag 12. Thereby, after the injection needle 11c of the syringe 11 is pulled out from the infusion bag 12, the possibility of infusion dropping from the injection needle 11c when the syringe 11 moves is suppressed.

  On the other hand, in recent years, as the infusion bag 12 used in the mixed injection process, a special container called an AL type in which the amount of air accommodated therein is extremely small is known. Thus, when the infusion bag 12 is the special container, the process of sucking a predetermined amount of air from the infusion bag 12 as described above may not be executed. For example, when the air in the infusion bag 12 is aspirated by the syringe 11, the injection needle 11c of the syringe 11 may touch the infusion in the infusion bag 12 and suck the infusion unnecessarily. Therefore, the co-infusion apparatus 1 is capable of pre-injecting air into the infusion bag 12 in advance when the infusion bag 12 used in the co-infusion process is the special container set in advance. It is conceivable to have

  Specifically, the medicine master stored in the data storage unit 404 stores a container type for each of the infusion bags 12. For example, a special flag indicating whether or not the infusion bag 12 is the special container such as the AL type is stored in the medicine master. And when the said infusion bag 12 used by the said mixed injection process is the said special container based on the said preparation data and the said chemical | medical agent master, the said 1st control part 400 will notify that to the said 2nd control part 500. Notify Thus, for example, at the start of the mixed injection process, the second control unit 500 executes a pre-air injection process of injecting a predetermined amount of air preset in the infusion bag 12 into the infusion bag.

  The preliminary air injection step is executed until a suction step for sucking infusion liquid from the infusion bag 12 or an injection step for injecting liquid into the infusion bag 12 in the mixed injection process. For example, the execution start timing is not limited to the start of the mixed injection process. On the other hand, when the infusion bag 12 is not the special container, the preliminary air injection step is not executed. Instead of the first control unit 400, the second control unit 500 may determine whether or not the preliminary air injection step is necessary based on the preparation data and the medicine master.

  As described above, when the co-infusion apparatus 1 has the preliminary air injection function, it is possible to increase the amount of air in the infusion bag 12 before the suction step or the injection step. is there. Therefore, in the suction step or the injection step, before extracting the injection needle 11c of the syringe 11 from the infusion bag 12, a predetermined amount of air in the infusion bag 12 is sucked to drop the infusion from the injection needle 11c. Can be suppressed.

[Interrupt processing function]
In the mixed injection device 1, the tray 101 can be temporarily stored in the storage unit 700. Therefore, when the mixed injection process is being executed, the mixed injection apparatus 1 has an interrupt processing function for executing the mixed injection process based on the other preparation data in the middle of the mixed injection process being executed. Can be considered. Thereby, the user of the co-infusion apparatus 1 can preferentially execute the co-infusion process based on the preparation data when the preparation data with high urgency occurs.

  Specifically, the first control unit 400 selects the second control unit when the preparation data to be interrupted is selected and a predetermined interrupt request operation is performed on the operation unit 405. The preparation data interruption request is transmitted to 500. When the second control unit 500 receives the interrupt request during the execution of the mixed injection process, the second control unit 500 temporarily interrupts the currently executed mixed injection process and responds to the interrupt request. The mixed injection process based on the preparation data is executed, and then the interrupted mixed injection process is resumed.

  For example, the second control unit 500 controls the first robot arm 21 and the second robot arm 22 when interrupting the mixed injection process, and the medicine used in the currently executed mixed injection process. The container 10 and the syringe 11 are placed on the placement portion 33 described above. The second controller 500 controls the tray transporter 110 to place the infusion bag 12 on the tray 101 and return the tray 101 to the storage unit 700 for storage. Then, the second control unit 500 controls the storage unit 700 to supply the tray 101 corresponding to the preparation data corresponding to the interrupt request to the mixed injection processing unit 300, in response to the interrupt request. The mixed injection process based on the corresponding preparation data is executed. Thereafter, when the mixed injection process is completed, the second control unit 500 causes the tray 101 corresponding to the interrupted mixed injection process to be supplied again from the storage unit 700 to the mixed injection processing unit 300 and the mixed injection process. To resume.

[Parallel preparation function]
In the mixed injection device 1, only one each of the infusion bag holding unit 103, the bag lifting / lowering unit 113, the mixed injection communication port 37, and the tray transport unit 110 is provided, and the mixed injection processing using the tray 101 is performed. In the above, the case where the processes are sequentially executed individually has been described. On the other hand, a configuration in which the mixed injection device 1 includes a plurality of sets of the infusion bag holding unit 103, the bag lifting and lowering unit 113, the mixed injection communication port 37, and the tray transfer unit 110 is also conceivable as another embodiment. In the mixed injection device 1 configured as described above, the second control unit 500 can transport the plurality of trays 101 in the mixed injection device 1 and perform the mixed injection processing based on the plurality of preparation data substantially in parallel. It is conceivable to have a parallel preparation function that can be executed in the same manner.

  Specifically, consider a case where the second controller 500 executes the first mixed injection process based on the first preparation data and the second mixed injection process based on the second preparation data substantially in parallel. In this case, the second controller 500 performs the second mixed injection based on the second preparation data while the stirring step is being executed in the first mixed injection process based on the first preparation data. It is conceivable to execute a process of taking in the device such as the drug container 10, the syringe 11, and the infusion bag 12 from the tray 101 into the mixed injection processing unit 300 in the process.

  In addition, the second control unit 500 performs the first mixed injection process based on the first preparation data while executing the stirring step in the second mixed injection process based on the second preparation data. It is also conceivable to perform injection of medicine from the infusion bag 12 into the medicine container 10 or injection of medicine from the medicine container 10 into the infusion bag 12.

  Thus, in the co-infusion apparatus 1 having the parallel preparation function, a plurality of the preparation data can be executed in parallel. Therefore, the idle time in each of the co-infusion processes is effectively used, and a plurality of the preparation data is obtained. It becomes possible to perform the mixed injection process based on it efficiently.

[Second Embodiment]
Hereinafter, other embodiments of the present invention will be described. Specifically, in the present embodiment, another example of the schedule management function will be described. In addition, the same code | symbol is attached | subjected about the structure similar to the said 1st Embodiment, a process sequence, etc., and the description is abbreviate | omitted.

  As shown in FIG. 30, the co-infusion apparatus 1 according to the present embodiment is located at a position different from the worker who performs the operation using the operation unit 405, the display 203, and the like and can be operated by other workers. A touch panel monitor 208 is provided. Note that display and operation using the touch panel monitor 208 described in the present embodiment may be performed using the operation unit 405 and the display 203.

  The touch panel monitor 208 includes a display unit such as a liquid crystal display or an organic EL display that displays various information according to a control instruction from the first control unit 400, and an operation unit such as a touch panel that receives a touch operation on the display unit. With. Thereby, for example, the operation of placing the equipment on the tray 101 using the operation unit 405, the display 203, the barcode reader 204, and the like, and the reservation operation of the preparation data using the touch panel monitor 208 are performed. Can be executed in parallel.

  In the mixed injection device 1 according to the present embodiment, the first control unit 400 can also display the prescription selection screen P0 on the touch panel monitor 208. In addition, in the prescription selection screen P0, the scheduled completion time of the preparation data cannot be input in the input area A3, and the input area A4 is used as a display area for the scheduled completion time of the preparation data after reservation. The first control unit 400 is in a state where the preparation data is selected as a reservation target by the selection operation unit A3 on the prescription selection screen P0, or any preparation data is selected in the area A1. When the operation key A5 is operated, a reservation registration screen P10 for reserving the mixed injection process based on the preparation data is displayed on the touch panel monitor 208 for each preparation data. FIG. 31 shows an example of the reservation registration screen P10.

  As shown in FIG. 31, in the reservation registration screen P10, as information related to the preparation data to be reserved, for example, a patient code (patient CD) and patient name for identifying a patient, and preparation data are identified. The identification code and the time required for the mixed injection process based on the preparation data are displayed. The time required for the mixed injection process is stored in the data storage unit 404 for each preparation content indicated by the preparation data. Further, calculation information for calculating the required time may be stored in the data storage unit 404, and the first control unit 400 may calculate the required time for the mixed injection process based on the calculation information. .

  In the reservation registration screen P10, operation keys K11 to K13 for accepting an operation for selecting a preparation condition for the preparation data and an operation key K14 for accepting execution of the reservation for the preparation data are displayed. The operation key K11 is an operation key for selecting, as a reservation condition, a reservation with no time designation that allows a mixed injection process based on the preparation data to be reserved to be executed during an idle time during which no other mixed injection process is executed in the mixed injection apparatus 1. . The operation key K12 uses, as a reservation condition, a temporary reservation that allows the mixed injection process based on the preparation data to be reserved to be executed in preference to the non-time specified reservation and other preparation data reserved by the time specified reservation described later. This is an operation key for selection. When the operation key K12 is selected and the preparation data already reserved in the temporary reservation exists, the execution order of the preparation data to be reserved can be selected.

  The operation key K13 is an operation key for selecting, as a reservation condition, a reservation with time designation for executing a mixed injection process based on the preparation data to be reserved based on an execution start timing set in advance by a user operation. Note that, as described above, the execution start timing is set by inputting an expected completion time of the mixed injection process (corresponding to the “preparation end time” in FIG. 31) or an estimated start time of the mixed injection process. . More specifically, when the operation key K13 is selected, on the reservation registration screen P10, the date and time for executing the mixed injection process based on the preparation data can be set. For example, the reservation registration screen P10 shown in FIG. 31 is in a state where a reservation with a time designation indicating that the mixed injection process is to be executed by 19:02 on August 22 is performed.

  In addition, when a reservation with time designation is performed on the reservation registration screen P10, a margin time for the scheduled completion time of the mixed injection process can be set. The margin time indicates a changeable range when the execution timing of the mixed injection process is advanced after setting the scheduled completion time. For example, the time set for each medicine in the medicine master, or the reservation registration screen P10 This is the time entered in response to user operation. For example, when the scheduled completion time is 19:02 and the margin time is 30 minutes, the execution timing of the mixed injection process is 19:02 after 18:32, 30 minutes before the scheduled completion time. It can be changed within a range where the mixed injection process is completed previously. In addition, when the scheduled completion time is 19:02 and the margin time is 30 minutes, the mixed injection process is performed after 18:32, 30 minutes before the scheduled completion time. It may be changeable within a range in which is started.

  Then, on the reservation registration screen P10, a reservation method for the preparation data to be reserved, the reservation content, and the like are set, and when the operation key K14 is operated, the first control unit 400 performs the reservation setting operation. (S51: Yes in FIG. 26) and if the total number of reservations is within the maximum number of reservations (S52: Yes), the reservation setting process is performed for each of the preparation data based on the reservation setting operation. Execute (S53). The first control unit 400 when executing the reservation setting process is an example of a reservation setting process unit.

  Here, in the reservation setting process in step S53, the first control unit 400 updates the schedule information in the reservation content on the reservation registration screen P10. Specifically, the first control unit 400 can selectively accept the reservation with time designation, the reservation without time designation, and the temporary reservation as the reservation conditions by a user operation, according to the reservation conditions. The schedule information is updated.

  When the temporary reservation is made for the preparation data, the first control unit 400 causes the second control unit 500 to perform mixed injection processing based on the preparation data in preference to other preparation data. More specifically, the first control unit 400 is based on the preparation data for which the temporary reservation has been made when the co-infusion processing based on other preparation data is not currently being executed in the co-infusion apparatus 1. The mixed injection process is immediately executed by the second control unit 500. In this case, if there is a mixed injection process based on the preparation data already reserved, the execution start timing of the mixed injection process is reset to at least a timing after the execution of the mixed injection process based on the preparation data related to the temporary reservation. Set.

  In addition, in the mixed injection device 1, when the mixed injection process based on other preparation data is currently being executed in the mixed injection apparatus 1, the first control unit 400 performs the temporary reservation after the mixed injection process is completed. The second control unit 500 is caused to execute mixed injection processing based on the preparation data. Furthermore, when the mixed injection process based on other preparation data is currently being executed, the first control unit 400 temporarily stops the mixed injection process and performs the mixed injection process based on the preparation data for which the temporary reservation has been performed. You may make the said 2nd control part 500 perform. Specifically, the second control unit 500 places the equipment such as the medicine container 10 and the syringe 11 related to the mixed injection process being executed on the placement shelf 33 and also places the infusion bag 12 in the tray. Returning to 101, the tray 101 is returned to the tray accommodating portion 811 of the accommodating unit 700. And the said 2nd control part 500 performs the mixed injection process based on the said preparation data which concerns on the said temporary reservation, and restarts the interrupted mixed injection process after completion | finish of the said mixed injection process.

  Further, when the reservation without time designation is made for the preparation data, the first control unit 400 performs mixed injection processing based on the preparation data for which the temporary reservation has been made and preparation for which the reservation with time designation has been made. When the mixed injection process based on the data is not executed, the second control unit 500 is caused to execute the mixed injection process based on the prepared data in which the reservation without time specification is performed in the order in which the reservation without time specification is performed. .

  On the other hand, when the reservation with time designation is made for the preparation data, the first control unit 400 finishes the mixed injection process based on the preparation data at the scheduled completion time set in the reservation with time designation. Further, the execution start timing in the schedule information is set. For example, when a time obtained by subtracting the time required for the mixed injection process from the scheduled completion time is set as the execution start timing, and execution times of the plurality of mixed injection processes overlap, execution of one or a plurality of the mixed injection processes The execution start timing is set so that the execution times of the plurality of mixed injection processes do not overlap by advancing the start timing. The first control unit 400 does not need to consider the execution start timing of the preparation data related to the reservation without time specification when setting the schedule information, and the reservation with time specification and the temporary reservation are not necessary. The execution start timing of each of the preparation data related to the reservation with time designation and the temporary reservation is set in consideration of the execution start timing of each of the preparation data.

  In step S55, the first controller 400 causes the touch panel monitor 208 to display a schedule setting screen P11 shown in FIG. 32 instead of the schedule setting screen P1. Also on the schedule setting screen P11, as with the schedule setting screen P1, the execution start timing of each of the preparation data is displayed along the time axis based on the schedule information.

  Further, on the schedule setting screen P11, an index part P111 indicating the current time, an index part P112 indicating the execution time of the mixed injection process corresponding to each of the preparation data, and the execution time of the mixed injection process corresponding to each of the preparation data An indicator part P113 indicating a changeable range is displayed. In particular, on the schedule setting screen P11, for each of the preparation data, the scheduled completion time of the mixed injection process based on the preparation data is also displayed by the character string and the indicator part P112. The indicator P113 is displayed based on the scheduled completion time and the margin time, and is a line connecting the timing corresponding to the scheduled completion time and the timing retroactive by the margin time from the scheduled completion time. Displayed in minutes. Thus, the user can easily determine the execution time and changeable range of each of the mixed injection processes at a glance.

  As described above, in the schedule setting screen P11, the first control unit 400 executes the mixed injection process based on the preparation data by dragging and dropping the index unit P112 corresponding to the preparation data. It is possible to change. At this time, it is conceivable that the first control unit 400 limits the drag-and-drop movable range of the index part P112 to the margin time range indicated by the index part P113. This prevents the execution time of the mixed injection process from being changed beyond the margin time.

  Further, when any preparation data is selected on the schedule setting screen P11 and the reservation editing key K21 for starting the change of the reservation contents for the preparation data is operated, the change operation is performed in the step S56. Is determined (S56: Yes). In this case, as shown in FIG. 33, the first controller 400 pops up a reservation change screen P12 similar to the reservation registration screen P10 on the schedule setting screen P11. The reservation change screen P12 displays the same information as the reservation registration screen P10, and the first control unit 400 changes the reservation content of the preparation data according to the operation on the reservation change screen P12.

  Further, when the monitor key K22 is operated on the schedule setting screen P11, the first control unit 400 displays the current status of each of the preparation data on the schedule setting screen P11 as shown in FIG. Display the information indicating. Specifically, in the schedule setting screen P11, for each of the preparation data, states such as waiting for payout, waiting for inspection, during preparation, during preparation error, and waiting, and the time required for mixed injection processing based on the preparation data are shown. Preparation time is displayed. In addition, the state of the preparation data indicates that the confirmation process (S2 to S8) when the equipment such as the chemical container 10 used in the mixed injection process based on the preparation data is placed on the tray 101 is completed. “Prepared” shown, and “Loaded” showing that the tray 101 on which equipment such as the chemical container 10 is placed are loaded in the storage unit 700 are also included.

  In addition, on the schedule setting screen P11, an operation unit P114 that receives an operation regarding mixed injection processing based on each of the preparation data and an operation unit P115 that receives an operation on the tray 101 corresponding to each of the preparation data are displayed. Yes. For example, the operation unit P114 has various operations such as an inspection key that receives an operation for starting an inspection of a mixed injection process based on the preparation data, and a change key that receives an operation for changing the reservation content of the mixed injection process. The key is displayed. The operation unit P115 displays an extraction key for extracting the tray 101 from the tray discharge port 206. In the case where the inspection of the mixed injection process is not performed in the prepared data, the extraction key is not displayed on the operation unit P115, and the extraction key indicates that the inspection of the mixed injection process has been performed. The conditions are displayed on the operation unit P115.

  Further, on the schedule setting screen P11, a tab key P31 for displaying details of the preparation data being selected on the schedule setting screen P11 and a tab key P32 for displaying the state of the co-infusion apparatus 1 are displayed. . When the tab key P31 is selected, the first controller 400 displays the details of the preparation data as shown in FIG. 32. When the tab key P32 is selected, As shown in FIG. 35, the state of the co-infusion apparatus 1 is displayed. For example, as the state of the co-infusion apparatus 1, the number of unused tray accommodating portions 811 among the tray accommodating portions 811 in the accommodating unit 700 is displayed.

  Note that the touch panel monitor 208 is omitted, and the prescription selection screen P0, the reservation registration screen P10, the schedule setting screen P11, and the like related to the schedule management function are displayed on the display 203, and user operation is performed by the operation unit 405. It can be considered as another embodiment that is accepted.

  The storage unit 700 is not limited to the tray 101 on which equipment such as the chemical container 10 used in the mixed injection process based on the preparation data is placed, but also for storing the empty tray 101. It can be used. Specifically, the first control unit 400 performs processing for storing the empty tray 101 in the storage unit 700 and ejects the empty tray 101 from the storage unit 700 in response to a user operation. To execute the process. Accordingly, the unused tray accommodating portion 811 in the accommodating unit 700 can be used for storing the tray 101. For example, a user who is working can remove the tray 101 without leaving the medicine loading portion 200. It can be obtained from the storage unit 700.

[Third Embodiment]
In the present embodiment, another example of the loading preparation process will be described. FIG. 36 is a flowchart showing another example of the loading preparation process. In the first embodiment and the second embodiment, after the preparation work for the preparation data is executed (S1), various devices are subsequently placed on the tray 101 corresponding to the preparation data. The case where the confirmation processing (S2 to S8) is executed has been described. That is, in the first embodiment and the second embodiment, the preparation work of the preparation data corresponding to the tray 101 and the placement work of the equipment on the tray 101 are executed as a series of work in this order. Is done.

  On the other hand, as shown in FIG. 36, in the loading preparation process according to the present embodiment, the processes of steps S81 to S82 are executed between step S8 and step S9. In the present embodiment, the first control unit 400 does not accept the reservation operation in step S1, and accepts the reservation operation in steps S81 to S82.

<Step S81>
First, in the steps S2 to S8, when confirmation processing is performed when placing the equipment such as the drug container 10, the syringe 11, and the infusion bag 12 on the tray 101 corresponding to the preparation data, In subsequent step S81, the first control unit 400 causes the display 203 to display a selection screen as to whether or not to make a time designation reservation for the co-infusion processing based on the preparation data, and determines whether or not the time designation reservation exists. Accept by operation. In step S81, if it is determined that time designation is selected (S81: Yes), the process proceeds to step S82. If it is determined that time designation is not selected (S81: No), the process is performed. Goes to step S83.

<Step S82>
In step S82, the first control unit 400 displays an operation screen such as the reservation registration screen P10 (see FIG. 31) and accepts the reservation for the mixed injection process based on the preparation data. The method for accepting reservations for the mixed injection process may be the same as that in the first embodiment or the second embodiment, and a description thereof will be omitted here.

  That is, in the co-infusion apparatus 1 according to the present embodiment, the first control unit 400, on the condition that the confirmation process when placing various equipment on the tray 101 corresponding to the preparation data is completed. It is possible to make a reservation for time designation for the mixed injection process based on the preparation data. Accordingly, the work of placing the equipment on the tray 101 and the reservation work of the preparation data corresponding to the tray 101 are executed as a series of work. As a result, the preparation data reservation operation is performed on the condition that the equipment has been correctly placed on the tray 101, and before the equipment has been correctly placed on the tray 101, the preparation data is stored. The reservation work is prevented from being performed.

[Fourth Embodiment]
FIG. 37 is a view showing another form of the storage unit 700. As shown in FIG. As shown in FIG. 37, the storage unit 700 according to this embodiment includes a fourth transport unit 950 and a fifth transport unit for temporarily retracting the tray 101 stored in the tray storage unit 811. 960. The fourth transport unit 950 can transport the tray 101 in the front-rear direction, and the fifth transport unit 960 moves the tray 101 between the first transport unit 910 and the fourth transport unit 950. It can be conveyed in the direction. The fourth transport unit 950 and the fifth transport unit 960 are belt conveyors including a motor, a gear, a stretching roller, a belt, and the like, and the belt is driven by the motor, the gear, and the stretching roller. Thus, the tray 101 held on the belt can be conveyed.

  In the storage unit 700 according to the present embodiment, the tray discharge port 206 is disposed in front of the fourth transport unit 950 instead of in front of the first transport unit 910. The fourth transport unit 950 is configured to be movable in the vertical direction, and can be used to transport the tray 101 placed on the fifth transport unit 960 in the front-rear direction. It can move between the retracted state retracted downward from the possible state. More specifically, the fourth transport unit 950 can transport the tray 101 placed on the fifth transport unit 960 toward the tray discharge port 206. That is, in the storage unit 700, the tray 101 stored in the storage unit 700 includes the first transport unit 910, the second transport unit 920, the fifth transport unit 960, and the fourth transport unit 950. Are sequentially conveyed to the tray discharge port 206.

  The fourth transport unit 950 and the fifth transport unit 960 can be used to temporarily retract the tray 101 stored in the storage unit 700. Specifically, when all the tray storage units 811 in the storage unit 700 are in use when the mixed injection process based on the preparation data is executed by the immediate start operation, the immediate start operation is performed. The tray 101 used in the mixed injection process started accordingly cannot be loaded into the mixed injection processing unit 300 via the tray discharge port 701 and the tray loading port 114. On the other hand, the second control unit 500, when the mixed injection process based on the preparation data is executed by the immediate start operation, when all the tray storage units 811 in the storage unit 700 are in use. In this case, the tray 101 accommodated in any one of the tray accommodating portions 811 in the accommodating unit 700 is retracted to the fourth conveying portion 950 or the fifth conveying portion 960. Then, the second control unit 500 controls the storage unit 700 to control the tray 101 on which the medicine used in the mixed injection process executed by the immediate start operation is placed, and the tray loading port 114. And the mixed injection process is executed. The tray 101 evacuated to the fourth transport unit 950 or the fifth transport unit 960 is then returned to the tray storage unit 811.

  In particular, the second control unit 500, when the mixed injection process based on the preparation data is executed by the immediate start operation, when all the tray storage units 811 in the storage unit 700 are in use. The tray 101 corresponding to the mixed injection process based on the preparation data to be executed next out of the trays 101 accommodated in the tray accommodating part 811 in the accommodating unit 700 is transferred to the fourth transport part 950 or the 5 Retreats to the transport unit 960. Then, the second control unit 500 controls the storage unit 700 to control the tray 101 on which the medicine used in the mixed injection process executed by the immediate start operation is placed, and the tray loading port 114. And the mixed injection process is executed. Thereafter, the tray 101 evacuated to the fourth transport unit 950 or the fifth transport unit 960 is transferred to the tray discharge port 701 by the fifth transport unit 960, the second transport unit 920, and the third transport unit 940. To the mixed injection processing unit 300.

DESCRIPTION OF SYMBOLS 1 Mixed injection apparatus 10 Chemical container 11 Syringe 12 Infusion bag 21 1st robot arm 22 2nd robot arm 31 Ampoule cutter 32 Stirrer 33 Mounting shelf 34 Drug reading part 35 Weighing meter 36 Needle bending detection part 37 Mixed injection communication port 100 Mixed injection control Section 101 Tray 101a Electronic paper 101b IC tag 101c IC reader 110 Tray transport section 200 Drug loading section 300 Mixed injection processing section 400 First control section 500 Second control section 600 Host system 700 Storage unit 800 Lifting unit 900 Tray transport section

Claims (1)

A mixed injection processing unit that executes a mixed injection process including an injection step of injecting a medicine in the first container into the second container based on preparation data including information on the first container and information on the second container;
A stirrer used in a stirring step of stirring the chemical in the first container used in the mixed injection process;
A pre-stirring processing unit capable of executing the stirring step before the start timing of the mixed injection processing based on the preparation data;
With
The processing unit of the mixed injection process is different between the stirring step executed by the pre-stirring processing unit for the one preparation data and the injection step executed by the mixed injection processing unit for the preparation data. At least one of the agitation step and the injection step for preparation data can be performed;
The execution start timing is a timing after execution of the stirring step corresponding to one of the preparation data and after at least one of the stirring step and the injection step corresponding to the other preparation data is executed.
Mixed injection device.

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