JP2019083886A - Coinjection device - Google Patents

Abstract

To provide a coinjection device capable of efficiently executing coinjection processing including an agitation process of agitating chemical.SOLUTION: A coinjection device 1 comprises: a coinjection processing part 300 capable of executing coinjection processing of injecting a chemical within a first container into a second container on the basis of preparation data; and a coinjection control part 100 which controls the coinjection processing part 300. In the coinjection processing based on first preparation data by the coinjection processing part 300, the coinjection control part 100 can use the chemical in the first container loaded previously to the coinjection device 1 in association with second preparation data different from the first preparation data.SELECTED DRAWING: Figure 27

Description

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

  A co-infusion apparatus is known that performs a co-infusion process in which a drug such as an anticancer drug contained in a drug container such as an ampoule or vial is aspirated by a syringe and the drug is injected into an infusion bag containing an infusion. (See, for example, Patent Document 1). More specifically, a tray on which one or more medicine containers satisfying the amount of medicine dispensed shown in preparation data is placed is loaded into the co-infusion apparatus, and co-infusion is performed using the medicine containers placed on the tray. Processing is performed.

JP 2012-250016 A

  By the way, in the configuration using only the medicine in the medicine container placed on the tray corresponding to the preparation data in the mixture injection process corresponding to the preparation data, the medicine in the medicine container loaded in the mixture injection device is effectively used It may not be. For example, in the case where the mixed injection process is canceled after the drug container used in the mixed injection process based on the preparation data is loaded into the mixed injection apparatus, or the medicine remains in the medicine container after the mixed injection process, etc. The medicine in the medicine container loaded inside is not used effectively.

  An object of the present invention is to provide a co-infusion apparatus capable of supporting efficient use of a medicine in a medicine container loaded in the co-infusion apparatus.

  A co-infusion apparatus according to the present invention includes a co-infusion processing unit capable of executing co-infusion processing for injecting a drug in a first container into a second container based on preparation data, and a co-infusion control unit controlling the co-infusion processing unit. Prepare. Then, in the co-infusion processing based on the first preparation data by the co-infusion processing unit, the co-infusion control unit associates the second preparation data different from the first preparation data and is previously loaded in the co-infusion apparatus. 1The medicine in the container can be used.

  Further, a first storage in which the co-infusion apparatus stores a first correspondence information indicating a correspondence relationship between the preparation data and the tray, and a tray accommodating unit capable of accommodating at least a plurality of trays on which the first container is placed. A processing unit, and in the co-infusion processing based on the first preparation data by the co-infusion processing unit, the co-infusion control unit includes the first correspondence information in the first correspondence information among the trays accommodated in the tray accommodation unit. It is conceivable that the medicine in the first container contained in the tray associated with the second preparation data can be used.

  Further, the co-infusion apparatus is provided in the co-infusion processing part, and the container placement part on which one or a plurality of the first containers can be placed, and the preparation data and the container placement part are placed on the container placement part And a second storage processing unit that stores second correspondence information indicating a correspondence with the first container, wherein the co-infusion control unit controls the co-infusion processing by the co-infusion processing unit based on the first preparation data. It is possible to use the medicine in the first container stored in the tray corresponding to the second preparation data in the second correspondence information among the first containers placed in the container placement unit It is thought that it is.

  In addition, it is possible to execute the pre-stirring process in which the mixing control unit performs the stirring step of mixing the medicine in the first container in the mixing treatment by the mixing treatment processing unit prior to the start timing of execution of the mixing treatment. It is conceivable that the first container after the pre-stirring process can be placed on the container placement unit.

  In addition, the co-infusion apparatus includes a syringe placement unit on which one or a plurality of syringes can be placed, and the co-infusion control unit is configured to perform the first injection when the medicine remains in the first container after the co-infusion process is performed. (1) After the drug remaining in the container is aspirated by a syringe, the syringe can be placed on the syringe placement unit, and in the mixed injection process, the syringe is housed in the syringe placed on the syringe placement unit It is conceivable that drugs can be used.

  Further, the co-infusion apparatus includes a syringe delivery part capable of taking out a syringe from the co-infusion processing part, and the co-infusion control part is configured to perform the first medicine when the medicine remains in the first container after the co-infusion processing is performed. It is conceivable that the syringe can be moved to the syringe outlet after the medicine remaining in the container is aspirated by the syringe.

  Further, the co-infusion apparatus according to the present invention includes a co-infusion processing unit capable of executing co-infusion processing for injecting the medicine in the first container into the second container based on the preparation data, and a co-infusion control unit controlling the co-infusion processing unit. And a storage unit capable of storing a plurality of container shape information on the shape of the first container for each medicine. Then, the co-infusion processing unit includes a robot arm capable of holding the first container based on the container shape information, and the co-infusion control unit is selected according to a user operation among a plurality of the container shape information The robot arm can be controlled based on container shape information.

  According to the present invention, a co-infusion apparatus is realized that can support efficient use of medicines in a medicine container loaded in the co-infusion apparatus.

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 the external appearance of the co-infusion apparatus according to the embodiment of the present invention. FIG. 3 is a perspective view of a state in which a part of the containing unit of the co-infusion apparatus according to the embodiment of the present invention is omitted. FIG. 4 is a front view of a state in which a part of the main door and the front wall of the co-infusion apparatus according to the embodiment of the present invention is 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 the 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 the 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 the tray conveyance section 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 conveyance section 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 an internal configuration of a 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 the internal structure of the injection needle attaching / detaching device of the co-infusion apparatus according to the embodiment of the present invention. FIG. 16 is a perspective view showing the internal structure of the injection needle attaching / detaching device of the co-infusion apparatus according to the embodiment of the present invention. FIG. 17 is a view showing an example of a photographed image of the needle insertion confirmation camera of the co-infusion apparatus according to the embodiment of the present invention. FIG. 18 is a view showing the configuration of a storage unit of the co-infusion apparatus according to the embodiment of the present invention. FIG. 19 is a view showing a configuration of a storage unit of the co-infusion apparatus according to the embodiment of the present invention. FIG. 20 is a view showing a configuration of a storage unit of the co-infusion apparatus according to the embodiment of the present invention. FIG. 21 is a view showing the configuration of a storage unit of the co-infusion apparatus according to the embodiment of the present invention. FIG. 22 is a flowchart showing an example of the procedure of the mixed injection management process executed by the mixed injection device according to the embodiment of the present invention. FIG. 23 is a view showing an example of a display screen in the loading preparation process executed by the co-infusion apparatus according to the embodiment of the present invention. FIG. 24 is a flow chart showing an example of the procedure of the mixed injection control process executed by the mixed injection device according to the embodiment of the present invention. FIG. 25 is a diagram showing an example of correspondence information used in the co-infusion apparatus according to the embodiment of the present invention. FIG. 26 is a flow chart showing an example of the procedure of the mixed injection start process executed by the mixed injection device according to the embodiment of the present invention. FIG. 27 is a flowchart showing an example of the procedure of the mixed injection control process executed by the mixed injection device according to the embodiment of the present invention. FIG. 28 is a view for explaining an operation example of the co-infusion apparatus according to the embodiment of the present invention. FIG. 29 is a view for explaining an operation example of the co-infusion apparatus according to the embodiment of the present invention. FIG. 30 is a flow chart showing an example of a procedure of batch adjustment inspection processing executed by the co-infusion apparatus according to the embodiment of the present invention. FIG. 31 is a flow chart showing an example of the procedure of batch agitation inspection processing executed by the co-infusion apparatus according to the embodiment of the present invention. FIG. 32 is a flow chart showing an example of the procedure of the batch whole amount collection inspection process executed by the co-infusion apparatus according to the embodiment of the present invention. FIG. 33 is a flow chart showing an example of the procedure of the shape selection process executed by the co-infusion apparatus according to the embodiment of the present invention. FIG. 34 is a view for explaining an error correction function of the co-infusion apparatus according to the embodiment of the present invention. FIG. 35 is a plan view of a rubber plug of an infusion bag used in the co-infusion apparatus according to the embodiment of the present invention. FIG. 36 is a view for explaining an example of a suction process in the co-infusion apparatus according to the embodiment of the present invention. FIG. 37 is a view for explaining a display example in the co-infusion apparatus according to the embodiment of the present invention. FIG. 38 is a view for explaining an operation example of the co-infusion apparatus according to the embodiment of the present invention.

  Hereinafter, embodiments of the present invention will be described with reference to the accompanying drawings for understanding of the present invention. The following embodiments are merely specific examples of the present invention, and are not of the nature to limit the technical scope of the present invention.

First Embodiment
First, the first embodiment will be described. Note that, in each embodiment described below, the same configuration or processing may be denoted by the same reference symbol and description thereof may be omitted.

[Co-infusion apparatus 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. The co-infusion apparatus 1 is installed in a medical facility such as a hospital. In the co-infusion apparatus 1, the anti-cancer agent shown in the preparation data is controlled by the syringe by controlling the operations of the co-infusion processing unit 300 and the accommodation unit 700 based on the preparation data by the co-infusion control unit 100. A co-infusion process is performed in which a drug such as a drug is injected from a first container such as one or more ampoules or vials containing a predetermined amount of the drug into a second container such as an infusion bag. The co-infusion process also includes a process in which a syringe aspirates a drug from a first container such as an ampoule or vial and injects the drug into a second container such as another ampoule or vial.

[Mixed injection control unit 100]
First, a schematic configuration of the co-infusion control unit 100 will be described with reference to FIG. The co-infusion control unit 100 includes a first control unit 400 and a second control unit 500 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 co-infusion 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 performed by any of the control units 500. In addition, it can be considered as another embodiment that the co-infusion control unit 100 includes only one control unit or three or more control units. Furthermore, part or all of the processing performed by the first control unit 400 and the second control unit 500 may be performed by an electronic circuit such as an ASIC or a DSP.

  Further, the first control unit 400 can communicate with a host system 600 such as an electronic medical record system or a dispensing management system which 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 ( After meals, etc. three times a day), medical treatment type (outpatient, hospitalization, etc.), medical treatment department, ward, sick room, etc. are included. Further, for the preparation data, for example, preparation ID, patient information (patient ID, patient name, etc.), doctor information, medicine information, medicine prescribed amount, medicine container type (drug solution containing ampoule, drug solution containing vial, or powder) Containment vials, etc., Preparation contents information (drug container, syringe, kind and number of injection needles used for co-infusion process, etc.), Preparation procedure information (work contents, dissolving medicine, solvent, dissolving dose, solvent amount, sampling amount) Preparation date, prescription classification, dosing date, medical department, ward, designated finish time (or scheduled start time) of preparation, 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. Further, to the first control unit 400, various electric components such as a display 203, a bar code reader 204, and an air cleaning device 205, which will be described later, provided in the medicine loading unit 200 are connected.

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

  The data storage unit 404 is a non-volatile storage device such as a hard disk storing 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 the tray 101, which will be described later, corresponding to each of the 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 upper system 600 to the co-infusion apparatus 1 together with the preparation data.

  Further, the data storage unit 404 stores various databases such as, for example, a needle master, a medicine master, a patient master, a doctor master, a prescription division master, a medical department master, and a ward master. The shape of the needle tip portion of the injection needle is stored in the injection needle master for each type of injection needle. The shape of the needle tip portion of the injection needle includes the outer diameter of the needle tube of the injection needle, the angle of the pointed end, the length of the cut surface (inclined surface), and the like. In addition, the drug master includes drug code, drug name, JAN code (or RSS), medicine bottle code, classification (dosage form: powder medicine (powder), tablet, liquid medicine, external medicine, etc.), specific gravity, medicine type (drug type) Common drug, anticancer drug, poison drug, narcotic drug, potent drug, antipsychotic drug, therapeutic drug etc), combination change, excipient drug, cautions, type of drug container (ampoule, vial), drug container unit drug Information such as storage capacity (predetermined amount), container shape information of the medicine container, and weight of the medicine container are included. The container shape information of the medicine container includes the outer diameter of the medicine container, the thickness of the rubber stopper of the medicine container, the puncture position, the depth of the medicine container, the external image of the medicine container, and the rubber stopper of the medicine container. It includes various information such as a planar image and a registration date of container shape information. In addition, the container type (soft bag, hard type, AL type) of the infusion bag 12 as the information on the infusion bag 12 in which an infusion such as physiological saline or glucose is contained in the medicine master, for example, the infusion bag Information such as the amount of infusion stored in 12 and the amount of fluid that can be infused into the infusion bag 12 is also included.

  Furthermore, a first co-infusion control program for causing the CPU 401 to execute various processes is stored in the data storage unit 404 in advance. The first co-infusion control program is installed in the data storage unit 404 by reading from a recording medium such as a CD, a DVD, a BD, or a flash memory by a reading device (not shown) included in the first control unit 400. May be

  The operation unit 405 includes various operation units such as a keyboard, a mouse, and a touch panel for receiving 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 conveyance unit 110, a touch panel monitor 14, an IC reader 101c, an IC reader 15a, and a tray provided in the co-infusion processing unit 300 described later. Various electric components such as a confirmation camera 41 and a syringe confirmation camera 42 are connected.

  The CPU 501 is a processor that executes processing in accordance with various control programs. The ROM 502 is a non-volatile memory in which a program such as a BIOS executed by the CPU 501 is stored in advance. The RAM 503 is a volatile memory or a non-volatile memory used for expansion 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 and various data for causing the CPU 501 to execute various processes. Specifically, in the data storage unit 504, a second mixed injection control program for causing the CPU 501 to execute mixed injection processing and the like described later is stored in advance. The second co-infusion control program is installed in the data storage unit 504 by reading from a recording medium such as a CD, a DVD, a BD, or a flash memory by a reading device (not shown) included in the second control unit 500. May be The data storage unit 504 also stores the same medicine master as the data storage unit 404, and the second control unit 500 can refer to the medicine master. As another embodiment, the second control unit 500 may be configured to be able to acquire information on the pharmaceutical master via the first control unit 400.

  In the present invention, the first co-infusion control program, the second co-infusion control program, or the first co-infusion control program and the first co-infusion control program for causing the CPU 401 and the CPU 501 to execute various processes in the co-infusion control unit 100. (2) It may be regarded as an invention of a mixed injection control program in which a mixed injection control program is integrated. Further, the present invention is a computer-readable recording medium recording a mixed injection control program in which the first mixed injection control program, the second mixed injection control program, or the first mixed injection control program and the second mixed injection control program are integrated. You may think of it as an invention. Furthermore, the present invention may be regarded as an invention of a co-infusion method including one or more processing procedures performed in the co-infusion apparatus 1 described above.

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

[Pharmaceutical 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 view showing the main part of the internal configuration of the medicine loading unit 200, and the description of the storage unit 700 is omitted.

  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 cleaner 205. The medicine loading unit 200 and the mixed injection processing unit 300 are communicated by the tray loading port 114 (see FIG. 6) and the tray discharge port 701 (see FIG. 21) formed on the side surface of the mixed injection processing unit 300. There is.

  The work table 202 is used to prepare for the mixed injection process performed by the mixed injection apparatus 1, and the bar code reader 204, the tray 101, and the like are placed on the work table 202. Further, on the front surface of the work table 202, a tray discharge port 206 which is opened and closed when the tray 101 discharged from the storage unit 700 is taken out is provided. Further, 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. 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 a control instruction from the first control unit 400. Specifically, on the display 203, preparation data as a candidate for co-infusion in the co-infusion apparatus 1 is displayed. 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 cleaner 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 accommodation unit 700.

  The door 201 is provided on the front of the medicine loading unit 200, and is a transparent member that can be opened and closed vertically. As shown in FIG. 2, the user opens the door 201 a little and puts a hand in the medicine loading unit 200, and performs preparation work of the mixed injection process performed by the mixed injection device 1. Specifically, as shown in FIG. 5, the medicine container 10 used in the mixed injection process performed by the mixed injection apparatus 1 (one example of the first container) is placed on the tray 101 placed on the work table 202. , The syringe 11, and the infusion bag 12 (an example of the second container). The infusion bag 12 contains an infusion of a predetermined amount corresponding to the type of the infusion bag 12, such as physiological saline, glucose, or high-calorie infusion. The medicine contained in the medicine container 10 is, for example, an anticancer drug, but may be a drug other than the anticancer drug. The preparation operation includes, for example, a loading operation of placing the medicine container 10, the syringe 11, and the infusion bag 12 at a predetermined position of the tray 101 and loading the tray 101 into the storage unit 700. . Hereinafter, when the medicine container 10 is an ampoule, the medicine container 10 may be referred to as an ampoule 10A, and when the medicine container 10 is a vial, the medicine container 10 may be referred to as a vial 10B. is there.

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

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

  As shown in FIG. 5, the equipment mounting portion 102 is provided with a support portion 102A that supports the ampoule 10A in an inclined state. Then, the ampoule 10A is set in a state of being erected obliquely by the support portion 102A. As a result, the medicine does not accumulate on the neck portion of the ampoule 10A. Further, in addition to the ampoule 10A, the injection needle 11c and the like to which the cap 11d is attached is also set in a state of being erected obliquely to the support portion 102A.

  The injection needle 11c also includes an injection needle with a syringe filter. Specifically, when the ampoule 10A is used, fragments when the neck of the ampoule 10A is broken may be injected from the syringe 11 into the infusion bag 12, or the fragments may flow into the syringe 11. In order to prevent this, a needle with a syringe filter is used. The syringe filter is a filter generally referred to as a top filter, and has a function of preventing the passage of foreign substances other than drugs. For example, a syringe filter manufactured by Nippon Pall Co., Ltd. is generally known.

  On the other hand, as shown in FIGS. 5 and 9, the vial 10B and the syringe 11 are set in a state of being laid on the equipment placement unit 102. At this time, the syringe 11 is in a state in which the syringe 11a and the injection needle 11c are separated. Of course, the arrangement form in the equipment placement unit 102 described here is an example, and the invention is not limited to this.

  As shown in FIG. 5, the infusion bag holding part 103 is provided with a chuck part 140 for fixing a mixed injection port (neck part) of the infusion bag 12. In the preparation operation, the user sets the infusion bag 12 in the infusion bag holding unit 103 while holding the infusion bag 12 by the chuck unit 140. Further, the infusion bag holding portion 103 is provided with an engagement hole portion 103 a which is used when the infusion bag holding portion 103 is moved up and down.

  The tray 101 is accommodated in the accommodation unit 700 after the medicine container 10, the syringe 11 and the infusion bag 12 are set by the user. In addition, as described later, the plurality of trays 101 can be accommodated in the accommodation unit 700. Thereby, as described later, the tray 101 is automatically supplied from the accommodation unit 700 to the co-infusion 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 discharge port 15 (see FIG. 3) of the mixed injection processing unit 300 in a state where the infusion bag 12 is accommodated after the mixed injection processing in the mixed injection processing unit 300 is completed. Alternatively, it is discharged from the tray discharge port 206 (see FIG. 3) of the medicine loading unit 200 via the storage unit 700. The mixed injection processing unit 300 may be provided with a loading port which allows the user to directly supply the tray 101 from the medicine loading unit 200 to the mixed injection processing unit 300.

[Mixed Injection Processing Unit 300]
Subsequently, a schematic configuration of the mixed injection processing unit 300 will be described.

  As shown in FIGS. 2 to 4, a main door 301, a syringe extraction door 302, a dust storage room door 13, a touch panel monitor 14, a tray discharge port 15 and the like are provided on the front surface of the mixed injection processing unit 300. .

  The main door 301 is opened and closed in order to access the inside of the mixed injection processing chamber 104, for example, when cleaning the inside of the mixed injection processing chamber 104 provided in the mixed injection processing unit 300 or the like. Further, in the co-infusion apparatus 1, it is also possible to dispense the syringe 11 in a state of being filled with the drug, in addition to dispensing the infusion bag 12 into which the drug has been injected. The syringe removal door 302 is opened and closed when the syringe 11 is removed from the co-infusion processing chamber 104.

  The waste storage room door 13 is for removing the waste from the waste storage room 13a for containing wastes such as the medicine container 10 and the syringe 11 after being used in the mixed injection processing in the mixed injection processing room 104. Open and close. Further, the tray discharge port 15 is opened and closed in order to take out the tray 101 on which the infusion bag 12 has been placed after the drug mixture has been mixed and injected by the mixture injection processing in the mixture 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 accordance with a control instruction from the second control unit 500. Further, the touch panel monitor 14 has a touch panel that receives a touch operation by a user. The touch panel monitor 14 can display, for example, an image or a video captured by various cameras described later.

  Further, as shown in FIG. 4, a waste container 13b for discarding a liquid such as an infusion solution stored in the infusion bag 12 and a weighing meter for measuring the weight of the waste container in the waste storage chamber 13a. 13c are provided. The waste container 13b is attachable to and detachable from the dust storage chamber 13a when the dust storage chamber door 13 is opened. A communication port (not shown) communicating with the waste container 13b is formed on the bottom surface of the co-infusion processing chamber 104 above the waste container 13b. The second robot arm 22 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, for example, a load cell that inputs an electric signal corresponding to the weight of the waste container 13b to the second control unit 500.

  Thereby, the second control unit 500 acquires the amount of liquid disposal at the time of disposal of the liquid based on the weighing result of the disposal container 13b by the weighing scale 13c before and after disposal of the liquid to 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 the discard amount determined based on the preparation data etc., and if the collation result is non-coincidence, the error is displayed on the touch panel monitor 14. Display on etc to inform the user. Further, the second control unit 500 records the comparison result in the data storage unit 504 as history information of the mixed injection process. Thereby, it is possible to accurately perform consistency check of the amount of waste from the syringe 11 and management of the amount of waste liquid.

  In addition, as a case where disposal of the liquid using the said syringe 11 is performed, for example, when the liquid quantity in the said infusion bag 12 exceeds the maximum allowable amount preset corresponding to the said infusion bag 12 in the said mixed injection process In some cases, it may be possible to extract and discard the infusion solution from the infusion bag 12 in advance. In such a case, the second control unit 500 measures the amount of liquid extracted from the infusion bag 12 by the syringe 11 using a weighing scale 35 or the like provided in the mixed injection processing chamber 104, It may be collated with the preparation data. Furthermore, the second control unit 500 may check the weighing result by the weighing scale 35 and the weighing result by the weighing scale 13 c.

[Mixed injection processing room 104]
As shown in FIGS. 3 and 4, in the mixed injection processing chamber 104, the first robot arm 21, the second robot arm 22, the ampoule cutter 31, the stirring device 32, the mounting shelf 33, the medicine reading unit 34, and the weighing A total of 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, an injection needle attaching / detaching device 43, a needle insertion confirmation camera 44, a germicidal lamp 45, etc. are provided on the ceiling side of the mixed injection processing chamber 104. There is.

[First Robot Arm 21, Second Robot Arm 22]
The first robot arm 21 and the second robot arm 22 are drive units having an articulated structure, and are provided in a hanging shape by fixing the base end to the ceiling side of the mixed injection processing chamber 104. For example, joints of the first robot arm 21 and the second robot arm 22 are five axes to eight axes, respectively. Then, in the co-infusion apparatus 1, each operation process in co-infusion processing is performed by the first arm 21 and the second robot arm 22 of the double arm type.

  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, and the first robot arm 21 and the second The robot arm 22 performs each operation in the mixed injection process. If the mixed injection processing unit 300 is a structure that can execute the mixed injection processing, for example, a configuration having one robot arm, a configuration including three or more robot arms, or a configuration not using a robot arm It may be

  As shown in FIG. 6, the first robot arm 21 includes a holding unit 25 capable of holding equipment such as the medicine container 10 and the syringe 11, and the holding unit 25 has a predetermined movable range. It is possible to move to any position within. 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 suction and injection of medicine by the syringe 11 A holding part 26 that can be used. In addition, the second robot arm 22 can move the medicine container 10, the syringe 11 and the like to any position within a predetermined movable range.

  As shown in FIG. 7, the holding portion 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. And nut blocks 254 and 255 screwed to the shafts 252 and 253, respectively. The pair of gripping claws 25a are fixed to the nut blocks 254 and 255, respectively. Then, the nut blocks 254, 255 move by the rotation of the screw shafts 252, 253, and the pair of holding claws 25a approach and separate from each other to hold and release the holding portion 25.

  The pair of holding claws 25a is a holding portion having a recess suitable for holding the vial 10B and having a recess on the tip end side suitable for holding the ampoule 10A. Although FIG. 7 shows that both the ampoule 10A and the vial 10B are held, in practice, one ampule 10A or the vial 10B is held.

  The holding portion 25 can also hold the injection needle 11c on which the cap 11d is attached or the syringe 11 by the pair of holding claws 25a. By the way, the second control unit 500 may 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 holding claws 25a of the holding unit 25. It is possible. Therefore, the second control unit 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 holding portion 261 includes a pair of gripping claws 261 a for holding the syringe 11 a of the syringe 11. The pair of gripping claws 261 a are gripping portions that hold and release the syringe 11 a of the syringe 11 by approaching and separating from each other by a mechanism similar to the drive mechanism used in the holding portion 25. Further, in the pair of gripping claws 261a, sloped portions 261b are formed on the opposing surfaces facing each other to incline downward from the upper end surface of the gripping claws 261a toward the opposing surface.

  The plunger holding portion 262 is provided with a pair of holding claws 262 a for holding the hook portion of the plunger 11 b of the syringe 11. The pair of gripping claws 262a is a gripping portion that holds and releases the flange portion of the plunger 11b of the syringe 11 by coming close to and separating from each other by a mechanism similar to the drive mechanism used in the holding portion 25. is there. The gripping claws 262b are fixed to the upper surface of each of the gripping claws 262a. Each of the gripping claws 262 b is a gripping portion that approaches and separates by bringing the pair of gripping claws 262 a closer and apart, and grips not only the syringe 11 but other equipment such as the medicine container 10. In the upper surface on the opposite side of the pair of gripping claws 262a, a recess is formed for the collar of the plunger 11b to enter. Further, the tips of the pair of gripping claws 262b project forward than the pair of gripping claws 262a, and gripping of equipment such as the ampoule 10A and the vial 10B by the pair of gripping claws 262b is easy. The gripping claws 262b may be provided on the gripping claws 261a.

  The moving portion 263 can move the plunger holding portion 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, for example, a motor, a screw shaft rotated by the motor, a nut block screwed to the screw shaft, or a guide. The plunger holding portion 262 is fixed to the nut block, and moves by the movement of the nut block.

  In the case where the second control unit 500 controls the holding unit 25 of the first robot arm 21 or the holding unit 26 of the second robot arm 22 to hold the medicine container 10, Based on the stored container shape information of the medicine container 10, the distance between the pair of holding claws 25a of the holding unit 25 is controlled.

[Tray conveyance unit 110]
In addition, the mixed-infusion processing unit 300 is provided with a tray conveyance unit 110 capable of reciprocating the tray 101 between the tray loading port 114 at the right end in FIG. 6 and the tray conveyance end 110a at the left end. It is done.

  FIG. 9 is a schematic plan view showing an example of the transport path of the tray 101 in the tray transport unit 110. As shown in FIG. The inside of the tray conveyance unit 110 is set to a positive pressure than the inside of the mixed injection processing chamber 104. As shown in FIG. 9, the tray conveyance unit 110 passes the tray 101 at the rear side of the dust storage chamber 13a located below the mixed injection processing chamber 104 and below the dust cover 132a. It is provided to carry. Thereby, the trash storage chamber 13a can be accessed from the front side of the co-infusion apparatus 1. In FIG. 9, the tray 101 moving in the tray conveyance unit 110 is indicated by a two-dot chain line in order to indicate the conveyance path of the tray conveyance unit 110, and a plurality of the trays simultaneously move in the tray conveyance unit 110. There is no 101 present. The tray conveyance unit 110 may be configured to be able to simultaneously convey the plurality of trays 101 between the tray loading port 114 and the tray conveyance end portion 110 a in the tray conveyance unit 110.

  In the tray conveyance start unit 110 b of the tray conveyance unit 110, the tray 101 inserted from the tray loading port 114 can be pulled in internally or the tray 101 can be discharged from the tray loading opening 114. The illustrated belt conveyor is provided. Further, an IC reader 101c and an IC reader 15a capable of reading 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 an RFID tag. The IC reader 101 c is provided in the tray conveyance start unit 110 b into which the tray 101 is loaded from the tray loading port 114, and the IC reader 15 a is configured to eject the tray 101 from the tray discharge port 15. It is provided at the tray conveyance end portion 110a.

  When the second control unit 500 determines that the tray 101 has been inserted from the tray loading opening 114 into the tray conveyance start unit 110b based on a sensor output (not shown), the IC reader 101c causes the IC reader 101c to Reads information from tag 101b. The second control unit 500 reads information from the IC tag 101b by the IC reader 15a when judging that the tray 101 has been inserted into the tray conveyance end portion 110a based on a sensor output (not shown). . Similarly, also when the tray 101 is conveyed from the tray conveyance start unit 110b to the accommodation unit 700 via the tray loading port 114, the second control unit 500 causes the IC reader 101c to It is possible to read information from the IC tag 101b. Then, the second control unit 500 executes a tray collating process or the like for judging the suitability or the like of the tray 101 according to the reading result by the IC reader 101c and the IC reader 15a.

  In addition, if the second control unit 500 determines that the tray 101 has reached a predetermined position in the tray conveyance unit 110 through the tray loading port 114, for example, based on an output of a sensor (not shown). The shutter 111 for communicating and shielding the tray conveyance 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. In FIG. 9, the state in which the equipment placement unit 102 is exposed in the co-infusion processing chamber 104 is shown.

  As shown in FIG. 10, the tray transport unit 110 is a tray for moving up and down the equipment placement unit 102 in the tray 101 moved into the tray transport unit 110 through the tray loading port 114. A lifting unit 112 is provided. The tray lifting unit 112 lifts the equipment placement unit 102 from the lower side by, for example, driving the four shafts 112 a vertically movable in the vertical direction.

  Then, the second control unit 500 causes the tray confirmation camera 41 to take an image after raising the equipment placement unit 102 by the tray lifting unit 112. The tray confirmation camera 41 captures an image of the medicine container 10 and the syringe 11 and the like placed on the equipment placement unit 102 determined in advance from above. The second control unit 500 executes an image recognition process using the image captured by the tray verification camera 41, and the number of medicine containers 10 and the syringes 11 (syringe 11a and injection needle indicated by the preparation data) 11c) It is judged whether or not etc. exists on the equipment mounting portion 102.

  Further, as shown in FIG. 10, the tray transfer end portion 110a located in the left space of the co-infusion processing chamber 104 is provided with a bag elevating part 113 for moving the infusion bag holding part 103 up and down. After transporting the tray 101 to the front of the bag lifting and lowering unit 113, the second control unit 500 hooks the hook portion 113a of the bag lifting and lowering unit 113 into the engagement hole portion 103a from below. Then, the second control unit 500 causes the infusion bag holding unit 103 to ascend by rotationally driving the arc gear portion 113b in which the hook portion 113a is formed by the motor 113c, and the mixed injection port of the infusion bag 12 is The mixed injection communication port 37 is located. Further, the second control unit 500 controls the motor 113 c to drive the bag lifting and lowering unit 113 to incline the infusion solution bag holding unit 103 and to make the mixed solution inlet of the infusion solution bag 12 upward or downward. can do.

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

  Specifically, in the medicine master, the upper limit injection amount that can be injected into the infusion bag 12 without air removal and the upper injection amount are set according to the type of the infusion bag 12. The exceptional inclination angle which is the inclination angle of the mixed injection port of the infusion bag 12 is stored. Then, in the co-infusion 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 removing process is performed to extract air from the infusion bag 12. 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 in contact with the rubber plug of the mixing inlet of the infusion bag 12, and the liquid when extracting the injection needle 11c from the rubber plug May leak out.

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

  On the other hand, when the amount of liquid to be injected into the infusion bag 12 in the co-infusion process exceeds the upper limit infusion rate, the second control unit 500 sets the inclination angle of the co-infusion port of the infusion bag 12 to the exceptional inclination angle. Do. The exceptional inclination angle is an angle at which the inclination angle with respect to the vertical direction of the mixed injection port of the infusion bag 12 is at least smaller than the predetermined angle. That is, the exceptional inclination angle is an angle at which the infusion bag 12 is closer to the vertical than the predetermined 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 plug of the mixed injection port is reduced, The possibility of the liquid leaking out when the injection needle 11c is withdrawn from the rubber plug is reduced. The exceptional inclination angle may be used, for example, when the type of the infusion bag 12 is a so-called AL type having a small amount of air inside.

  Further, as shown in FIG. 6, a dome-shaped light 120 for illuminating the infusion bag 12 transported to the tray transport termination portion 110a and a camera for infusion solution 121 are provided above the tray transport termination portion 110a. There is. The infusion camera 121 is provided at the center of the dome light 120 and reads a barcode attached to the surface of the infusion bag 12. Thereby, the second control unit 500 can determine the suitability of the infusion bag 12 according to the information of the barcode read by the infusion camera 121.

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

  The file portion 31a is a member for notching the neck of the ampule 10A, and 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 ampule 10A, and slides with the neck of the ampule 10A against the file 31a by sliding on the neck of the ampule 10A. Notch processing is applied.

  The head insertion portion 31c is located laterally of the hole 31d into which the head of the notched ampule 10A is inserted from below and the head of the ampule 10A projecting upward from the hole 31d. And a pusher 31e. On the other hand, the drive box 31f has a cam provided inside and a drive motor for driving the cam, and when the cam is driven by the drive motor, the pusher 31e is the ampule 10A by the cam. Reciprocate in the direction toward and away from the head of the

Then, in the co-infusion apparatus 1, the first robot arm 21 holds the ampule 10A by the gripping claws 25a, inserts the head of the ampule 10A into the hole 31d from below, and places the head above the neck upward Make it stand out. Thereafter, when the drive motor of the drive box 31f is driven by the second control unit 500 and the pusher 31e is moved in the direction to push the head of the ampoule 10A, the head is pushed by the pusher 31e. It is broken. At this time, the head folded by the pusher 31e falls into the scrap box 31g. The gripping portion 31h is used by a user to grip the ampoule cutter 31 along a rail 31i (see FIG. 4) that slidably supports the ampoule cutter 31.

[Agitator 32]
When the vial 10B contains a medicine that requires dissolution, such as powder (powder), the stirring device 32 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 the stirring step of stirring the medicine in the vial 10B.

  As shown in FIG. 12, the stirring device 32 is provided with a roller 32a, a pressing portion 32b, a rotation support portion 32c, a support 32d, a horizontal swing mechanism 32e, a support portion 32f, a drive motor 32g, and the like. There is. The two rollers 32a are disposed to face each other at a predetermined interval. One of the rollers 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 vials 10B placed at both axial ends of the roller 32a. .

  Further, the pressing portion 32 b is used to press the vial 10 B placed on the roller 32 a from above, and is a driven roller that rotates with the rotation of the vial 10 B. The pivot support portion 32 c pivots the pressing portion 32 b in a direction to contact or move away from the vial 10 B by a drive motor (not shown).

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

  The support portion 32 f has a U-shaped notch in which the neck of the vial 10 B is fitted at both axial ends of the roller 32 a. When the vial 10B is placed on the roller 32a, the neck of the vial 10B is engaged with the notch. Thus, when the support 32d is rocked in the axial direction of the roller 32a by the horizontal rocking mechanism 32e, the vial 10B is rocked following the rocking of the roller 32a in the axial direction. The medicine in the vial 10B is horizontally stirred.

  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. The medicine in the vial 10B is agitated. At this time, the one roller 32a rotates in the same direction as the other roller 32a by the rotation of the vial 10B. In addition, if at least one of the rollers 32a is eccentrically driven, it is possible to stir the vial 10B placed on the roller 32a also in the vertical direction (vertical direction).

[Mounting rack 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 co-infusion process performed in the co-infusion apparatus 1. The placement shelf 33 is provided at a position where both the first robot arm 21 and the second robot arm 22 can access. In the placing shelf 33, the vial bottle 10B is placed in a state of standing at a predetermined position. On the other hand, the placing shelf 33 is provided with an inclined holding portion for holding the ampoule 10A in an inclined state, and the ampoule 10A is placed on the inclined holding portion in an inclined state. In addition, a neck holding hole of a predetermined diameter to which the neck portion of the syringe 11 is fitted is formed in the placing shelf 33, and the syringe 11 has a neck portion in a state where the injection needle 11c is not attached. Temporarily put down. The size of the placement shelf 33 is preferably determined in advance by the number of the trays 101 that can be accommodated in the accommodation unit 700. For example, the size of the placing shelf 33 can simultaneously place equipments such as 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 accommodated in the accommodation unit 700 It is considered that the size is small.

[Drug reader 34]
The medicine reading unit 34 reads a bar code which is written on a label attached to the medicine container 10 such as the ampoule 10A and the vial 10B and indicates medicine information of the medicine stored. Specifically, as shown in FIG. 13, the medicine reading unit 34 includes two rollers 34a and a bar code reader 34b. The rollers 34a are disposed to face each other at 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 medicine container 10 can be rotated once in the circumferential direction, the entire area of the label attached to the medicine container 10 can be directed to the bar code reader 34 b. Then, the barcode reader 34 b reads a barcode from the label of the medicine container 10 rotated by the roller 34 a.

[Weighing meter 35]
The weighing scale 35 is used to measure the weight of the syringe 11 in the co-infusion process performed in the co-infusion apparatus 1, and the measurement result by the weighing scale 35 is input to the second control unit 500. The weighing 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. Moreover, it is also conceivable that a weighing scale for weighing the medicine container 10 or the syringe 11 or the like is provided on the placing shelf 33 separately from the weighing scale 35.

[Stitch bending detection unit 36]
As shown in FIG. 14, the needle bending detection unit 36 is formed with an elongated hole 36 a into which the injection needle 11 c of the syringe 11 can be inserted and moved. Further, the needle bending detection unit 36 irradiates and receives detection light with the long hole 36 a interposed therebetween, and the first light sensor 361 and the second light sensor 362 are arranged such that the detection lights are not parallel to each other. Equipped with That is, the irradiation directions of the detection light of the first light sensor 361 and the second light sensor 362 are different. The detection results of the first light sensor 361 and the second light sensor 362 are input to the second control unit 500.

  Then, the injection needle 11c attached to the syringe 11 is inserted into the elongated hole 36a by the second robot arm 22 and moved in the vertical direction. At this time, when the detection light of each of the first light sensor 361 and the second light sensor 362 is blocked by the injection needle 11 c, each of the first light sensor 361 and the second light sensor 362 is turned off.

  As a result, the second control unit 500 can detect bending or the like of the injection needle 11c using the position information of the injection needle 11c when the detection light is blocked. In addition, photographing the needle 11 c with a camera and detecting needle bending or the like by image recognition on the photographed image is also considered as another embodiment. Then, when the injection needle 11c is bent, the second control unit 500 is configured to use the injection needle 11c by the second robot arm 22, for example, based on the amount of bending of the injection needle 11c. It is possible to adjust the position of the needle tip etc. at the time of puncturing the rubber plug of the co-injection port of the above.

[Mixed injection communication port 37]
As shown in FIG. 3, the mixed injection communication port 37 is formed at a dome-shaped portion projecting outward on the side wall of the mixed injection processing chamber 104, and the dome-shaped portion is formed vertically of the infusion bag 12. A notch is formed for passing the mixed injection port. Therefore, when the infusion bag holder 103 is raised, the mixed injection port of the infusion bag 12 is positioned 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 conveyance end portion 110 a can be viewed from the co-infusion processing unit 300, and the injection needle 11 c of the syringe 11 is inserted into the infusion bag 12. It is used at the time of image shooting to confirm the condition.

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

[Syringe needle attaching / detaching device 43]
As shown in FIGS. 15 and 16, in the injection needle attaching / detaching device 43, the tip of the injection needle 11c having the cap 11d attached thereto is inserted upward into the hole 43b of the chuck 43a in which the incision is formed. When the motor 43c is driven, the hole 43b of the chuck 43a is expanded by a cam mechanism (not shown) so that the injection needle 11c can be inserted together with the cap 11d. When the drive 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 rotation motor 43e is driven, the gear 43f and the gear 43g are rotated, and the chuck portion 43a is rotated to rotate the cap 11d and the injection needle 11c.

  Each of the injection needle 11c and the cap 11d is provided with a rib that contacts when the cap 11d is attached to the injection needle 11c and rotates in the circumferential direction. Therefore, when the cap 11d of the injection needle 11c is rotated by the chuck 43a, the injection needle 11c rotates together with the cap 11d, and is attached to and detached from the syringe 11a. Further, in the injection needle attaching / detaching device 43, the injection needle is brought close to or separated from the chuck portion 43a by the second robot arm 22 in a state where the cap 11d is held by the chuck portion 43a. It is also possible to automatically attach and remove the cap 11d with respect to 11c. In the injection needle attaching / detaching device 43, since the tip of the injection needle 11c is directed upward, the tip opening of the syringe 11a from which the injection needle 11c is removed is directed upward, and the liquid drips from the neck opening of the syringe 11a. Can be prevented.

[Needle insertion confirmation camera 44]
Further, the needle insertion confirmation camera 44 photographs the infusion bag 12 located outside the co-infusion processing chamber 104 and the syringe 11 in the co-infusion processing chamber 104 so as to be contained in one image. The second control unit 500 shoots the direction of the needle insertion confirmation transparent window 38 by the needle insertion confirmation camera 44 when the rubber plug of the mixed injection port of the infusion solution bag 12 is punctured by the injection needle 11 c. Then, a photographed image by the needle insertion confirmation camera 44 is displayed on the touch panel monitor 14, for example. Here, FIG. 17 is an example of a photographed image by the needle insertion confirmation camera 44. Thereby, the user can confirm whether the front end side of the injection needle 11c is located in the infusion bag 12 by the photographed image. The photographed image is stored, for example, in a storage unit such as a hard disk provided inside or outside of the co-infusion apparatus 1 for final inspection. When it is determined that the user operates the OK button on the touch panel monitor 14 on which the photographed image is displayed and the co-infusion process is properly completed, the infusion bag 12 is lowered by the bag lifting unit 113. , Is returned to the tray 101.

[Septic lamp 45]
The germicidal lamp 45 is turned on, for example, three hours before the start of the co-infusion 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 sterilizing light blocked by the first robot arm 21 and the second robot arm 22 decreases, and the inside of the mixed injection processing chamber 14 can be evenly disinfected. In the mixed injection processing unit 300, the air in the mixed injection processing chamber 104 is sucked from a slit 104b (see FIGS. 3 and 4) formed in the lower portion of the side wall of the mixed injection processing chamber 104 and the mixed injection processing chamber 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 which cleans the outside air from an intake port formed in a ceiling portion of the mixed injection processing chamber 104 and guides the outside air to the mixed injection processing chamber 104 and the like.

  Subsequently, the accommodation unit 700 will be described with reference to FIGS. 18 to 21. 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 view showing an internal configuration of the accommodation unit 700. As shown in FIG. In addition, below, it may explain using the direction of the upper and lower, right and left and front and back shown in FIGS. 18-21.

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

  The tray loading unit 710 includes a shutter 712 that opens and closes a tray loading opening 711 used to load the tray 101 into the storage unit 700, and a driving unit 713 used to open and close the shutter 712. The driving unit 713 is a belt conveyor including, for example, 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 elevating 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 ejection port 206. Specifically, the tray loading port 711 is disposed at a position higher than the tray ejection port 206. It is done.

  The elevating unit 800 includes a movable case 810 supported so as to be vertically movable up and down, a plurality of stages of tray accommodating portions 811 arranged in the vertical direction in the movable casing 810, and the tray accommodating portion 811. Drive units 812 and 813 used for loading and unloading the tray 101, and an elevating mechanism 820 for moving the movable housing 810 up and down. The movable housing 810 is slidably supported in the vertical direction by, for example, a rail (not shown) formed on the inner surface of the housing 700. The movable housing 810 is positioned such that at least the uppermost tray accommodating portion 811 is positioned above the tray loading port 711 and the lowermost tray accommodating portion 811 is positioned lower than the tray loading port 711 It is possible to move up and down between the In particular, the movable housing 810 is capable of moving the tray 101 between the tray storage portion 811 and the tray loading portion 710, and the tray storage portion 811 and the tray conveyance. Between the units 900, the tray 101 is moved up and down within a range where the tray 101 can be moved.

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

  Therefore, even if the elevating unit 800 is provided with three or more stages of the tray accommodating portions 811, it is possible to drive each of the tray accommodating portions 811 by using the two driving portions 812 and 813. . Therefore, in the co-infusion apparatus 1, compared to the case where a drive unit such as a motor is provided for each tray accommodation unit 81, it is possible to suppress dust generation and cost in the elevating unit 800, and move vertically. It is possible to reduce the weight of the movable housing 810.

  Here, the magnet gear 812a and the magnet gear 813a are disposed at different positions in the vertical direction. Specifically, the magnet gear 812 a is disposed at a position opposite to 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. It is arranged. Further, the magnet gear 813a is located below the magnet gear 812a, and is disposed at a position where the tray 101 can move between the tray accommodation portion 811 and the tray conveyance portion 900. The magnetic gear 816 is disposed at a position facing the magnet gear 816.

  Thus, in the storage unit 700, the tray 101 can be transported, for example, between the tray storage portion 811 and the tray transport portion 900 by effectively using the area under the work table 202. is there. Hereinafter, the position of the tray storage portion 811 capable of carrying the tray 101 from the work table 202 into the tray storage portion 811 is referred to as a first movement position, and between the tray storage portion 811 and the tray conveyance portion 900. The position of the tray accommodating portion 811 to which the tray 101 can move may be referred to as a second movement position.

  The elevating 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 causes the belts 822 to travel in the vertical direction by driving the stretching rollers 823. Each of the belts 822 is connected to the movable housing 810. The elevating mechanism 820 moves the movable housing 810 in the vertical direction by causing the belts 822 to travel in the vertical direction by forward or reverse rotation of the motor 821.

  The tray conveyance unit 900 includes a first conveyance unit 910, a second conveyance unit 920, an IC reader 930, and a third conveyance 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 conveyance unit 910, the second conveyance unit 920, and the third conveyance unit 940 is a belt conveyor including a motor, a gear, a tension roller, a belt, etc., and the belt is the motor, the The tray 101 driven on the belt can be transported 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 is capable of transporting the tray 101 placed on the first transport unit 910 in the left-right direction, and the usable state. It is movable between a retracted state (see FIG. 21) which is retracted downward from the lower side. The third conveyance unit 940 can convey the tray 101 between the second conveyance unit 920 and the tray discharge port 701 when the second conveyance unit 920 is in the usable state.

  For example, when shifting from the retracted state to the usable state, the second conveyance unit 920 holds the tray 101 placed at a predetermined position on the first conveyance unit 910 and holds the tray 101 upward. As a result, the tray 101 can be transported to and from the third transport unit 930. 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. The tray 101 is transferred to the first conveyance unit 910 by moving downward.

  Thus, the second transport unit 920 can transport the tray 101 discharged from the tray storage unit 811 onto the first transport unit 910 to the third transport unit 940 in the usable state. It is possible. In addition, the second transport unit 920 receives the tray 101 supplied from the co-infusion processing unit 300 via the tray discharge port 701 in the usable state via the third transport unit 940, It is possible to transport to the first transport 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. 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 capable of receiving a plurality of the trays 101, and the receiving unit 700 carries in the tray 101 to the stock shelf and the stock. A configuration capable of arbitrarily carrying out the tray 101 from the shelf is also conceivable. As a result, it is possible to temporarily stock a large number of the trays 101 on the stock shelf and automatically discharge them as needed. Such a configuration is, for example, the case where the co-infusion apparatus 1 has a batch preparation inspection function to be described later, and it is necessary to temporarily stock the plurality of trays 101 which have not been inspected after completion of the co-infusion process. It is suitable.

  In addition, the stock shelf is provided with a keyed door that is opened and closed in order to take out the tray 101 from a position different from the side of the accommodation unit 700 with respect to the individual accommodation portion in which the tray 101 is individually accommodated It is possible to be Thus, for example, it is possible for the user to take out the trays 101 from the stock shelf as needed, collectively and check them, and the user who can take out the trays 101 may have a key for the door. It is possible to limit to the user.

[Mixed injection processing]
Next, in the co-infusion apparatus 1, an example of a basic processing procedure of the co-infusion process executed by the co-infusion processing part 300 controlling the co-infusion control part 100 will be described. In the co-infusion process, as described below, the second control unit 500 controls the first robot arm 21 and the second robot arm 22 or the like to obtain one or more of the preparation data based on the preparation data. The drug is sucked from the drug container 10 by the syringe 11 and injected from the syringe 11 into another container such as the infusion bag 12.

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

  When the tray 101 is supplied to the tray conveyance unit 110, the second control unit 500 reads identification information of the tray 101 from the IC tag 101b of the tray 101 by the IC reader 101c. 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 co-infusion process. After that, the second control unit 500 causes the equipment mounting unit 102 of the tray 101 to ascend by the tray elevating unit 112 of the tray conveyance unit 110 and expose it to the co-infusion processing chamber 104.

  Next, the second control unit 500 shoots the equipment placement unit 102 with the tray confirmation camera 41. Then, the second control unit 500 performs the image recognition processing based on the photographed image by the tray confirmation camera 41, the position and the orientation of the equipment such as the ampoule 10A and the syringe 11 mounted on the equipment mounting unit 102. Understand In particular, every time the second control unit 500 takes out the ampoule 10A or the syringe 11 from the equipment placement unit 102, the second confirmation unit 500 captures an image of the equipment placement unit 102 with the tray confirmation camera 41. The positions and orientations of the ampoule 10A and the syringe 11 are grasped.

  Subsequently, the second control unit 500 causes the syringe 11 placed on the equipment placement unit 102 exposed to the inside of the co-infusion processing chamber 104 to be placed on the placement shelf 33 by the first robot arm 21. Temporarily put. Further, the second control unit 500 sets the ampoule 10 </ b> A placed on the equipment placement unit 102 in the medicine reading unit 34 by the first robot arm 21. Then, the second control unit 500 causes the medicine reading unit 34 to read information such as the type of medicine stored in the ampoule 10A.

  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 sets the second injection needle 11c to the placing shelf 33. Temporarily put. 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. A cap 11 d is attached to the injection needle 11 c placed on the equipment placement unit 102, and the cap 11 d is attached and detached by the injection needle attaching / detaching device 43. It is also conceivable that the injection needle 11 c is set in the tray 101 in a state of being attached to the syringe 11 a of the syringe 11. In this case, the process of setting the syringe 11 to the injection needle 11c is omitted.

  Then, when the second control unit 500 takes out all the equipment on the equipment mounting unit 102, the second mounting unit 102 is lowered by the tray lifting and lowering unit 112 of the tray conveyance unit 110 and the tray 101 is moved. Back to. The second control unit 500 confirms whether or not all the equipment on the equipment mounting unit 102 has been taken out by image recognition processing 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 conveyance unit 110 to convey the tray 101 to the tray conveyance end unit 110 a. Next, the second control unit 500 causes the mixed injection processing chamber 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 conveyance unit 110 It is positioned at the mixed injection communication port 37 formed at 104.

  Then, the second control unit 500 causes the second robot arm 22 to move the ampoule 10A set in the medicine reading unit 34 to the placing shelf 33. Next, the second control unit 500 takes out the syringe 11 from the placing rack 33 by the first robot arm 21 and sets the syringe 11 in the second robot arm 22. Subsequently, the second control unit 500 causes the second robot arm 22 to move the syringe 11 to the injection needle attaching / detaching device 43 to set the injection needle 11 c in the syringe 11. Thereafter, the second control unit 500 causes the second robot arm 22 to move the syringe 11 to the needle bending detection unit 36, and detects the presence or absence of the bending of the injection needle 11c. It is also conceivable that the injection needle 11 c is set in the tray 101 in a state of being attached to the syringe 11. In this case, the process of setting the syringe 11 to the injection needle 11c is omitted.

  Next, the second control unit 500 takes out the ampoule 10A from the placing shelf 33 by the first robot arm 21 and breaks the head of the ampoule 10A using the ampoule cutter 31. Then, the second control unit 500 causes the ampoule 10A and the syringe 11 to approach each other by the first robot arm 21 and the second robot arm 22, and the injection needle 11c of the syringe 11 is moved to the ampoule 10A. Insert inside After that, the second control unit 500 operates the plunger 11b by the second robot arm 22 to suck the medicine having a predetermined amount according to the preparation data from the ampoule 10A by the syringe 11.

  At this time, the first robot arm 21 and the second robot arm 22 gradually make the postures of the ampoule 10A and the syringe 11 oblique. For example, with the mouth of the ampoule 10A directed vertically upward and the injection needle 11c of the syringe 11 directed vertically downward, some amount of medicine is sucked from the ampoule 10A, and then the ampoule 10A is vertically The medicine is moved to the side of the mouth (neck) by tilting about 10 degrees with respect to the direction. As a result, the tip of the injection needle 11c of the syringe 11 can be sucked up without leaving the medicine as much as possible without being attached to the bottom of the ampoule 10A.

  Thereafter, the second control unit 500 controls any one or both of the first robot arm 21 and the second robot arm 22 to suck the ampoule 10A and the medicine after the medicine is suctioned. The syringe 11 in the above state is moved within the imaging range of the syringe verification camera 42. Then, the second control unit 500 photographs the ampule 10A and the syringe 11 at one time by the syringe confirmation camera 42, and records the photographed image in the data storage unit 504 as an inspection image. For example, the syringe confirmation camera 42 photographs the predetermined imaging range. On the other hand, the syringe confirmation camera 42 allows the second control unit 500 to take an image of the ampoule 10A and the syringe 11 after being moved by the first robot arm 21 and the second robot arm 22 at one time. It is also conceivable that the imaging range of 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 control unit 500 causes the second robot arm 22 to move the syringe 11 to the needle bending detection unit 36, and detects the presence or absence of the bending of the injection needle 11c. Then, the second robot arm 22 moves the syringe 11 to the injection needle attaching / detaching device 43 to attach the cap 11 d to the injection needle 11 c. 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 the rotation operation of the cap 11d by the first robot arm 21 and the second robot arm 22.

  The second control unit 500 opens the dust cover 132a, and the cap on which the injection needle 11c held by the injection needle attaching / detaching device 43 by the first robot arm 21 is attached to the injection needle 11c. It is dropped into the waste storage chamber 13a together with 11d and discarded. Thereafter, the second control unit 500 causes the first robot arm 21 to set the injection needle 11 c with the syringe filter from the placing rack 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 so that the injection needle 11 c is attached to the syringe 11. Also in this case, the second control unit 500 causes the second robot arm 22 to move the syringe 11 to the needle bending detection unit 36, and detects the presence or absence of the bending of the injection needle 11c. As described above, in the co-infusion apparatus 1, the injection needle 11c is replaced between when the medicine is sucked from the ampoule 10A and when the infusion solution is injected into the infusion bag 12, and fragments of the ampoule 10A are the infusion bag It is prevented that it mixes in 12.

  Then, the second control unit 500 punctures the injection needle 11 c of the syringe 11 with the rubber plug of the mixed injection port of the infusion bag 12 conveyed to the tray conveyance terminal end 110 a by the second robot arm 22. The mixed drug in the syringe 11 is injected into the infusion bag 12. On the other hand, the second control unit 500 opens the dust cover 132a and causes the first robot arm 21 to drop the ampoule 10A into the dust storage chamber 13a and discard it. In addition, after 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 cap 11 d to the injection needle 11 c of the syringe 11, The syringe 11 is dropped into the waste 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 completion of the mixed injection process. In the preparation inspection process, for example, the second control unit 500 causes the touch panel monitor 14 to display various photographed images captured in the mixed injection process, and receives an operation of the inspection completion of the mixed injection process. Thus, the user can inspect the suitability of the co-infusion process while looking at the touch panel monitor 14. Then, when the second control unit 500 receives the inspection completion operation, the second control unit 500 conveys the tray 101 to the tray discharge port 15 so that the tray 101 can be taken out.

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

  When the tray 101 is supplied to the tray conveyance unit 110, the second control unit 500 reads identification information of the tray 101 from the IC tag 101b of the tray 101 by the IC reader 101c. 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 co-infusion process. After that, the second control unit 500 causes the equipment mounting unit 102 of the tray 101 to ascend by the tray elevating unit 112 of the tray conveyance unit 110 and expose it to the co-infusion processing chamber 104.

  Next, the second control unit 500 shoots the equipment placement unit 102 with the tray confirmation camera 41. Then, the second control unit 500 performs the image recognition processing based on the photographed image by the tray confirmation camera 41, the position of the equipment such as the vial 10B and the injector 11 mounted on the equipment mounting unit 102, Understand the direction. In particular, every time the second control unit 500 takes out the vial 10B or the syringe 11 from the equipment placement unit 102, the second confirmation unit 500 captures an image of the equipment placement unit 102 with the tray confirmation camera 41, and uses the photographed image The position and orientation of the latest vial 10B and the syringe 11 are grasped.

  Subsequently, the second control unit 500 causes the syringe 11 placed on the equipment placement unit 102 exposed to the inside of the co-infusion processing chamber 104 to be placed on the placement shelf 33 by the first robot arm 21. Temporarily put. Further, the second control unit 500 sets the vial 10 </ b> B placed on the equipment placement unit 102 in the medicine reading unit 34 by the first robot arm 21. Then, the second control unit 500 causes the medicine reading unit 34 to read information such as the type of medicine stored in the vial 10B.

  Next, when the second control unit 500 takes out all the equipment on the equipment mounting unit 102, the tray lifting and lowering unit 112 of the tray conveyance unit 110 causes the equipment mounting unit 102 to be lowered to the tray. Return to 101. The second control unit 500 confirms whether or not all the equipment on the equipment mounting unit 102 has been taken out by image recognition processing 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 conveyance unit 110 to convey the tray 101 to the tray conveyance end unit 110 a. Next, the second control unit 500 causes the mixed injection processing chamber 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 conveyance unit 110 It is positioned at the mixed injection communication port 37 formed at 104.

  Then, the second control unit 500 causes the second robot arm 22 to move the vial 10B set in the medicine reading unit 34 to the placing shelf 33. On the other hand, in parallel with the movement process, the second control unit 500 is configured to move the injection needle 11c of the syringe 11 placed on the equipment placement unit 102 by the first robot arm 21 to the cap 11d. It sets to the said injection needle attachment or detachment apparatus 43 with the mounted state.

  Next, the second control unit 500 takes out the syringe 11 from the placing rack 33 by the first robot arm 21 and sets the syringe 11 in the second robot arm 22. Subsequently, the second control unit 500 causes the second robot arm 22 to move the syringe 11 to the injection needle attaching / detaching device 43 to set the injection needle 11 c in the syringe 11. Thereafter, the second control unit 500 causes the second robot arm 22 to move the syringe 11 to the needle bending detection unit 36, and detects the presence or absence of the bending of the injection needle 11c. It is also conceivable that the injection needle 11 c is set in the tray 101 in a state of being attached to the syringe 11 a of the syringe 11. In this case, the process of setting the syringe 11 to the injection needle 11c is omitted.

  Subsequently, the second control unit 500 punctures the injection needle 11c of the syringe 11 with the rubber plug of the mixed injection port of the infusion bag 12 transported to the tray transport end portion 110a by the second robot arm 22. Then, the infusion solution having the dissolution amount indicated by the preparation data is aspirated from the infusion bag 12. On the other hand, the second control unit 500 causes the first robot arm 21 to take out the vial 10B placed on the placing shelf 33.

  Then, the second control unit 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 the injection needle 11c of the syringe 11 is moved to the second position. The vial 10B is punctured. Thereafter, the second control unit 500 operates the plunger 11b with the second robot arm 22 to inject the infusion solution in the syringe 11 into the vial 10B. As described above, when the medicine is a powder, in the co-infusion process, a dissolution step of extracting the infusion from the infusion bag 12 with the syringe 11 and injecting the infusion into the vial 10 B from the syringe 11 is performed. Be done. Thereby, the medicine in the vial 10B is dissolved by the infusion. At this time, in the posture of the syringe 11 and the vial 10B, the injection needle 11c of the syringe 11 is directed vertically downward, and the mouth of the vial 10B is directed vertically upward.

  Next, the second control unit 500 causes the first robot arm 21 to set the vial 10 </ b> B into which the infusion has been injected to the stirring device 32. Thereby, in the stirring device 32, a stirring step is performed in which the medicine and the infusion in the vial 10B are stirred. The stirring time in the stirring step is predetermined by, for example, the type of the medicine. Further, the stirring time may be predetermined for each combination of the medicine and the infusion, and may be changed according to the amount of medicine in the vial 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, after the completion of the stirring process, the second control unit 500 executes a stirring inspection process for checking the stirring result by the stirring process. In the stirring inspection process, the second control unit 500 controls the first robot arm 21 to move the vial 10B to a posture and a position where the bottom or the side of the vial 10B can be viewed by the user. The user awaits a confirmation operation on the touch panel monitor 14 or the like. Further, the second control unit 500 controls the first robot arm 21 in accordance with a predetermined operation on the touch panel monitor 14 so that the user can view the bottom or the side of the vial 10B from different angles. A swing process is performed to move the vial 10B to a plurality of states (posture and position). This allows the user to check the degree of dissolution of the drug in the vial 10B from different angles.

  Thereafter, when the confirmation operation is performed, the second control unit 500 advances the processing step of the mixed injection processing to the next. On the other hand, when the second control unit 500 performs a predetermined re-stirring operation, the second control unit 500 resets the vial 10B to the stirring device 32 without advancing the processing step of the mixed injection processing next time. Rerun the stirring process. In the stirring inspection process, the second control unit 500 may display on the touch panel monitor 14 a photographed image of the bottom portion or the side surface of the medicine container 10 photographed after the stirring step.

  Then, the second control unit 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 the injection needle 11c of the syringe 11 is moved to the second position. The vial 10B is punctured. Thereafter, the second control unit 500 operates the plunger 11b with the second robot arm 22 so that the mixed drug in the vial 10B is aspirated by the syringe 11. At this time, in the posture of the syringe 11 and the vial 10B, the mouth of the vial 10B is directed vertically downward, and the injection needle 11c of the syringe 11 is directed vertically upward.

  After that, the second control unit 500 controls one or both of the first robot arm 21 and the second robot arm 22 so that the vial 10B and the medicine after the medicine is aspirated. The aspirated syringe 11 is moved within the imaging range of the syringe verification camera 42. Then, the second control unit 500 photographs the vial 10B and the syringe 11 at one time by the syringe confirmation camera 42, and records the photographed image in the data storage unit 504 as an inspection image. For example, the syringe confirmation camera 42 photographs the predetermined imaging range. On the other hand, the syringe confirmation camera so that the second control unit 500 can photograph the vial 10B and the syringe 11 after being moved by the first robot arm 21 and the second robot arm 22 at one time. It is also conceivable that the 42 imaging ranges can be changed.

  Then, the second control unit 500 punctures the injection needle 11 c of the syringe 11 with the rubber plug of the mixed injection port of the infusion bag 12 conveyed to the tray conveyance terminal end 110 a by the second robot arm 22. The mixed drug in the syringe 11 is injected into the infusion bag 12. As described above, in the co-infusion process, an injection step of suctioning the medicine from the vial 10B by the syringe 11 and injecting the medicine from the syringe 11 into the infusion bag 12 is performed.

  On the other hand, the second control unit 500 opens the dust cover 132a and causes the first robot arm 21 to drop the vial 10B into the dust storage chamber 13a and discard it. In addition, after 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 cap 11 d to the injection needle 11 c of the syringe 11, The syringe 11 is dropped into the waste 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 completion of the mixed injection process. In the preparation inspection process, for example, the second control unit 500 causes the touch panel 14 to display various photographed images captured in the mixed injection process, and receives an operation of the inspection completion of the mixed injection process. Thus, the user can inspect the suitability of the co-infusion process while looking at the touch panel monitor 14. Then, when the second control unit 500 receives the inspection completion operation, the second control unit 500 conveys the tray 101 to the tray discharge port 15 so that the tray 101 can be taken out.

  It is also conceivable that the drug contained in the vial 10B is a drug such as a drug solution which does not need to be dissolved. The co-infusion process in this case is the same as the co-infusion process when the medicine contained in the vial 10B is a medicine such as a powder which needs to be dissolved, except that the stirring step is not performed. Therefore, the explanation is omitted. Further, even if the medicine contained in the vial 10B is a liquid, the stirring process may be executed depending on the type of the medicine.

  Further, in the mixed injection process at the time of injecting the drug solution contained in the vial bottle 10B into the infusion bag 12 as it is, a mixed drug for sucking the infusion from the infusion bag 12 and injecting it into the vial bottle 10B is stirred. It is the same as the mixed injection process at the time of injecting the powder contained in the vial 10B into the infusion bag 12 except that the process for producing is not performed.

  Hereinafter, an example of the procedure of the co-infusion management process, the loading preparation process, the co-infusion start process, and the co-infusion control process performed by the co-infusion control unit 100 in the co-infusion device 1 will be described with reference to FIGS. .

[Mixed injection management process]
First, the co-infusion management process will be described with reference to FIG.

<Step S10>
In step S10, the first control unit 400 generates a prescription selection screen M1 on which selection candidates of the preparation data to be subjected to the co-infusion process in the co-infusion apparatus 1 are arranged and causes the display 203 to display the screen. Here, when there are a plurality of selection candidates of the preparation data to be subjected to the co-infusion process in the co-infusion apparatus 1, the preparation data of the selection candidates are arranged according to the preset sorting conditions on the prescription selection screen M1. It is displayed in the state. The sorting conditions are determined, for example, by any one or a combination of the preparation date, dosing date, prescription classification, and preparation data issuance date by the co-infusion apparatus 1. Then, the user refers to the prescription selection screen M1, and the medicine container 10, the syringe 11, etc. of the number necessary for the preparation data displayed on the top of the prescription selection screen M1 in the co-infusion apparatus 1 The tray 101 is placed on the tray 101, and the tray 101 is loaded into the mixed injection processing unit 300.

  FIG. 23 is a diagram showing an example of the prescription selection screen M1. In the prescription selection screen M1 shown in FIG. 23, a search condition display section D1 in which a search condition input field for narrowing down the selection candidates is arranged, and a prescription display section in which the preparation data of the selection candidates are arranged side by side D2 etc. are included. In the search condition display section D1, an extraction key D11 for starting extraction processing for narrowing down the selection candidates of the preparation data according to the search condition is arranged.

  In addition, it is displayed whether the preparation data includes, in the prescription drug, the same kind of drug remaining in the drug container 10 in the co-infusion process performed in the past, in the prescription display portion D 2. The medicine presence / absence display part D21 is included. That is, it is indicated in the residual drug presence / absence display part D21 whether or not it is preparation data which can execute the co-infusion process using the residual drug. For example, in the residual drug presence / absence display section D21, it is indicated by information such as characters, symbols, figures, or illustrations whether or not the residual drug is usable preparation data.

  By the way, the case where operation | use of using the said remaining drug by other said co-infusion process is unnecessary is also considered. Therefore, the first control unit 400 can change the ON / OFF function of the residual medicine using the residual medicine generated in the past mixed injection processing in another mixed injection processing according to the user operation in the initial setting and the like. It is. This allows the user to arbitrarily switch whether to receive support for using the remaining drug in the other co-infusion process. The first control unit 400 may be configured to be capable of switching ON / OFF the residual drug use function according to the user operation on the prescription selection screen M1. The first control unit 400 executes processing after step S16 described later when the residual drug use function is ON, and after step S16 described later when the residual drug use function is OFF. It is possible not to execute the process of Further, it is also conceivable that the first control unit 400 hides the remaining drug presence / absence display part D21 on the prescription selection screen M1 when the remaining drug use function is OFF.

  The first control unit 400 has a sorting condition setting function of setting the sorting condition according to the user operation on the operation unit 405 in the initial setting and the like. For example, the first control unit 400 can change the sort condition and change the display order of the preparation data also on the prescription selection screen M1. That is, when the described part of each display item of the prescription display unit D2 is operated by the mouse or touch panel of the operation unit 405, the first control unit 400 performs ascending or descending order for the operated display item. It is possible to rearrange the preparation data to be

<Step S11>
In step S11, the first control unit 400 determines whether the preparation data has been input. For example, the preparation data is input to the first control unit 400 when the preparation data is received from the host system 600 or when the bar code reader 204 reads a bar code indicating the preparation data.

  Here, when the first control unit 400 determines that the preparation data is input (Yes side at S11), the process is shifted to step S12, and when the preparation data is not input (No side at S11) , Shift the process to step S13.

<Step S12>
In step S12, the first control unit 400 causes the data storage unit 404 to store the preparation data determined to have been input in step S11. Further, when the prescription selection screen M1 is displayed, the first control unit 400 updates the display content of the prescription selection screen M1 as needed.

<Step S13>
Then, in step S13, the first control unit 400 determines whether or not an extraction start operation for extracting specific preparation data from the preparation data of the selection candidate has been performed. Specifically, the first control unit 400 sets the search condition in the search condition display unit D1 by a user operation on the operation unit 405, and the extraction is performed according to whether the extraction key D11 is operated. Determine if there is a start operation.

  Here, if the first control unit 400 determines that the extraction start operation has been performed (Yes in S13), the process proceeds to step S131, and if the extraction start operation is not performed (No in S13) , Shift the process to step S14.

<Step S131>
In step S131, the first control unit 400 extracts the preparation data as a selection candidate according to the search condition. For example, in the prescription selection screen M1 shown in FIG. 23, “2012/07/12” is input to the input column of the dispensing date indicating the scheduled execution date of the mixed injection processing, and the extraction result of the preparation data is It is an example displayed.

<Step S132>
In step S132, the first control unit 400 displays the prescription selection screen M1 in which the preparation data extracted in step S131 is arranged, and returns the process to step S11. For example, in the case where the prescription selection screen M1 shown in FIG. 23 is set in advance to be arranged and displayed from the top in ascending order of the dosing date, the plurality of preparation data extracted in the step S131 are displayed. It is an example.

<Step S14>
On the other hand, in step S14, the first control unit 400 determines whether a user operation for selecting any of the preparation data has been performed on the operation unit 405. Here, when the first control unit 400 determines that the selection operation of the preparation data has been performed (Yes in S14), the process proceeds to step S15, and until the selection operation of the preparation data is performed. (No in S14) shifts the process to step S11.

<Step S15>
In step S15, the first control unit 400 transmits the preparation data selected by the selection operation of the step S14 to the second control unit 500. The first control unit 400 generates mixed injection control data for causing the mixed injection processing unit 300 to execute mixed injection processing based on the prepared data, not limited to the prepared data itself, and the mixed injection control data may be converted to the mixed injection control data. It may be transmitted to the second control unit 500.

<Step S16>
Next, in step S16, the first control unit 400 causes the medicine to remain in the medicine container 10 used when the co-infusion process is performed on the preparation data selected in the step S14. Determine if you want to Specifically, the first control unit 400 sets the predetermined amount in the medicine container 10 based on the dispensed amount of the medicine based on the preparation data and the predetermined amount of the medicine stored in the medicine container 10. It is determined before the end of the co-infusion process whether less than the amount of drug remains. Thereby, even before the co-infusion process ends, when displaying a selection candidate to be a target of the next co-infusion process in step S181 or S19 described later, the adjustment data capable of using the residual drug can be used. It is possible to display preferentially.

  For example, when the dispensing amount of the medicine is 20 ml and the predetermined amount of the medicine container 10 is 30 ml, the first control unit 400 determines that the dispensing amount of the one medicine container 10 is 30 ml, which is the predetermined amount It is determined that 10 ml of the drug remains in the drug container 10 based on the difference from 40 ml. In addition, when the dispensed amount of the medicine is 40 ml and the predetermined amount of the medicine container 10 is 30 ml, the first control unit 400 is the total amount of the two medicine containers 10, 60 ml and the dispensed amount. It is determined that 20 ml of the drug remains in the drug container 10 based on the difference from 40 ml.

  Here, when the first control unit 400 determines that the drug remains in the drug container 10 (Yes in S16), the process proceeds to step S17, and it is determined that the drug does not remain in the drug container 10. Then (No in S16), the process proceeds to step S11. As described above, before the co-infusion process is completed, the first control unit 400 determines whether or not the medicine remains in the medicine container 10 when the co-infusion process is completed. Therefore, the process after step S17 is performed before the user starts preparation of medicines and instruments necessary for the next co-infusion process. In addition, it is also considered as another embodiment that it is judged whether the medicine in the medicine container 10 remains after the end of the co-infusion process.

<Step S17>
In step S17, the first control unit 400 causes the data storage unit 404 to store remaining drug information on the remaining drug determined to be remaining in the step S16. Specifically, the remaining drug information includes various types of information such as, for example, the type of remaining drug, remaining amount, opening date, and expiration date. Further, when the residual drug is a mixed drug, the residual drug information includes, for example, various components such as a component (drug name and solvent name) of the mixed drug, amount of solvent, remaining amount, opening date, expiration date and the like. included. The residual drug information also includes positional information on the placing shelf 33 on which the medicine container 10 containing the residual drug is placed. Here, the data storage unit 404 is an example of the remaining amount storage unit. In the mixed chemical, the mixing ratio in the mixed chemical is specified according to the drug name and the amount of the solvent, so the case where the amount of the solvent is stored as the residual information is described as an example. The mixing ratio may be stored.

  By the way, the first control unit 400 deletes each of the remaining drug information stored in the data storage unit 404 under the condition that the expiration date of the remaining drug information has elapsed, and the remaining drug information is deleted. It is conceivable to input a control signal for discarding the corresponding medicine container 10 to the second control unit 500. Thereby, the second control unit 500 controls the first robot arm 21 or the second robot arm 22 to discard the medicine container 10 for which the expiration date has passed. At this time, when the first control unit 400 does not have the remaining medicine for which the expiration date has passed, the display order of the preparation data in the prescription display portion D2 displayed on the prescription selection screen M1 does not exist. Update in the order of display.

<Step S18>
Subsequently, in step S18, the first control unit 400 determines whether the residual medicine remaining in the medicine container 10 is a mixed medicine in which a plurality of medicines or solvents are mixed. Here, when the first control unit 400 determines that the remaining drug is the mixed drug (Yes in S18), it shifts the process to step S19 and determines that the remaining drug is not the mixed drug. (No in S18), the process proceeds to step S181.

<Step S181>
In step S181, the first control unit 400 is a residual drug that is determined to remain in the medicine container 10 in the past mixed injection process in step S16 among the selection candidates of the preparation data to be subjected to the mixed injection process. Preferentially display preparation data that includes the same drug as a prescription drug. Here, the first control unit 400 when executing the display processing corresponds to a display control unit. Specifically, the first control unit 400 selects the preparation data in the display order in which the selection candidate for preparation data including the medicine of the same kind as the residual medicine remaining in the medicine container 10 as a prescription medicine is the top Are displayed on the prescription selection screen M1 of the display 403. In addition, the first control unit 400 may use the residual drug in the residual drug presence / absence display portion D21 corresponding to preparation data in which the same drug as the residual drug remaining in the drug container 10 is included as a prescription drug. Information is displayed to indicate that it is possible. This allows the user to easily grasp the preparation data that can use the residual drug. In particular, in the co-infusion apparatus 1, the preparation data capable of using the residual drug remaining in the previous co-infusion process is preferentially displayed as a selection candidate for the next co-infusion process, so the user uses the residual drug The possible preparation data can be made to be the subject of the following co-infusion process, and efficient use of the medicine in the medicine container 10 can be supported.

  For example, in step S181, the first control unit 400 searches whether there is preparation data in which a drug of the same type as the residual drug remaining in the drug container 10 is included as a prescription drug. Then, when one or more preparation data are obtained as a search result, the first control unit 400 changes the display content of the prescription selection screen M1 so that the display position of the preparation data is at the top. Further, as a method of preferentially displaying preparation data in which a drug of the same kind as the residual drug remaining in the drug container 10 is included as a prescription drug, the first control unit 400 remains in the drug container 10 It is also conceivable to display on the display device 26 only preparation data in which a drug of the same type as the residual drug is included as a prescription drug. Thereby, the user can easily confirm only the preparation data that can be used for the residual drug.

  Here, when there are a plurality of preparation data extracted as the search result, the first control unit 400 determines the arrangement order of the plurality of preparation data according to the sorting condition, as in step S12. Thereby, it is possible to display the candidate for the preparation data to be prioritized according to the sorting condition at the top. As described above, the sorting condition is, for example, a condition in which the dosing date or preparation date of the prescription drug in the preparation data is earlier. In addition, it is also conceivable that the sorting condition is a condition in which the case where the prescription category of the preparation data is outpatient is higher than the case where the prescription category of the preparation data is hospitalization. Thereby, the user can easily grasp the order of the dispensing data to be prioritized according to the dosing date, the preparation date, the prescription category and the like.

  In addition, when preparation data including the medicine of the same kind as the residual medicine remaining in the medicine container 10 is not extracted as a prescription medicine, the first control unit 400 does not change the display content of the prescription selection screen M1. It is conceivable. In this case, the first control unit 400 determines that the residual medicine can not be used, and does not place the medicine container 10 on the placing shelf 33, but stores the medicine container 10 in the trash. It is also conceivable to transmit a control signal for causing the chamber 13a to be discarded to the second control unit 500.

<Step S19>
On the other hand, in step S19, the first control unit 400 preferentially displays preparation data in which the mixed drug which is the remaining drug remaining in the drug container 10 and the prescription drug having the same component and mixing ratio are included. . Here, the first control unit 400 when executing the display processing corresponds to a display control unit. At this time, the first control unit 400 determines whether the mixing ratio is the same according to, for example, the drug name and solvent amount stored in the residual information and the drug name and solvent amount in the preparation data. Do.

  Specifically, as in the case of step S181, the first control unit 400 displays that the preparation data including the medicine having the same composition and the same mixing ratio as the residual medicine remaining in the medicine container 10 is the top The selection candidate of the preparation data is displayed on the prescription selection screen M1 of the display 403 in order. In addition, the first control unit 400 may control the residual medicine presence / absence display portion D21 corresponding to preparation data in which a medicine having the same composition and mixing ratio as the residual medicine remaining in the medicine container 10 is included as a prescription medicine. Display information indicating that it is possible to use Also in step S19, as in the case of step S181, when there are a plurality of preparation data, the first control unit 400 determines the arrangement order of the plurality of preparation data according to the sorting condition.

[Pre-stirring function]
By the way, the stirring process which may be executed in the co-infusion process may take a relatively long time, and the waiting time until the stirring process is completed may inhibit the efficiency of the co-infusion process. . On the other hand, the co-infusion apparatus 1 according to the present embodiment has a pre-stirring function capable of executing in advance the stirring process in the co-infusion process before the execution start 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 to start loading preparation processing and mixed injection described later. By performing the process, the pre-stirring function is realized. Here, the mixed injection control device 100 when performing the loading preparation process and the mixed injection start process is an example of the pre-stirring processing unit. The first control unit 400 and the second control unit 500 may effectively set the pre-stirring function when the medicine container 10 is the vial 10B.

[Load preparation process]
First, an example of the loading preparation process executed by the first control unit 400 and the second control unit 500 of the co-infusion control device 100 will be described with reference to FIG.

<Step S21>
In step S21, the first control unit 400 waits for a loading preparation start operation by the user using the operation unit 405 (S21: No). For example, when the preparation data to be loaded is selected by the user, the first control unit 400 determines that the loading preparation start operation has been performed. Then, when the loading preparation start operation is performed (S21: Yes), the process proceeds to step S22.

  By the way, the first control unit 400 receives, as the loading preparation starting operation, an immediate starting operation for immediately executing the co-infusion processing based on the preparation data, and also the completion time or completion time of the co-infusion processing for the preparation data It is possible to receive a reservation co-infusion operation for reserving a scheduled completion time indicating a band or the like. In addition, when the said completion time slot | zone is reserved, the reservation of an hour unit is received, for example between 11 o'clock-12 o'clock etc. as a temporal range which the said co-infusion process should complete. For example, the first control unit 400 can set the reservation of the preparation data equal to or less than the preset maximum number of reservations, which is the same as the number of the tray accommodating units 811. In addition, the process of the said reservation may be performed at the time of completion | finish of the said loading preparation process not only at the time of the start of the said loading preparation process.

  When the scheduled completion time is set, the first control unit 400 automatically estimates the required time of the co-infusion process based on the preparation data, and subtracts the required time from the scheduled completion time. It sets as an execution start timing of the said mixed injection processing. 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, the required time of each step of the mixed injection process and the like are preset for each content of the mixed injection process as information for calculating the required time according to the contents of the mixed injection process.

  In addition, the first control unit 400 is not limited to the scheduled completion time for the preparation data, but may receive a reservation of a scheduled start time indicating a start time or a completion time zone of the co-infusion process. Good. In addition, when the start time zone is reserved, a reservation in an hour unit is accepted as a temporal range in which the co-infusion process should be started, for example, between 11 o'clock and 12 o'clock. 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 co-infusion process. Furthermore, as a temporal range from the start to the completion of the co-infusion process, it may be considered that a reservation of an execution time zone can be accepted in an hour unit, such as between 11 o'clock and 12 o'clock. When the execution time zone is set for the preparation data, the first control unit 400 sets an execution start timing of the mixed injection process so that the mixed injection process is completed within the execution time zone. The first control unit 400 may be capable of reserving only the mixed injection process for one piece of the preparation data. In addition, the target of reservation is not limited to the scheduled completion time, scheduled start time, or execution time zone of the co-infusion process, but the completion of the injection step of injecting the drug solution collected from the drug container 10 in the co-infusion process into the infusion bag 12 The scheduled time, the scheduled start time, and the execution time zone may be reserveable.

<Step S22>
In step S22, the first control unit 400 executes a process of associating the preparation data selected as the process target with the tray 101 and storing the association data D31 (an example of the first correspondence information). Here, the first control unit 400 when executing such storage processing is an example of the first storage processing unit. Further, the correspondence information D31 of the data storage unit 404 of the first control unit 400 can also be referred to and edited by the second control unit 500. Thereby, the first control unit 400 and the second control unit 500 can recognize the correspondence between the preparation data and the tray 101 based on the correspondence information D31.

  FIG. 25 is a diagram showing an example of the correspondence information D31. As shown in FIG. 25, in the correspondence information D31, identification information "preparation No." of the preparation data and identification information "tray ID" of the tray 101 are associated with each other. Further, in the correspondence information D31, information such as the drug name, the dispensing amount, and the predetermined amount of the medicine used in the co-infusion process based on the preparation data is also associated with each of the preparation data.

  For example, the first control unit 400 uses the IC reader 207 provided on the work table 202 to identify information on the tray 101 from the IC tag 101 b of the tray 101 placed on the work table 202. Read The first control unit 400 uses the identification information read from the IC tag 101b as the identification information of the tray 101 corresponding to the preparation data selected as the processing target. The information D31 is stored.

  Further, in the correspondence information D31, identification information "accommodating part No." of the tray accommodating part 811 of the accommodating unit 700, which is associated with each of the trays 101 in step S31 described later, is also stored. Thereby, the first control unit 400 and the second control unit 500 can recognize the correspondence between the preparation data, the identification information of the tray 101, and the tray storage unit 811 based on the correspondence information D31. It is possible.

  Further, in the correspondence information D31, medicine presence / absence information indicating whether or not the medicine container 10 of the medicine used in the mixed injection process based on the preparation data is stored in the tray 101 corresponding to each of the preparation data is also stored. ing. For example, when the medicine container 10 is placed on the tray 101 (step S 25 described later), the medicine presence / absence information indicates that the first control unit 400 or the medicine container 10 is taken in from the tray 101. It is updated by the second control unit 500. Thereby, the first control unit 400 or the second control unit 500 can determine the presence or absence of the medicine container 10 in the tray 101 using the correspondence information D31.

  The correspondence between the preparation data and the tray 101, and the correspondence between the preparation data or the tray 101 and the tray storage unit 811 may be managed by individual databases. Further, the correspondence between the preparation data and the tray 101 is stored in the data storage unit 404 of the first control unit 400, and the correspondence between the preparation data or the tray 101 and the tray storage unit 811 is the second. It may be stored in the data storage unit 504 of the control unit.

<Step S23>
Thereafter, in steps S23 to S28, the first control unit 400 sets the medicine container 10, the syringe 11, the infusion bag 12 and the like necessary for the co-infusion process based on the preparation data to the tray 101. Execute processing to support. Specifically, first, in step S23, the first control unit 400 adds a message, an image, and the like for instructing reading of identification information such as a GS21 data bar attached to the infusion bag 12 to the preparation data. The display 203 is displayed together with information including the type of the infusion bag 12 contained. Then, when the identification information of the infusion bag 12 is read by the barcode reader 204 and the comparison result with the preparation data matches, the first control unit 400 shifts the process to step S24. In addition, the said 1st control part 400 displays an error message, for example, when the collation result of the identification information of the said infusion bag 12 and the said preparation data does not correspond.

<Step S24>
In step S24, the first control unit 400 causes the display 203 to display a message, an image, and the like for guiding the placement of the infusion bag 12 on the tray 101. Thus, the user can easily place the infusion bag 12 at a predetermined position in the tray 101.

<Step S25>
In step S25, the first control unit 400 causes the medicine container to include a message, an image, and the like for instructing reading of identification information such as a GS21 data bar attached to the medicine container 10 in the preparation data. The information is displayed on the display 203 together with the information including the ten types. Then, when the identification information (such as a drug code) of the medicine container 10 is read by the bar code reader 204 and the comparison result with the preparation data matches, the first control unit 400 shifts the process to step S26. . Further, the first control unit 400 stores, in the correspondence information D31, information indicating that the medicine container 10 has been placed on the tray 101 corresponding to the preparation data. In addition, the said 1st control part 400 displays an error message, for example, when the collation result of the identification information of the said medicine container 10 and the said preparation data does not correspond.

  When the loading start operation is performed in step S21, the first control unit 400 is already loaded in the co-infusion apparatus 1, instead of reading the identification information attached to the medicine container 10. It is possible to receive an operation for using the medicine in the medicine container 10. As described above, the loading preparation starting operation may be an immediate starting operation for immediately executing the co-infusion process based on the preparation data, or a completion time or a completion time zone of the co-infusion process for the preparation data. It includes a co-infusion operation for reserving the scheduled completion time shown.

  Specifically, the first control unit 400 controls the inside of the co-infusion apparatus 1 at a preset reference time for the same kind of medicine in the medicine container 10 used in the co-infusion process based on the preparation data to be processed. It is determined whether or not the amount of residual liquid remaining in the medicine is equal to or more than the amount of medicine necessary for the co-infusion process based on the preparation data. For example, the reference time point is, for example, when the co-infusion process starts based on the preparation data, or when the loading start operation for the preparation data is performed. Then, the first control unit 400 selects the presence or absence of use of the medicine already present in the co-infusion apparatus 1 when the amount of residual liquid is equal to or more than the amount of medicine necessary for co-infusion processing based on the preparation data. The display 203 displays an available residual liquid guide screen F1 (see FIG. 37) to be described later. For example, the available residual fluid guide screen F1 is displayed on a display screen on which a message or the like for instructing reading of identification information attached to the medicine container 10 is displayed or before the display screen is displayed. Be done. For example, the first control unit 400 may display the available residual liquid guide screen F1 when it is determined that the identification information of the medicine container 10 is read by the bar code reader 204 in the step S25. . The available residual fluid guide screen F1 may be displayed regardless of whether the amount of residual fluid remaining in the co-infusion apparatus 1 is equal to or more than the amount of medicine necessary for co-infusion processing based on the preparation data. . Further, the available residual fluid guide screen F1 may be displayed according to the user operation. Here, based on the residual drug information and the correspondence information D31, the first control unit 400 determines whether the medicine used in the mixed injection process based on the preparation data to be processed exists in the mixed injection apparatus 1 or not. To judge. That is, the remaining drug information and the correspondence information D31 can be used as stock information indicating a list of medicines already loaded in the co-infusion apparatus 1.

  Here, FIG. 37 is a view showing an example of the available residual liquid guide screen F1. As shown in FIG. 37, areas A11 to A13, an operation key K11, an operation key K12 and the like are displayed on the available residual liquid guide screen F1. In the area A11, drug identification information such as the drug name of a drug contained as a prescription drug in preparation data (hereinafter referred to as target preparation data) to be processed at present, and a drug corresponding to the drug identification information The residual liquid volume of is displayed. Further, the prescribed amount of the medicine corresponding to the medicine identification information in the target preparation data may be displayed in the area A11. In the area A12, an image showing the appearance of the medicine such as the medicine container 10 containing the medicine contained as a prescription drug in the target adjustment data and the medicine box containing the medicine container 10 is displayed. In the area A13, a message indicating that residual liquid can be used for a drug contained as a prescription drug in the target preparation data is displayed. In addition, the first control unit 400 can use information as an index for the user to determine whether or not the medicine container 10 needs to be placed on the tray 101 to the available residual liquid guide screen F1. It is conceivable to notify the user by displaying the icon etc. For example, the first control unit 400 may display a message indicating that the residual liquid amount is equal to or more than the prescribed amount of the medicine indicated in the target preparation data on the available residual liquid guide screen F1. . In addition, the first control unit 400 does not place the medicine container 10 on the tray 101 corresponding to the target preparation data, but uses only the medicine of the residual liquid amount based on the target preparation data. May be displayed on the available residual liquid guide screen F1.

  The residual fluid amount displayed in the area A11 is the total amount of the medicine remaining in the co-infusion apparatus 1 when the co-infusion process based on the target preparation data is performed. More specifically, the residual liquid amount is based on the remaining amount of the medicine placed on the placement shelf 33 when the loading start operation is performed for the target preparation data, and the target preparation data. From the total amount of the medicine and the amount of the drug loaded into the co-infusion apparatus 1 attached to the other preparation data corresponding to one or more other co-infusion processes to be performed until the co-infusion process is performed, It is an amount obtained by subtracting the total amount (the sum of prescription amounts) of the medicines used in one or more other co-infusion processes which are executed until the co-infusion process based on the target preparation data is performed. In particular, the amount of residual fluid is the amount of drug whose expiration date does not come at the start of the mixed injection processing based on the target preparation data, and the amount of the drug whose expiration date comes at the start of the mixed injection processing is a value It is thought that it is. The unit of the amount of residual liquid may be, for example, weight or volume, but is not limited thereto. For example, based on the predetermined amount of the medicine contained in the specific medicine container 10 set in advance. The amount of the remaining liquid may be displayed in units of the number of the medicine containers 10.

  Here, the amount of residual liquid will be described by taking an example. Here, FIG. 38 (A) shows an example of the residual medicine information, and FIG. 38 (B) shows an example of the correspondence information D31. Then, in this state, the loading start operation for the target preparation data is performed, and the mixed injection processing based on the target preparation data is executed after the mixed injection processing based on the other preparation data registered in the correspondence information D31. It shall be. Further, as shown in FIG. 38 (A), the medicine container 10 containing "5-FU injection 1000 mg" only at "8.00 ml" and the medicine container 10 containing "3.50 ml" It is assumed that it is placed on the description shelf 33.

  Then, as shown in FIG. 38 (B), “5-FU note 1000 mg” is accommodated “20 ml” corresponding to the three preparation data already loaded in the accommodation unit 700 with the tray 101. The medicine container 10, the medicine container 10 containing "20 ml" of "5-FU injection 1000 mg", and the medicine container 10 containing "20 ml" of "5-FU injection 1000 mg" are contained in the storage unit 700. It shall be loaded inside. As shown in FIG. 38 (B), in the three preparation data, “15 ml”, “20 ml” and “8 ml” of medicine are used, respectively. In this case, when the loading start operation is performed for the target preparation data, the remaining amount of the medicine placed on the storage shelf 33 is “8.00 ml” + “based on the remaining medicine information. According to 3.50 ml, it is calculated as 11.50 ml. In addition, the medicine loaded into the co-infusion apparatus 1 in association with other preparation data corresponding to one or more other co-infusion processes to be executed until the co-infusion process based on the target preparation data is performed. The amount of “60 ml” is calculated as “60 ml” by “20 ml” + “20 ml” + “20 ml” based on the correspondence information D31. Furthermore, the total amount of the drug used in one or more other co-infusion processes to be performed until the co-infusion process based on the target preparation data is performed is “15 ml” + “20 ml” + “8 ml And “43 ml” is calculated. Therefore, the residual fluid volume at the time of execution of the co-infusion process based on the target preparation data is "28.50 ml" by "11.50 ml" + "60 ml"-"43 ml".

  Furthermore, when the execution time of the co-infusion process based on the target preparation data is reserved, the first control unit 400 calculates the amount of remaining medicine excluding the remaining medicine whose expiration date has expired in the execution time. Do. For example, when the execution time of the co-infusion process based on the target preparation data is “2013/2/15 14:00”, it occurs in the co-infusion process of the preparation data Rp11 among the residual medicine information shown in FIG. The amount of residual drug is excluded from the amount of residual drug, and the amount of residual liquid at the time of executing the co-infusion process based on the target preparation data is "20.5 ml" according to "3.5 ml" + "60 ml"-"43 ml". Become. In addition, also about the remaining medicine produced by the mixed injection process performed after the time of the said loading start operation being performed about the said object preparation data, the expiration date of the remaining medicine produced by the said mixed injection process after execution of the said mixed injection process similarly When it passes before the said co-infusion process about the said subject preparation data starts, you may exclude from calculation of the residual fluid volume in the execution time of the co-infusion process based on the said subject preparation data.

  Further, FIG. 38C is a diagram showing another example of the correspondence information D31. The correspondence information D31 shown in FIG. 38C is different from the correspondence information D31 shown in FIG. 38B in that the preparation container “Rp23” is not loaded with the medicine container 10. Therefore, the medicine container in which “20 ml” of “5-FU note 1000 mg” is accommodated in the accommodation unit 700 corresponding to the three preparation data of the tray 101 already loaded in the accommodation unit 700. 10 and the medicine container 10 containing "20 ml" of "5-FU injection 1000 mg" are loaded. In this case, the aforementioned preparation data loaded into the co-infusion apparatus 1 in addition to other preparation data corresponding to one or more other co-infusion processes to be executed until the co-infusion process based on the target preparation data is performed. The amount of medicine is calculated as "40 ml" by "20 ml" + "20 ml" based on the correspondence information D31. The residual liquid volume at the time of execution of the co-infusion process based on the target preparation data is "8.50 ml" by "11. 50 ml" + "40 ml"-"43 ml".

  Further, the operation key K11 and the operation key K12 are an operation unit for receiving a selection as to whether or not to use residual liquid for a drug contained as a prescription drug in the preparation data on the available residual liquid guide screen F1. It is. The first control unit 400 determines that the residual liquid of the medicine corresponding to the medicine identification information is used when the operation key K11 is operated, and the medicine identification is performed when the operation key K12 is operated. Decide not to use the drug residual solution corresponding to the information. Then, when it is selected that the medicine existing in the co-infusion apparatus 1 is used, the first control unit 400 omits the reading of the identification information in the step S25, and advances the process to the step S26. In this case, the first control unit 400 stores, in the correspondence information D31, information indicating that the medicine container 10 is not placed on the tray 101 corresponding to the preparation data. In addition, the first control unit 400 is already in the co-infusion apparatus 1 without determining whether or not the medicine used in the co-infusion process based on the preparation data to be processed is present in the co-infusion apparatus 1. It may be possible to accept an operation for selecting the presence or absence of the existing medicine. Further, in the present embodiment, in the co-infusion process based on the preparation data to be processed, a configuration in which the remaining drug after the co-infusion process based on the other preparation data is usable will be described. The configuration may be such that only the medicine already loaded in the co-infusion apparatus 1 in association with other preparation data can be used.

<Step S26>
In step S26, the first control unit 400 causes the display 203 to display a message, an image, and the like for guiding the placement of the medicine container 10 on the tray 101. This allows the user to easily place the medicine container 10 at a predetermined position in the tray 101. When a plurality of medicine containers 10 are required, steps S25 to S26 are repeatedly performed.

<Step S27>
In step S27, the first control unit 400 causes the display 203 to display a message, an image, and the like for guiding the placement of the syringe 11 on the tray 101. Thereby, the user can easily place the syringe 11 at a predetermined position in the tray 101. In addition, when several said syringes 11 are required, said step S27 is repeatedly performed.

<Step S28>
When the guidance of all the equipment necessary for the co-infusion process based on the preparation data is finished, in the subsequent step S28, the first control unit 400 displays that the preparation for loading the preparation data is completed and The operation key etc. for receiving the confirmation operation of the effect are displayed.

<Step S29>
In step S29, the first control unit 400 determines the presence or absence of the confirmation operation, and when the confirmation operation is performed (S29: Yes), the process proceeds to step S30, and the confirmation operation is performed. Until (S29: No), the process is made to wait in step S29.

<Step S30>
In step S30, the first control unit 400 opens the shutter 712 of the accommodation unit 700. Specifically, the first control unit 400 transmits an opening instruction of the shutter 712 to the second control unit 500. Accordingly, the second control unit 500 controls the storage unit 700 to open the shutter 712.

  In addition, before the second control unit 500 opens the shutter 712, the movable housing is arranged such that the unused tray storage unit 811 is disposed at the first movement position based on the correspondence information D31. Control the position of the body 810. Specifically, it is determined that the tray storage unit 811 not stored in the correspondence information D31 as the tray storage unit 811 corresponding to the tray 101 is unused. The second control unit 500 updates the correspondence information D31 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.

  For example, the second control unit 500 controls the accommodation unit 700 such that the unused tray accommodation unit 811 is disposed at the first movement position while the accommodation unit 700 is on standby (in non-operation). It is possible to do. In addition, after the second control unit 500 receives the release instruction in the step S30, the second control unit 500 moves the movable casing 810 to arrange the unused tray accommodating unit 811 at the first movement position. Good. Note that, when there are a plurality of unused tray accommodating units 811, the second control unit 500 is the movable casing required for movement to the first movement position among the plurality of tray accommodating units 811. It is conceivable to select the tray accommodating portion 811 having the smallest amount of movement of 810 and move it to the first movement position.

<Step S31>
Then, in step S31, when the tray 101 is accommodated in the tray accommodation unit 811 of the accommodation unit 700, the second control unit 500 associates the identification information of the tray 101 with the tray accommodation unit 811. Run. Specifically, the second control unit 500 updates the correspondence information D31 stored in the data storage unit 504 based on the correspondence between the identification information of the tray 101 and the tray accommodation unit 811. Thus, the second control unit 500 can recognize the tray storage unit 811 of the storage destination of each of the trays 101 based on the correspondence information D31. Whether or not the tray 101 is accommodated in the tray accommodation portion 811 is detected by an optical sensor (not shown) provided in the tray accommodation portion 811 or the like.

<Step S32>
Next, in step S32, the second control unit 500 controls the storage unit 700 to check 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 accommodated in the tray accommodating portion 811.

  Specifically, the second control unit 500 may move the moving case 810 such that the tray storage unit 811 determined in step S31 that the tray 101 is stored is disposed at the second movement position. Move down. Thereafter, the second control unit 500 discharges the tray 101 accommodated in the tray accommodation unit 811 to the first conveyance unit 910 of the tray conveyance unit 900, and the second control unit 500 is provided in the first conveyance 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 a match, the second control unit 500 returns the tray 101 to the tray storage unit 811 and ends the series of the loading preparation processing and returns the processing to the step S21. On the other hand, if the comparison result is not identical, the second control unit 500 causes the display 203 or the like to notify an error via the first control unit 400 and discharges the tray 101 toward the tray discharge port 206. Do. Thereby, the user can take out the tray 101 from the tray discharge port 206.

[Mixed injection start process]
Subsequently, an example of the mixed injection start process will be described with reference to FIG.

<Step S41>
In step S41, the second control unit 500 determines whether an execution start timing of the co-infusion 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 co-infusion process has come. If it is determined that the execution start timing has arrived (S41: Yes), the process proceeds to step S411. If the execution start timing has not arrived (S41: No), the process proceeds to step S42.

  Specifically, when the user performs the selection operation of the preparation data 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 determines the preparation data. Sending a request to start execution of the co-infusion process for the second control unit 500. Further, when the execution start timing of the co-infusion process based on the preparation data is reserved by the reservation co-infusion operation, the first control unit 400 performs the preparation of the preparation data when the execution start timing comes. An execution start request for mixed injection processing is transmitted to the second control unit 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 co-infusion process based on the preparation data is transmitted in advance from the first control unit 400 to the second control unit 500 and stored in the data storage unit 504, and the execution start request is It is also conceivable that identification information of preparation data is included.

<Step S42>
In step S42, the second control unit 500 determines, in the preparation data reserved by the first control unit 400, whether preparation data to be subjected to the pre-stirring process for executing the agitating process is present in advance. to decide. Specifically, in the medicine master, a pre-stirring target flag indicating whether or not the pre-stirring process is to be performed is stored in association with each medicine. Then, when the medicine set as the target of the pre-stirring processing by the pre-stirring target flag is included in the preparation data, the second control unit 500 is the target of the pre-stirring processing. It is determined that In addition, whether the second control unit 500 is the target of the pre-stirring process according to the combination of the medicine in the medicine container 10 and the infusion in the infusion bag 12 which are agitated in the agitating step. You may decide When the user operation for selecting any of the preparation data as a target of the pre-stirring process is performed in advance, the second control unit 500 selects the preparation data as the selected one. It is also conceivable to judge that it is the target of the pre-stirring process. When it is determined that the target of the pre-stirring process exists (S42: Yes), the process proceeds to step S43, and it is determined that the target of the pre-stirring process does not exist (S42: No) ), The process is returned to step S41.

<Step S43>
In step S43, the second control unit 500 determines whether the pre-stirring process can be performed. For example, the second control unit 500 may determine whether or not the co-infusion process is being performed, and determine that the pre-stirring process can be performed when the co-infusion process is not being performed. Conceivable. Furthermore, it is also conceivable that the second control unit 500 determines that the pre-stirring process can be performed in a specific time zone such as night or night set in advance. In addition, the judgment index of whether the said pre-stirring process can be performed is not restricted to what is demonstrated here. When it is determined that the pre-stirring process is executable (S43: Yes), the process proceeds to step S44, and it is determined that the pre-stirring process is not executable (S43: No) ), The process is returned to step S41. The second control unit 500 executes the pre-stirring process for the preparation data when a user operation for selecting the preparation data and starting the pre-stirring process is performed. It is also good.

  In addition, in the step S43, it is a condition that the time required for the stirring process associated with the medicine in the medicine container 10 in the medicine master is equal to or more than the predetermined lower limit required time in the medicine master. It is also conceivable to determine that the pre-stirring process is to be performed. That is, when the required time of the stirring process is less than the lower limit required time, it is excluded from the object of the pre-stirring process. Thus, the pre-stirring process is performed only when the stirring process takes a long time, and the unnecessary execution of the pre-stirring process is suppressed. The second control unit 500 can arbitrarily set the lower limit required time according to the user operation. On the other hand, the second control unit 500 performs the pre-stirring on the condition that the required time of the stirring process associated with the medicine of the medicine container 10 in the medicine master is less than a predetermined upper required time. It is also conceivable to decide to execute the process. That is, when the required time of the stirring step is equal to or more than the upper limit required time, it is conceivable that the target is excluded from the object of the pre-stirring process. In this case, the pre-stirring process is performed only when the stirring process does not require a long time, and the co-infusion process and the like based on the other preparation data and the like due to the pre-stirring process. Delay and the like are suppressed. The second control unit 500 can arbitrarily set the upper limit required time according to a user operation.

  In a hospital where the co-infusion apparatus 1 is installed, it is conceivable that a busy period in which the use frequency of the co-infusion apparatus 1 is high exists at a specific time zone, a specific day of the week, a specific time of day, or the like. Therefore, in the co-infusion apparatus 1, when the second control unit 500 determines whether or not the pre-stirring process can be performed in step S43 of the co-infusion start process, for example, the pre-stirring period may be performed in advance. If the set timing condition is satisfied, it may be considered that the pre-stirring process can not be performed. That is, even when the co-infusion process is not being performed, the second control unit 500 determines that the pre-stirring process can not be performed if the temporal condition is satisfied. This reduces the possibility that the pre-stirring process is performed during a busy season or the like to delay the start of the co-infusion process.

<Step S44>
In step S44, the second control unit 500 controls the co-infusion processing unit 300 and the accommodation unit 700 to execute the pre-stirring process. When a plurality of preparation data to be subjected to the pre-stirring process is reserved, the preparation data to be processed is sequentially selected in the steps S41 to S44, and the pre-stirring process is performed. Ru.

  Note that the order of the preparation data selected as the process target of the pre-stirring process is the 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 can be considered as another embodiment that the preparation data is selected in the order of reception from the host system 6, or the preparation data is selected randomly. In addition, the preparation data including drugs having a long time for the stirring process set in advance is preferentially selected, or the preparation data of the preparation data is continuous so that the preparation data using the same medicine or infusion are continuous. It is conceivable that the order is determined. Furthermore, an index value indicating ease of coagulation after execution of the stirring step is stored in the pharmaceutical master, and it is considered that the preparation data is selected in order from drugs that are difficult to coagulate based on the index value. Be

  Here, a specific processing example of the pre-stirring process will be described.

  First, the second control unit 500 controls the storage unit 700 and mixes the tray 101 associated with the preparation data selected as a processing target from the tray storage unit 811 of the storage unit 700 with the mixed injection. The sheet is automatically conveyed to the tray conveyance unit 110 of the processing unit 300. The second control unit 500 specifies the tray storage unit 811 in which the tray 101 corresponding to the preparation data is stored, based on the correspondence information D31.

  Thereafter, the second control unit 500 controls the first robot arm 21 to set the medicine container 10 placed on the tray 101 to the stirring device 32 and the stirring device 32 performs the medicine container 10. The agitating step of agitating the drug is carried out.

  Specifically, when the tray 101 is supplied to the tray conveyance unit 110, the second control unit 500 reads identification information of the tray 101 from the IC tag 101b of the tray 101 by the IC reader 101c. 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 co-infusion process. After that, the second control unit 500 causes the equipment mounting unit 102 of the tray 101 to ascend by the tray elevating unit 112 of the tray conveyance unit 110 and expose it to the co-infusion processing chamber 104.

  Next, the second control unit 500 shoots the equipment placement unit 102 with the tray confirmation camera 41. Then, the second control unit 500 controls the position of equipment such as the medicine container 10 and the injector 11 placed on the equipment placement unit 102 by image recognition processing based on a photographed image by the tray confirmation camera 41. Understand the direction. In particular, every time the second control unit 500 takes out the medicine container 10 or the syringe 11 from the equipment placement unit 102, the second confirmation unit 500 captures an image of the equipment placement unit 102 with the tray confirmation camera 41, and The position and orientation of the latest medicine container 10 and the syringe 11 are grasped.

  Subsequently, the second control unit 500 causes the syringe 11 placed on the equipment placement unit 102 exposed to the inside of the co-infusion processing chamber 104 to be placed on the placement shelf 33 by the first robot arm 21. Temporarily put. Further, the second control unit 500 sets the medicine container 10 placed on the equipment placement unit 102 in the medicine reading unit 34 by the first robot arm 21. Then, the second control unit 500 causes the medicine reading unit 34 to read information such as the type of medicine stored in the medicine container 10.

  Next, when the second control unit 500 takes out all the equipment on the equipment mounting unit 102, the tray lifting and lowering unit 112 of the tray conveyance unit 110 causes the equipment mounting unit 102 to be lowered to the tray. Return to 101. The second control unit 500 confirms whether or not all the equipment on the equipment mounting unit 102 has been taken out by image recognition processing 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 conveyance unit 110 to convey the tray 101 to the tray conveyance end unit 110 a. Next, the second control unit 500 causes the mixed injection processing chamber 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 conveyance unit 110 It is positioned at the mixed injection communication port 37 formed at 104.

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

  Next, the second control unit 500 takes out the syringe 11 from the placing rack 33 by the first robot arm 21 and sets the syringe 11 in the second robot arm 22. Subsequently, the second control unit 500 causes the second robot arm 22 to move the syringe 11 to the injection needle attaching / detaching device 43 to set the injection needle 11 c in the syringe 11. Thereafter, the second control unit 500 causes the second robot arm 22 to move the syringe 11 to the needle bending detection unit 36, and detects the presence or absence of the bending of the injection needle 11c.

  Subsequently, the second control unit 500 punctures the injection needle 11c of the syringe 11 with the rubber plug of the mixed injection port of the infusion bag 12 transported to the tray transport end portion 110a by the second robot arm 22. Then, the infusion solution having 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 control unit 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 the injection needle 11c of the syringe 11 is moved to the second position. The medicine container 10 is punctured. Thereafter, the second control unit 500 operates the plunger 11 b by the second robot arm 22 to inject the infusion solution in the syringe 11 into the medicine container 10.

  In the mixed injection processing chamber 104, a dedicated container in which the infusion used in the pre-stirring process is accommodated is accommodated, and in the pre-stirring process, the infusion in the dedicated container is stored in the medicine container 10. It may be injected. It is also conceivable that a plastic ampoule in which an infusion used in the pre-stirring process is stored in advance is set in the tray 101, and the fluid in the plastic ampule is used in the pre-stirring process.

  Next, the second control unit 500 causes the first robot arm 21 to set the medicine container 10, into which the infusion has been injected, to the stirring device 32. Thereby, in the stirring device 32, a stirring process is performed in which the medicine and the infusion in the medicine container 10 are stirred. When the stirring process by the stirring device 32 is completed, the second control unit 500 takes out the medicine 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 the medicine container 10 to the placing shelf 33 in the mixed injection processing unit 300 and place the medicine container 10 thereon, as well as the preparation data and the like. The data storage unit 504 stores correspondence information (an example of second correspondence information) indicating the correspondence with the medicine container 10 placed at each position in the placement shelf 33 described above. Here, the first control unit 400 when executing such storage processing is an example of the second storage processing unit. For example, in the correspondence information, the medicine container 10 is identifiably managed with container identification information such as an ID set in advance for each placement position on the placement shelf 33 described above. Further, the correspondence between the medicine container 10 placed at each position in the placement rack 33 and the identification information of the preparation data may be stored in the correspondence information D31. The placement rack 33 is an example of a container placement unit and a syringe placement unit on which one or more medicine containers 10 and one or more syringes 11 can be placed.

  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 and place it. At the same time, the position of the syringe 11 on the storage shelf 33 is stored in the data storage unit 504 in association with the identification information of the preparation data. Thereby, the second control unit 500 can specify the positions of the medicine container 10 and the syringe 11 used in the co-infusion process based on the preparation data. The syringe 11 used in the pre-stirring process may be provided in advance in the storage shelf 33 for each type of the infusion as a dedicated syringe used in the pre-stirring process. .

  On the other hand, the second control unit 500 controls the tray conveyance unit 110 to return the infusion bag 12 to the tray 101, and moves the tray 101 from the tray conveyance termination unit 110a to the tray conveyance start unit 110b. Let After that, 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 to the The second control unit 500 controls the storage unit 700 to store the tray 101 in the tray storage unit 811. The tray accommodating portion 811 used at this time is one associated with the identification information of the tray 101 in the correspondence information D31. Also in this case, the second control unit 500 collates the correspondence between the identification information of the tray 101 and the preparation data, using the IC reader 101c and the IC reader 930. Thus, in the pre-stirring process, the tray 101 is moved 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 and the storage unit It will be returned to 700. Therefore, the contamination of the tray 101 in the pre-stirring process is prevented, and the contamination of the tray storage unit 811 on which the tray 101 returned from the mixed injection processing unit 300 is placed is prevented.

  In the co-infusion apparatus 1, the dedicated syringe 11 and the plastic ampule, etc. used in the pre-stirring process can be placed on the placing shelf 33, and the dedicated syringe 11 and the plastic ampule, etc. are used. The pre-stirring process may be performed. For example, in the co-infusion apparatus 1, the second control part 500 performs an operation for requesting replenishment of the dedicated syringe 11 or the plastic ampule used in the pre-stirring process, and the co-infusion processing part 300 When the tray on which the dedicated syringe 11 or the plastic ampoule or the like used in the pre-stirring process is loaded is loaded, the second robot arm 22 is controlled to front the syringe 11 or the plastic ampoule. Set in the description shelf 33. In addition, the syringe 11 or the plastic ampoule dedicated to use in the pre-stirring process may be placed at a predetermined position on the placing shelf 33 by the user.

  By the way, if there are a plurality of the preparation data in common with the combination and concentration of the drug and the solution to be stirred in the pre-stirring process among the preparation data currently reserved, the preparation data It is conceivable that the pre-stirring process is performed only on a smaller number of the preparation data than the total number. This makes it possible to use the medicine container 10 after the pre-stirring process for the co-infusion 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 medicine container 10 when the co-infusion process based on any of the preparation data is canceled is suppressed compared to the case where the pre-stirring process is performed for all the preparation data. . In addition, when the second control unit 500 reassigns the medicine container 10 and the preparation data, it may be considered that a confirmation operation by a user set in advance is required. For example, when the second control unit 500 starts the mixed injection process based on the preparation data, the medicine container 10 having the same combination and concentration of medicine and infusion contained in the preparation data is placed in the placement unit 33. When already placed, an operation screen for selecting whether to use the medicine container 10 in the co-infusion process based on the preparation data is displayed. Then, the second control unit 500 uses the medicine container 10 in the co-infusion process when an operation to use the medicine container 10 is performed on the operation screen.

<Step S411>
On the other hand, when the execution start timing of the mixed injection process has arrived (S41: Yes), the second control unit 500 includes the mixed injection process based on the preparation data in the subsequent step S411. Execute mixed injection control processing. As described above, the second control unit 500 executes the co-infusion process when the user performs the immediate start operation or when the reserved execution start timing comes. That is, the execution start timing of the co-infusion process includes the time when the user has performed the immediate start operation and the time when the reserved execution start timing has come. The details of the mixed injection control process will be described later.

  In the co-infusion management apparatus 100, the second control unit 500 determines whether or not the medicine remains in the medicine container 10 based on the weight of the medicine container 10 after execution of the co-infusion process in the step S16. It is possible to judge Specifically, the second control unit 500 places the medicine container 10 on the weighing scale 35 using the first robot arm 21 or the second robot arm 22 after the co-infusion process is completed, and the medicine The weight of the container 10 is measured. Then, the second control unit 500 calculates the difference between the weight of the medicine container 10 in the empty state stored in the medicine master and the weight of the medicine container 10 after the execution of the co-infusion process. It is possible to detect the remaining amount of medicine in the medicine container 10 after the co-infusion process is performed. Here, the second control unit 500 when executing such detection processing is an example of the remaining amount detection means. Thereby, the first control unit 400 preferentially displays preparation data which can use the residual medicine based on the residual quantity of the residual medicine actually remaining in the medicine container 10 after the co-infusion process. It is possible. The method of detecting the remaining amount of medicine in the medicine container 10 is not limited to this, for example, the medicine container 10 is imaged using a camera, and the medicine in the medicine container 10 is selected based on the imaged image It is also conceivable to detect the remaining amount. In addition, the amount of medicine in the syringe 11 obtained based on the weight of the syringe 11 measured by the weighing scale 35 or the image captured by the syringe verification camera 42 by the second control unit 500 It is also possible to detect the remaining amount of medicine in the medicine container 10 by calculating the difference between the amount withdrawn from the container 10 and the predetermined amount of the medicine container 10.

[Mixed injection control processing]
Subsequently, an example of the procedure of the mixed injection control process executed by the second control unit 500 in the step S411 of the mixed injection start process will be described with reference to FIG.

<Step S51>
In step S51, the second control unit 500 determines whether or not it is possible to use the residual medicine remaining in the co-infusion process performed in the past in the co-infusion process targeting the preparation data. Do. Specifically, based on the residual drug information stored in the data storage unit 404 by the first control unit 400, the second control unit 500 includes the same kind of drug as the residual drug in the prescription drug. It is determined whether dispensing data has been selected for the co-infusion process. Furthermore, the second control unit 500 determines whether the content of the residual medicine information satisfies a preset use condition. The use condition is, for example, that the expiration date of the residual drug stored in the residual drug information has not elapsed, or that a predetermined time has not elapsed from the date and time of opening the residual drug. Thereby, for example, it is possible to set, as the use condition, that the expiration date of the residual drug has not passed, and to use only the residual drug whose expiration date has not passed.

  That is, the second control unit 500 selects the dispensing data containing the same kind of drug as the residual drug in the prescription drug as the target of the co-infusion process, and the use condition in which the content of the residual drug information is preset. It is judged that it is possible to use the remaining drug, when This makes it possible to automatically eliminate the use of the residual drug when the use condition is not satisfied. The first control unit 400 determines whether the remaining drug can be used, and the second control unit 500 can use the remaining drug from the first control unit 400. A control signal may be received.

  In addition, the second control unit 500 after the execution of the co-infusion process and the remaining amount of the residual medicine in the medicine container 10, the use condition is calculated based on the preparation data and the predetermined amount of the medicine container 10. It is also conceivable that the difference with the remaining amount of the residual drug in the medicine container 10 detected by the above is within a preset range. Thereby, the difference between the remaining amount of the residual drug actually remaining in the medicine container 10 and the calculated value (predicted value) of the remaining amount based on the preparation data and the predetermined amount of the medicine container 10 is It is possible to prevent the use of the residual drug if it exceeds a predetermined tolerance. For example, when the medicine is sucked from the medicine container 10 by the syringe 11, the medicine leaks, and the remaining amount of the residual medicine remaining in the medicine container 10 after the co-infusion process is actually smaller than the calculated value In such a case, it is possible to determine that before the start of the next co-infusion process, so it is possible to prevent an error in which shortage of medicine is found after the co-infusion process is started. The remaining condition of the residual medicine in the medicine container 10 calculated based on the preparation data and the predetermined amount of the medicine container 10, and the syringe confirmation camera during execution of the mixed injection process A difference between the amount of medicine sucked into the syringe 11 imaged at 42 and the remaining amount of the residual drug in the medicine container 10 calculated based on the predetermined amount of the medicine container 10 is preset. It is also conceivable to include being within the range.

  Here, if the second control unit 500 determines that the remaining drug can be used (Yes in S51), the process proceeds to step S53, and if it is determined that the remaining drug can not be used (S51 No), the process proceeds to step S52.

<Step S52>
In step S52, the second control unit 500 determines whether the co-infusion process based on the preparation data to be processed this time is to be executed by the immediate start operation. When it is determined that the operation is to be performed by the immediate start operation (S52: Yes), the process proceeds to step S521, and when it is determined that the operation is not performed by the immediate start operation (S52) : No), the process proceeds to step S523.

<Step S521>
In step S 521, the second control unit 500 controls the medicine in the medicine container 10 already loaded to the co-infusion apparatus 1 (hereinafter referred to as “loaded medicine”) in the co-infusion process for the preparation data. Determine if you can use Specifically, based on the correspondence information D31 stored in the data storage unit 405, the second control unit 500 performs the co-infusion process on the dispensing data in which the same kind of drug as the loaded medicine is included in the prescription drug. It is determined whether it is selected as the target of Here, if it is determined that the loaded medicine can be used (S521: Yes), the process proceeds to step S522, and if it is determined that the loaded medicine is not usable (S521: No), The processing proceeds to step S523.

  Specifically, when the medicine container 10 corresponding to another preparation data different from the preparation data to be processed is stored in the tray 101 in the storage unit 700, the second control unit 500 loads the second control unit 500. It can be considered that the used medicine can be used. Further, the second control unit 500 has already taken the medicine container 10 corresponding to other preparation data different from the preparation data to be processed into the co-infusion processing chamber 104 from the tray 101 in the storage unit 700. It is conceivable to determine that the loaded medicine is usable when it is placed on the placement shelf 33 described above. Furthermore, the second control unit 500 may perform the mixed injection process from the tray 101 in the storage unit 700 in the pre-stirring process in the medicine container 10 corresponding to another preparation data different from the preparation data to be processed. When taken into the chamber 104 and placed on the storage shelf 33, it may be considered that the loaded medicine can be used.

  In addition, the second control unit 500 can receive user setting of presence / absence of use of the loaded medicine for each of the preparation data, and setting of not using the loaded medicine is performed by the user setting. If it is, it can be considered that it is determined in step S521 that the loaded medicine is not usable.

<Step S522>
In step S522, the second control unit 500 is accommodated in the accommodation unit 700 in correspondence with preparation data (an example of second preparation data) different from the preparation data (an example of the first preparation data) to be processed. The medicine in the medicine container 10 is used to execute the co-infusion process based on the preparation data to be processed. That is, in the co-infusion processing based on certain preparation data by the co-infusion processing part 300, the second control part 500 is loaded in advance in the co-infusion apparatus 1 in association with other preparation data different from the preparation data. It is possible to use the medicine in the medicine container 10.

  Specifically, when the step S522 is executed, the second control unit 500 stores the medicine container 10 corresponding to another preparation data different from the preparation data to be processed in the tray 101 in the storage unit 700. In this case, the storage unit 700 is controlled to supply the tray 101 from the storage unit 700 to the co-infusion processing chamber 104. Then, the second control unit 500 controls the first robot arm 21 to place the medicine container 10 stored in the tray 101 on the mounting shelf 33, and the tray 101 is accommodated in the storage unit 700. Back to. Thereafter, the tray 101 corresponding to the preparation data to be processed is supplied from the storage unit 700 to the co-infusion processing chamber 104, and the medicine container 10 corresponding to the other preparation data placed on the placing shelf 33 is prepared. The above-mentioned co-infusion process is performed using. Thereby, in the co-infusion apparatus 1, for example, even when it takes time to sort the medicine contained in the preparation data to be processed, it is based on the preparation data using the medicine already existing in the co-infusion apparatus 1. It is possible to carry out the co-infusion process.

  Further, the second control unit 500 has already taken the medicine container 10 corresponding to other preparation data different from the preparation data to be processed into the co-infusion processing chamber 104 from the tray 101 in the storage unit 700. If the medicine container 10 is placed on the placement shelf 33, the mixed injection process is performed using the medicine container 10 placed on the placement shelf 33. Similarly, the second control unit 500 controls the medicine container 10 corresponding to another preparation data different from the preparation data to be processed from the tray 101 in the accommodation unit 700 already in the pre-stirring process. When taken into the chamber 104 and placed on the placement shelf 33, the mixed injection process is performed using the medicine container 10 placed on the placement shelf 33. However, the second control unit 500 determines the concentration after dissolving the medicine in the medicine container 10 in the preparation data to be processed, and the tray 101 in the storage unit 700 in the pre-stirring process from the mixed injection processing chamber. The medicine placed on the mounting shelf 33 is used on the condition that the concentration of the medicine taken into the container 104 and placed on the mounting shelf 33 is the same. Thereby, in the co-infusion apparatus 1, even before the pre-stirring process is performed on the preparation data to be processed, the co-infusion process based on the preparation data can be quickly performed.

  By the way, in the step S522, using the medicine in the medicine container 10 stored in the storage unit 700 corresponding to another preparation data different from the preparation data to be processed, the preparation data for the treatment target is used. When the co-infusion process based on the above is performed, the medicine container 10 will run short if the co-infusion process based on the other preparation data is performed. Therefore, when the medicine container 10 is placed on the tray 101 corresponding to the preparation data to be treated, the second control unit 500 ends the co-infusion process based on the preparation data to be treated, The medicine container 10 is placed on the placing rack 33 as the medicine container 10 to be used in the co-infusion process based on the other preparation data. When the pre-stirring process is performed on the medicine container 10, the second control unit 500 controls the tray 101 corresponding to the preparation data after the co-infusion process based on the preparation data to be processed is finished. After the pre-stirring process is performed on the medicine container 10 stored in the box, the medicine container 10 is placed on the placing shelf 33.

  When the tray 101 corresponding to preparation data to be processed is loaded into the co-infusion apparatus 1, the second control unit 500 does not place the medicine container 10 on the tray 101. After the co-infusion process based on the preparation data to be processed is finished, the user is notified by displaying on the touch panel monitor 14 a message or the like for promoting the replenishment of the medicine container 10. Also, the second control unit 500 places the medicine container 10 replenished by the user on the placement rack 33 as the medicine container 10 used in the mixed injection process based on the other preparation data. Further, when the medicine container 10 requires the pre-stirring process, the second control unit 500 is configured to supply the medicine container 10 supplemented by the user after the co-infusion process based on the preparation data to be processed is completed. The medicine container 10 is placed on the placing shelf 33 after the pre-stirring process is performed.

  Further, in the co-infusion apparatus 1, even if the medicine container 10 corresponding to the other preparation data is not replenished after completion of the co-infusion process based on the preparation data to be processed, the co-infusion process based on the other preparation data is If a drug to be used in the co-infusion process is present in the co-infusion apparatus 1 when executed, the co-infusion process is performed using the drug. That is, it is not necessary for all the medicines corresponding to all the preparation data to be loaded in the co-infusion apparatus 1, and a smaller number of medicines are loaded than the medicines corresponding to all the preparation data. The medicine can be effectively used in the co-infusion process based on each of the preparation data. Therefore, it is possible to suppress the waste of medicine when the mixed injection processing is canceled after the medicine container 10 used in the mixed injection processing based on the preparation data input to the mixed injection device 1 is loaded into the mixed injection device 1, for example .

  In addition, when the medicine in which the number of medicines corresponding to all the said preparation data is loaded is loaded, when the mixed injection process based on the said other preparation data is performed, the said mixed injection process in the said mixed injection apparatus 1 is carried out. There may be no medicines used in Therefore, when the second control unit 500 executes the co-infusion process based on the preparation data to be processed, the touch panel monitor 14 is operated on the condition that the medicine used in the co-infusion process is not present in the co-infusion apparatus 1. Alternatively, it is conceivable to notify the user by displaying on the display unit such as the display 203 that the medicine container 10 corresponding to the medicine used in the co-infusion process is to be replenished. Then, the second control unit 500 executes the mixed injection process using the medicine container 10 that has been replenished.

  In addition, in the step S522, the second control unit 500 may be capable of switching the presence or absence of the use of the loaded medicine in the co-infusion process for the preparation data according to user selection. For example, the second control unit 500 causes the display unit such as the touch panel monitor 14 or the display 203 to display an operation screen for allowing the user to select whether to use the loaded medicine, according to the user operation. It is conceivable to switch the use of the medicine container 10.

  In the present embodiment, the medicine container 10 loaded in the co-infusion apparatus 1 in association with one preparation data has been described as an example where it can be used in co-infusion processing based on other preparation data. The diversion of such equipment is not limited to the medicine container 10. For example, the co-infusion control unit 100 is configured to place the medicine container 10, the syringe 11, and the infusion bag 12 as equipments in the tray 101 loaded in the co-infusion apparatus 1 in association with one preparation data. It is also contemplated that any one or more may be used in co-infusion processing based on other preparation data. In the case where the syringe 11 or the infusion bag 12 is diverted instead of the medicine container 10, it may be processed in the same manner as the medicine container 10, and thus the detailed description will be omitted.

<Step S523>
In step S523, the second control unit 500 controls the co-infusion processing unit 300 based on the preparation data input from the first control unit 400, thereby changing the medicine container 10 to the infusion bag 12 The usual co-infusion process of injecting medicine is performed.

  Specifically, in step S523, the second control unit 500 controls the storage unit 700, and the tray 101 associated with the preparation data for which the execution start timing has arrived is the content of the storage unit 700. The mixed solution processing unit 300 is automatically supplied from the tray storage unit 811. Then, in the co-infusion process, the second control unit 500 sucks the medicine indicated in the preparation data from the one or more medicine containers 10 placed on the tray 101 by the syringe 11, and the syringe 11. Infusion into the infusion bag 12 from 11.

  The second control unit 500 is identification information of the tray 101 which is read out from the IC tag 101b of the tray 101 carried out from the tray storage unit 811 and placed on the first transport unit 910, It is conceivable to collate the identification information of the tray 101 associated with the preparation data. Then, the second control unit 500 supplies the tray 101 to the co-infusion processing unit 300 when the check result is a match, and notifies an error when the check result is a mismatch. 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 secured.

  In addition, when the preparation data is preparation data for which the stirring process has already been performed by the pre-stirring process, the mixed injection using the medicine container 10 after being stirred by the pre-stirring process. Processing is carried out and the stirring step is omitted. Specifically, in the co-infusion process, the medicine container 10 that has been the target of the pre-stirring process is not subjected to the process of taking it out from the tray 101 and is placed on the shelf 33 during the pre-stirring process. The medicine container 10 after the placed stirring process is used. Similarly, in the co-infusion process, the syringe 11 used in the pre-stirring process is not subjected to the process of taking it out of the tray 101, and is placed on the placement shelf 33 at the pre-stirring process. The syringe 11 is used. The second control unit 500 omits the stirring process for the medicine container 10 in the co-infusion process using the medicine container 10 that has already been stirred after the stirring process is performed in the pre-stirring process. Do. Thereby, the required time after the execution start timing of the said mixed injection process comes can be shortened. The second control unit 500 executes the stirring process in the mixed injection process with respect to the medicine container 10 stirred in the preliminary stirring process, as compared to the case where the preliminary stirring process is not performed. It is also conceivable to reduce the time for execution.

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

<Step S53>
On the other hand, in step S53, the second control unit 500 controls the co-infusion processing unit 300 based on the preparation data input from the first control unit 400, thereby using the residual drug for the infusion The exceptional co-infusion process of injecting medicine into the bag 12 is performed. Therefore, for example, when a drug remains in the drug container 10 after the co-infusion process, the drug is effectively used, and the waste of the drug is suppressed. In particular, in the co-infusion apparatus 1, when the same medicine as the medicine corresponding to the preparation data to be processed already exists in the co-infusion apparatus 1 as a residual medicine, the residual medicine is already stored in the containing unit 700. The co-infusion process is performed prior to the medicines present in the other trays 101 being used.

  The first control unit 400 or the second control unit 500 is not required for the medicine container 10 by using the remaining medicine compared to the case where the remaining medicine is not used in the co-infusion process based on the preparation data. It is conceivable that the number can be stored as a residual drug utilization history and can be output to a display unit such as the display 203 or the touch panel monitor 14 or the like. Thereby, the user can grasp the efficiency by residual drug utilization by referring to the residual drug utilization history.

<Step S54>
When the co-infusion process is completed, in step S54, the second control unit 500 determines whether or not the medicine remains in the medicine container 10. The determination process in step S54 may be the same process as step S16 executed by the first control unit 400, but indicates whether or not the remaining drug is generated from the first control unit 400. A control signal may be received.

  Here, when the second control unit 500 determines that the medicine remains (Yes side at S54), it shifts the process to step S55, and when judging that the medicine does not remain (No side at S54), The process proceeds to step S541.

<Step S55>
When the medicine remains in the medicine container 10, in the subsequent step S55, the second control unit 500 stores the medicine in the medicine container 10 in the mixed injection processing chamber 104 in a reusable state. More specifically, the second control unit 500 controls the first robot arm 21 to place the medicine container 10 on the placement shelf 33 in a usable state again. In addition, the second control unit 500 is configured to display the name of the medicine, the remaining amount of medicine in the medicine container 10, the placement position of the medicine container 10, the date and time of opening the medicine container 10, and the inside of the medicine container 10. The data storage unit 504 stores various information such as the expiration date of the remaining drug.

<Step S541>
On the other hand, when the medicine does not remain in the medicine container 10, the second control unit 500 discards the medicine container 10 into the dust storage chamber 13a by the first robot arm 21 in step S541. That is, when the medicine in the medicine container 10 is not used up, the medicine container 10 is returned to the placing shelf 33, and when the medicine in the medicine container 10 is used up, the medicine container 10 is discarded. .

[Operation example of co-infusion apparatus 1]
Here, FIG. 28 is a diagram for describing an actual operation example when the co-infusion management process and the co-infusion control process are performed by the co-infusion control device 100. FIG. 28A shows an example of preparation data, FIG. 28B shows an example of remaining drug information, and FIGS. 28C to 28E show display examples of a part of the prescription display section D2. The information shown in FIG. 28 omits items of information related to the present case for convenience of explanation.

  Here, as shown in FIG. 28A, it is assumed that preparation data Rp1 to Rp4 are input to the first control unit 400 as selection candidates for the dispensing data to be subjected to the co-infusion process. For example, in the preparation data Rp1, a predetermined amount of the ampoule 10A containing a medicine having a medicine name of "5-FU injection 1000 mg", a dispensing amount of "15 ml" and the medicine name "5-FU injection 1000 mg" is accommodated. Is shown to be "20 ml". Further, in the preparation data Rp2, the ampoule containing the medicine named "Kiloside N (registered trademark) Note 1g", the dispensing amount "50 ml" and the medicine name "Kiloside N note 1g" is stored in the preparation data Rp2. It is shown that the predetermined amount of 10A is "50 ml". The first control unit 400 acquires a predetermined amount corresponding to the medicine name “5-FU note 1000 mg”, “kiloside N note 1 g”, etc. from the medicine master stored in the data storage unit 404. May be Furthermore, the first control unit 400 may obtain the predetermined amount from the barcode of the medicine container 10 by the barcode reader 34 b.

  Then, when the preparation data Rp1 is selected as the target of the co-infusion process in the first control unit 400, the first control unit 400 calculates the difference (5 ml) between the amount of payout and the predetermined amount. . As a result, the first control unit 400 determines that the medicine name "5-FU injection 1000 mg" remains "5 ml" in the ampoule 10A, and the residual medicine information (see FIG. 28B) to that effect. As the data storage unit 404. In the residual drug information shown in FIG. 28 (B), only the remaining amount "5 ml" of the medicine having the medicine name "5-FU note 1000 mg" remains in the ampoule 10A, and the opening date is "2013/02/15. It is indicated that the expiration date is "13 o'clock on 2013/02/15".

  Here, for convenience of explanation, the case where the prescribed amount is equal to or less than the predetermined amount of the ampoule 10A and the number of the ampoule 10A used is one will be described as an example. On the other hand, when the prescribed amount exceeds the predetermined amount of the ampoule 10A, a plurality of the ampoules 10A are used, and as a result, a medicine remains in one ampoule 10A. For example, when the prescribed amount of the preparation data Rp1 is "30 ml", the two ampoules 10A are loaded on the tray 101. At this time, the first control unit 400 uses the difference between “40 ml”, which is the total amount of the two ampoules 10A, and “30 ml” of the prescribed amount, and the medicine of “10 ml” is contained in the second ampoule 10A. Judge to remain.

  Next, the first control unit 400 includes, as a prescription drug, a drug of the same type as the residual drug of the drug name “5-FU injection 1000 mg” indicated in the residual drug information among the preparation data Rp2 to Rp4. In the case of the co-infusion process targeting preparation data Rp3 and Rp4, it is determined that the residual drug can be used.

  Then, as shown in FIG. 28C, the first control unit 400 rearranges the preparation data Rp3 and Rp4 among the preparation data Rp2 to Rp4 above the preparation data Rp2 and selects the prescription selection screen. The priority is displayed on M1 (see FIG. 29). Further, as shown in FIG. 28C, the first control unit 400 causes the “O” to be displayed on the residual drug presence / absence display part D21 (see FIG. 29) on the prescription selection screen M1 to thereby prepare the preparation. It indicates that it is possible to use the residual drug for data Rp3 and Rp4. Thereby, the user recognizes that it is possible to use the residual drug by targeting the preparation data Rp3 and Rp4 displayed above in the prescription selection screen M1 as a target of the next co-infusion process. be able to. In addition, as shown in FIG. 28 (C), for the preparation data Rp2 in which a medicine of a type different from the residual drug is a prescription drug, “o” is not displayed in the residual drug presence / absence display part D21, It is indicated that the remaining drug can not be used.

  For example, in the preparation data Rp3, a prescribed amount of the ampoule 10A containing a medicine having a drug name of "5-FU injection 1000 mg", a dispensing amount of "25 ml" and the drug name "5-FU injection 1000 mg" is accommodated. Is shown to be "20 ml". Then, in the co-infusion process for the preparation data Rp3, two ampules 10A are required. However, if the drug "5-FU injection 1000 mg" remains as the residual drug and "5 ml" remains, and the residual drug can be used, one of the above-mentioned mixed injection processing for the preparation data Rp3 It is sufficient to load only the ampoule 10A.

  On the other hand, in the preparation data Rp4, the prescribed amount of the ampoule 10A containing the medicine named "5-FU injection 1000 mg", dispensing amount "5 ml" and the medicine name "5-FU injection 1000 mg" is stored. Is shown to be "20 ml". Then, in the co-infusion process for the preparation data Rp4, one ampule 10A is required. However, if the drug "5-FU injection 1000 mg" remains as the residual drug and "5 ml" remains, and the residual drug can be used, the ampoule 10A is used in the mixed injection processing for the preparation data Rp4. There is no need to load it anew. Therefore, it may be considered as another embodiment that the first control unit 400 preferentially displays the preparation data, ie, the preparation data Rp4, for which the amount of withdrawal is sufficient with the remaining amount of the residual medicine, that is, the preparation data Rp4.

  By the way, as shown in FIG. 28 (D), the first control unit 400 only displays the preparation data Rp3 and Rp4 in order to preferentially display the preparation data Rp3 and Rp4 among the preparation data Rp2 to Rp4. It is also conceivable to display on the prescription selection screen M1. Further, as shown in FIG. 28 (E), when the prescription date for the preparation data Rp3 and Rp4 is set in advance, the first control unit 400 selects the one with the earlier prescription date, that is, the preparation. It is also conceivable to display data Rp4 preferentially on the upper side.

  In addition, when multiple types of medicines with a plurality of mixed injection processing exist in one piece of the preparation data, the first control unit 400 determines the presence or absence of the residual medicine in each of the mixed injection processing, and at least the residual medicine is It is conceivable to preferentially display the preparation data including the same kind of drug as a prescription drug. In addition, when a plurality of types of residual drugs exist, it is conceivable that the first control unit 400 causes the preparation data having a large number of drugs of the same type as the residual drugs contained as prescription drugs to be displayed on the top.

[Other operation example of co-infusion apparatus 1]
Here, FIG. 29 is a diagram for describing another actual operation example when the co-infusion management process and the co-infusion control process are performed by the co-infusion control device 100. FIG. 29A shows an example of preparation data, FIG. 29B shows an example of remaining drug information, and FIG. 29C shows a display example of a part of the prescription display part D2. The information shown in FIG. 29 omits items of information related to the present case for convenience of explanation.

  Here, as shown in FIG. 29A, it is assumed that preparation data Rp11 to Rp15 are input to the first control unit 400 as selection candidates for the dispensing data to be subjected to the co-infusion process. For example, in the preparation data Rp11, the drug name to be prepared is “Gemzar (registered trademark) 1 g for injection”, the dispensing amount is “25 ml”, the solvent is “100 ml of physiological saline”, and the solvent amount is “30 ml”. That is, in the preparation data Rp11, the components of the combination drug produced in the vial 10B are the drug “1 gm for injection Gemzar” and the solvent “100 ml of physiological saline”. Similarly, in the preparation data Rp12, the drug name to be prepared is "2 mg of mitomycin (registered trademark) for injection", the dispensing amount is "5 ml", the solvent is "100 ml of physiological saline", and the solvent amount is "5 ml". In the preparation data Rp15, the drug name to be prepared is “1 g for Gemzar injection”, the dispensing amount is “25 ml”, the solvent is “5% glucose injection 100 ml”, and the solvent amount is “30 ml”.

  Then, when the preparation data Rp11 is selected as the target of the co-infusion process in the first control unit 400, the first control unit 400 determines whether or not the mixed medicine remains in the vial 10B. Do. Specifically, the first control unit 400 determines whether the mixed medicine remains in the vial 10B according to the difference between the amount of solvent and the amount of withdrawal. That is, when the mixed medicine is generated in the medicine container 10 in the co-infusion process, the first control unit 400 stores the amount of the mixed medicine generated in the medicine container 10 in the medicine container 10. It is regarded as a fixed amount of medicine that has been Then, when the first control unit 400 determines that the mixed drug of the drug “1 g of Gemzar for injection” and the solvent “100 ml of physiological saline” remains, that effect is regarded as the remaining drug information (see FIG. 29B). The data is stored in the data storage unit 404. In the residual drug information shown in FIG. 29 (B), "5 ml" of the mixed drug in which "30 ml" of the solvent "saline solution 100 ml" is mixed with the drug name "1 gm for injection" remains in the vial 10B. That is indicated.

  In this case, the first control unit 400 has the same components as the mixed drug of the drug “Gemzar for injection 1 g” and the solvent “saline 100 ml” indicated in the remaining drug information among the preparation data Rp12 to Rp15 and In the case of the co-infusion process targeting the preparation data Rp14 containing a drug having a mixing ratio as a prescription drug, it is determined that the remaining drug can be used. In addition, since the mixing ratio of the mixed chemical is determined according to the amount of the component contained in the chemical name and the amount of the solvent of the solvent, the first control unit 400 determines that the chemical name and the amount of the solvent are the same. It can be determined that the mixing ratio of the mixed chemicals is the same.

  Then, as shown in FIG. 29C, the first control unit 400 rearranges the preparation data Rp14 among the preparation data Rp12 to Rp15 above the preparation data Rp12 and Rp13, and the prescription selection screen Give priority to M1. Further, as shown in FIG. 29C, the first control unit 400 causes the “O” to be displayed on the residual drug presence / absence display part D21 (see FIG. 29) on the prescription selection screen M1 to thereby prepare the preparation. The data Rp14 indicates that it is possible to use the residual drug. Thereby, the user can recognize that it is possible to use the residual medicine by setting the preparation data Rp14 displayed on the upper side in the prescription selection screen M1 as a target of the next co-infusion process. it can.

  In addition, as shown in FIG. 29C, regarding the preparation data Rp12 in which a medicine of a type different from the residual drug is a prescription drug, “o” is not displayed in the residual drug presence / absence display part D21, It is indicated that the remaining drug can not be used. Further, as shown in FIG. 29 (C), with regard to the preparation data Rp13 having a different solvent amount from the residual drug, “○” is not displayed in the residual drug presence / absence display part D21, so that the residual drug is used. It is indicated that it can not be done. Furthermore, as shown in FIG. 29C, with regard to the preparation data Rp15 different in solvent from the residual drug, the residual drug is used by not displaying “な い” in the residual drug presence / absence display part D21. It is indicated that you can not do it.

  By the way, in the case of the mixed drug, strictly speaking, the mixing of the drug and the solvent increases the volume of the mixture by the mass of the drug over the amount of the solvent. Therefore, it is also conceivable as another embodiment that the first control unit 400 has a function of managing the residual drug in consideration of the mass of the medicine. In this case, the first control unit 400 performs a first operation mode in which the mass of the medicine is considered and a second operation mode in which the mass of the medicine is not considered according to the user operation of the operation unit 405. It is possible that it can be switched. In this case, in the data storage unit 404 of the first control unit 400, for example, the medicine master stores the mass per unit volume for each medicine, the volume per unit mass for each medicine, or the volume for each medicine name. It is done. For example, it is conceivable that a volume corresponding to the drug name “1 gm for injection for Gemzar” is stored in the pharmaceutical master. Then, it is conceivable that the first control unit 400 acquires the volume of medicine based on the medicine master and derives the actual volume of the mixed medicine.

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 completion of the co-infusion process. However, in this case, the preparation inspection process is performed each time the co-infusion process ends, and the user needs to confirm the preparation result each time.

  On the other hand, the co-infusion apparatus 1 includes the accommodation unit 700 capable of accommodating the plurality of trays 101 as described above. Therefore, the co-infusion apparatus 1 stocks the plurality of trays 101 after the execution of the co-infusion process in the accommodation unit 700, and collectively executes the preparation inspection process on 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 batch preparation inspection processing 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 doing this, the batch preparation inspection function is realized. Note that the second control unit 500 can switch between the activation and the deactivation of the batch preparation inspection function according to the user operation, and the same applies to the other functions of the co-infusion apparatus 1. Here, the mixed injection control unit 100 when performing the batch preparation inspection process is an example of the accommodation processing unit and the preparation inspection process unit.

[Batch preparation inspection processing]
Hereinafter, an example of the batch preparation inspection process performed by the co-infusion apparatus 1 when the batch preparation inspection function is effective will be described with reference to FIG.

<Step S61>
First, in step S61, the second control unit 500 determines whether the co-infusion process is completed, and when it is determined that the co-infusion process is completed (S61: Yes), shifts the process to step S62. It is judged that the said mixed injection process is not complete | finished (S61: No), a process is transfered to step S63.

<Step S62>
In step S62, the second control unit 500 executes a process for stocking the tray 101 in which the infusion bag 12 after the co-infusion process is accommodated in the accommodation unit 700. Specifically, the second control unit 500 controls the tray conveyance unit 110 to return the infusion bag 12 to the tray 101, and the tray 101 can be moved from the tray conveyance termination unit 110a to the tray conveyance start unit 110b. Move to Subsequently, the second control unit 500 controls the tray conveyance unit 110 to supply the tray 101 to the accommodation unit 700 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 portion 811 of the elevating unit 800. At this time, the second control unit 500 updates the correspondence information D31 indicating the correspondence between the identification information of the tray 101 and the tray accommodation unit 811. The second control unit 500 reads the identification information of the tray 101 with the IC reader 930 before the tray 101 is accommodated in the tray accommodation unit 811 of the accommodation unit 700, and the identification information is prepared The identification information of the tray 101 associated with the data is collated.

<Step S63>
In step S63, 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, when the second control unit 500 causes the touch panel monitor 14 to display a list of the preparation data on which the co-infusion process has been performed in response to a user operation, and one or more pieces of the preparation data are selected, It is determined that the preparation inspection start operation has been performed for one or more of the preparation data. Here, if it is determined that the preparation inspection start operation has been performed (S63: Yes), the process proceeds to step S64, and if the preparation inspection start operation has not been performed (S63: No), the process proceeds to step S61. Will be returned to

<Step S64>
In step S64, the second control unit 500 executes the preparation inspection process on one or more pieces of the preparation data. Specifically, the second control unit 500 sequentially executes the preparation inspection process on one or more pieces of the preparation data selected when the preparation inspection start operation is performed.

  The second control unit 500 controls the tray corresponding to the preparation data every time the check completion operation indicating that the result of the co-infusion process is appropriate in the preparation inspection process corresponding to the preparation data is performed. 101 is discharged from the accommodation unit 700 to the tray discharge port 206 in order. Thereby, 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 the mixed injection processing is performed until it is determined that the result of the mixed injection processing is appropriate in the preparation inspection processing.

  As described above, in the co-infusion apparatus 1, the batch preparation inspection function can collectively execute the preparation inspection process on each of the preparation data in order. Therefore, it is not necessary for the user to perform the confirmation operation every time the co-infusion process is completed, and the load of the user operation is reduced.

[Bulk stirring inspection function]
Further, in the co-infusion apparatus 1, as described above, the agitation inspection process is executed to inspect the agitation result by the agitation process after the completion of the agitation process. On the other hand, the co-infusion apparatus 1 may include the storage unit 700 capable of storing the plurality of trays 101 as described above, and may perform the pre-stirring process on the plurality of medicine containers 10. Here, also in the pre-stirring process, when the stirring inspection process is executed each time the stirring process is finished, the user needs to confirm the stirring result each time.

  Therefore, the co-infusion apparatus 1 stocks the plurality of medicine containers 10 after being stirred in the stirring step performed by the plurality of pre-stirring processes in the placing shelf 33, and the plurality of medicines It is conceivable to provide a batch agitation inspection function capable of collectively performing the agitation inspection process on the container 10. Specifically, the co-infusion control unit 100 executes batch agitation inspection processing described later according to the first co-infusion control program or the second co-infusion control program using the first control part 400 or the second control part 500. By doing this, the batch agitation inspection function is realized.

[Batch agitation inspection processing]
Hereinafter, an example of the batch agitation inspection process executed by the co-infusion apparatus 1 when the batch agitation inspection function is effective will be described with reference to FIG.

<Step S71>
First, in step S71, the second control unit 500 determines whether or not the stirring process is completed, and when it is determined that the stirring process is completed (S71: Yes), shifts the process to step S72, It is judged that the said stirring process is not complete | finished (S71: No), a process is transfered to step S73.

<Step S72>
In step S72, the second control unit 500 executes a process for stocking the medicine container 10 after the stirring process on the placing rack 33. Here, the second control unit 500 when executing the processing is an example of the placement processing unit. Specifically, the second control unit 500 controls the first robot arm 21 to move the medicine container 10 to the placing 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 placing shelf 33, and the second control unit 500 performs the step At S72, the arrangement table is updated.

<Step S73>
In step S73, the second control unit 500 determines whether a predetermined stirring inspection start operation has been performed on the touch panel monitor 14 or the like. For example, when the second control unit 500 causes the touch panel monitor 14 to display a list of the medicine containers 10 for which the stirring process has been performed in response to a user operation, and one or more medicine containers 10 are selected. In addition, it is determined that the stirring inspection start operation has been performed for one or more relevant medicine containers 10. Here, if it is determined that the stirring inspection start operation has been performed (S73: Yes), the processing proceeds to step S74, and if the stirring inspection start operation has not been performed (S73: No), the processing is the step S71. Will be returned to

<Step S74>
In step S74, the second control unit 500 executes the stirring inspection process on the one or more medicine containers 10 after the stirring stroke placed on the placing rack 33. Here, the second control unit 500 when executing such processing is an example of the agitation inspection processing unit. Specifically, the second control unit 500 sequentially performs the agitation inspection process on the one or more medicine containers 10 selected when the agitation inspection start operation is performed.

  Then, the second control unit 500 permits the use of the medicine container 10 every time the inspection completion operation is performed in the stirring inspection process corresponding to the medicine container 10. That is, the second control unit 500 restricts the use of the medicine container 10 stirred in the pre-stirring process until the stirring inspection process is performed.

  As described above, in the co-infusion apparatus 1, it is possible to collectively execute the agitation inspection process for each of the medicine containers 10 that have been targets of the preliminary agitation process by the batch agitation inspection function in order. Therefore, it is not necessary for the user to perform the confirmation operation every time the stirring process is completed, and the load of the user operation is reduced.

[Collected whole amount collection inspection function]
By the way, in the co-infusion process, when the entire amount of the medicine in the medicine container 10 is collected, the whole amount collection inspection may be performed where the user confirms that the medicine does not remain in the medicine container 10 . For example, the progress of the co-infusion process may be restricted until the confirmation operation is performed by the user after the user is notified of the end of the total amount collection every time the entire amount collection is completed. In this case, when all the medicines are collected for a plurality of medicine containers 10 in the co-infusion process based on the preparation data, the whole quantity collection inspection is performed every time all the medicines are collected for each medicine container 10 It will be done. Therefore, it is necessary for the user to perform an operation on the co-infusion apparatus 1 every time the whole amount collection of the medicine containers 10 is completed.

  On the other hand, it is conceivable that the co-infusion apparatus 1 has a collective whole-quantity collection inspection function for collectively performing whole-quantity collection inspection on a plurality of the medicine containers 10. Specifically, the co-infusion control unit 100 uses the first control unit 400 or the second control unit 500 according to the first co-infusion control program or the second co-infusion control program to perform batch whole blood sampling inspection processing described later. By carrying out, the above-mentioned batch whole amount collection inspection function is realized.

[Collective whole amount collection inspection processing]
Hereinafter, with reference to FIG. 32, an example of the batch whole blood collection inspection process executed by the co-infusion apparatus 1 when the batch whole blood collection inspection function is effective will be described. The batch whole amount collection inspection process is executed together with the mixed injection process.

<Step S81>
In step S81, the second control unit 500 determines whether there are a plurality of the medicine containers 10 that are targets for whole quantity collection in the co-infusion process based on the preparation data. Here, if it is determined that there are a plurality of medicine containers 10 to be subjected to whole quantity collection (S81: Yes), the process proceeds to step S82, and a plurality of medicine containers 10 to be subjected to whole quantity collection are not present. If it is determined (S81: No), the batch whole amount collecting process is ended.

<Step S82>
In step S82, the second control unit 500 determines whether the total amount collection for any one of the plurality of medicines 10 targeted for total amount collection has been completed. Here, if it is determined that the total amount collection has been completed (S82: Yes), the process proceeds to step S83, and if the total amount collection has not been completed (S82: No), the process waits in step S82.

<Step S83>
In step S83, the second control unit 500 controls the first robot arm 21 to place the medicine container 10, which is the target of total amount collection determined to be ended in step S82, on the placement shelf 33. Place. At this time, the second control unit 500 causes the data storage unit 504 to store the medicine container 10 and the arrangement on the placement rack 33 in association with each other. The placing shelf 33 is an example of the second placing portion, and the second placing portion 33 performs the process for placing the medicine container 10 after the execution of the whole amount collection on the placing shelf 33. The 2 control unit 500 is an example of the 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 separately provided. It may be

<Step S84>
In step S84, the second control unit 500 breaks whether or not the total amount collection has been completed for all of the plurality of medicine containers 10 which are targets of the total amount collection in the preparation data. Here, if it is determined that all the whole amount collection has been completed (S84: Yes), the process proceeds to step S85, and if it is determined that all the whole amount collection has not been completed (S84: No), the process The process proceeds to step S82.

<Step S85>
In step S85, the second control unit 500 notifies that the whole amount collection has ended for all of the plurality of medicine containers 10 which are targets of whole amount collection in the preparation data. For example, the second control unit 500 causes the touch panel monitor 14 to display the end of the total amount collection. In addition, the second control unit 500 may cause the display 203 to display the end of the whole amount collection via the first control unit 400.

<Step S86>
In step S86, the second control unit 500 determines whether or not the start operation of the whole amount collection inspection has been performed on the touch panel monitor 14. Here, when it is determined that the start operation of the whole amount collection inspection has been performed (S86: Yes), the process proceeds to step S87, and the processing is performed until the start operation of the whole amount collection inspection is performed (S86: No). It waits in step S86.

<Step S87>
In step S87, the second control unit 500 sequentially executes the whole amount collection inspection process for inspecting the whole amount collection result for each of the medicine containers 10 after the whole amount collection. Here, the second control unit 500 when executing such processing is an example of the whole amount collection inspection processing unit. Specifically, in the total amount collection inspection process, the second control unit 500 controls the first robot arm 21 so that the bottom portion or the side surface of the medicine container 10 can be viewed by the user. The medicine container 10 is moved. Thereafter, when the second control unit 500 receives the inspection and confirmation operation of the medicine container 10 by the user, the second control unit 500 starts the whole amount collection inspection process for the next medicine container 10. Thereafter, when the whole amount collection inspection process is completed for all the medicine containers 10, the inspection result is stored in the data storage unit 504.

  The second control unit 500 controls the first robot arm 21 according to the operation from the user, and causes the bottom or the side of the medicine container 10 to change to a plurality of postures that can be checked from a plurality of angles. It is conceivable. Thus, the user can check the medicine container 10 from different angles, and can properly determine whether the total amount of the medicine container 1 has been properly collected. . In addition, the second control unit 500 may sequentially display one or more images in which the bottom portion or the side surface of the medicine container 10 is photographed in advance without changing the medicine container 10 to a visible position and posture. Is also conceivable.

  Moreover, although the case where whole quantity collection inspection processing was performed after completion of all the whole quantity collection contained in the above-mentioned co-infusion processing was explained here, as another embodiment, the second control unit 500 performs the batch preparation inspection. It is also conceivable to execute the whole collection inspection process at the time of processing.

Second Embodiment
By the way, in the first embodiment, in the case where the medicine container 10 containing the residual drug is stored in the placing shelf 33 in the co-infusion processing chamber 104 in the step S55 (see FIG. 27). explained. On the other hand, the method of storing the residual drug is not limited to the state of being stored in the medicine container 10.

  For example, the second control unit 500 controls the first robot arm and the second robot arm 22, and the remaining medicine in the medicine container 10 is aspirated by the syringe 11 used in the mixed injection process, It is conceivable that the residual drug is stored in the co-infusion processing chamber 104 by placing the syringe 11 on the placing shelf 33. In this case, the remaining drug information stores the position information of the syringe 11 instead of the position information of the medicine container 10. In addition, the cap 11 d is attached to the injection needle 11 c using the injection needle attaching / detaching device 43 before being placed on the placing shelf 33 in the syringe 11 in which the residual drug is stored. Further, the medicine remaining in the medicine container 10 by the unused syringe 11 previously placed on the placing rack 33 instead of the syringe 11 used in the co-infusion process, the second control unit 500 It is also conceivable to place the syringe 11 on the storage shelf 33 by aspirating the

  Furthermore, the second control unit 500 controls the first robot arm and the second robot arm 22, and the medicine container 10 is used by the plurality of unused syringes 11 previously mounted on the mounting shelf 33. It is also conceivable to separate and aspirate the medicine contained therein and place each of the syringes 11 on the mounting shelf 33 described above. At this time, the amount of medicine to be dispensed to each of the syringes 11 may be, for example, a predetermined amount set in advance, or may be the amount of medicine used in preparation data scheduled in the future.

  As described above, according to the configuration in which the syringe 11 that has suctioned the drug remaining in the drug container 10 is placed on the placing shelf 33, the second control unit 500 performs the previous injection in the subsequent mixed injection process. The medicine contained in the syringe 11 stocked in the description shelf 33 can be used in the step S53. Thus, in the co-infusion process in which a drug residue is used, the process of suctioning the drug from the drug container 10 by the syringe 11 can be omitted.

  In addition, the second control unit 500 places the medicine container 10 in which the medicine remains on the placing shelf 33 or sucks up the syringe 11 and places the medicine container 10 on the placing shelf 33 according to the user operation. It is also conceivable to select one. Further, the second control unit 500 automatically sets whether the medicine container 10 in which the medicine remains is placed on the placing rack 33 or whether the medicine 11 is sucked by the syringe 11 and placed on the placing rack 33. It is also conceivable to switch to For example, when the second control unit 500 can continuously execute the mixed injection process on the preparation data using the medicine remaining in the mixed injection process as it is, the second control unit 500 sucks the medicine by the syringe 11 and performs the above-described process. It is conceivable to place the tray 33 on the shelf 33. On the other hand, when the second control unit 500 does not continuously execute the mixed injection processing on the preparation data using the medicine remaining in the mixed injection processing as it is (such as when other mixed injection processing is performed in between) It is conceivable to place the medicine container 10 in which the medicine remains on the placing rack 33.

  By the way, the second control unit 500 determines in advance whether the medicine container 10 in which the medicine remains after the co-infusion process or the syringe 11 which sucks the medicine from the medicine container 10 is placed on the placing shelf 33 or not. You may switch according to the set conditions. Specifically, it is conceivable that the second control unit 500 determines whether or not the medicine of the medicine master or the like is a medicine of a type set in advance as a medicine to be used for residual medicine in a stage before the step S54. . In addition, the second control unit 500 may be able to set whether or not to use the remaining medicine for each of the preparation data or for each medicine according to the user operation. Then, it is conceivable that the second control unit 500 executes the step S54 when it is a residual drug utilization target, and executes the later-described step S541 when it is not a residual medicine utilization target.

  In the present embodiment, the case where the medicine contained in the medicine container 10 or the syringe 11 in the co-infusion apparatus 1 is reused is described. On the other hand, in the step S55, the second control unit 500 can remove the medicine container 10 or the syringe 11 containing the medicine remaining after the co-infusion process, or the syringe capable of removing the medicine container 10 or the syringe 11. It is also conceivable to transport it to a predetermined syringe delivery part such as the delivery door 302 so that it can be taken out to the outside. Thereby, a user such as a medicine doctor can take out the medicine container 10 or the syringe 11 from the syringe delivery part and reuse the medicine remaining in the co-infusion processing in another co-infusion work. In addition, the second control unit 500 determines whether the medicine remaining after the co-infusion process is left in the co-infusion apparatus 1 or can be taken out from the predetermined take-out part under user operation or a preset reuse condition. It is conceivable to switch based on this.

Third Embodiment
As described in the first embodiment, in the co-infusion process, the work of the user for confirming the suitability of the co-infusion process may be required, and the co-infusion process is performed until the confirmation work by the user is performed. May be suspended temporarily. For example, as described above, when the stirring process in the co-infusion process is performed, a confirmation operation may be required to check the degree of dissolution of the drug in the medicine container 10 after the stirring process. Furthermore, when the entire amount of medicine in the medicine container 10 is collected, a confirmation operation may be required to confirm whether the whole amount is collected. In addition, as described above, a confirmation operation may be required in the preparation inspection process performed after the end of the co-infusion process.

  However, such a confirmation operation is effective when the user exists in the vicinity of the co-infusion apparatus 1, but the continuous execution of the co-infusion process is inhibited when the user is absent. Therefore, in the co-infusion apparatus 1, as an operation mode of the co-infusion process, a normal mode for validating the user's confirmation operation and an automatic mode for omitting the user's confirmation operation are provided, and the second control unit 500 It is conceivable that the normal mode and the automatic mode can be switched.

  Then, the second control unit 500 effectively sets the batch preparation inspection function, the batch agitation inspection function, and the batch whole amount sampling inspection function in the automatic mode. In addition, the second control unit 500 sets the batch preparation inspection function, the batch agitation inspection function, and the batch whole amount collection inspection function to be invalid in the normal mode. Thereby, in the case of the automatic mode, since the user does not have to be involved in the continuous execution of the co-infusion process, the co-infusion process can be performed continuously.

  For example, it is conceivable that the second control unit 500 arbitrarily switches between the normal mode and the automatic mode according to a predetermined user operation on the operation unit 505. The second control unit 500 may automatically switch between the normal mode and the automatic mode based on a preset time schedule. For example, it may be considered that the automatic mode is automatically switched to the late-night time zone when the medicine doctor is absent, and the normal mode is returned to during the late-night time zone. The contents of the automatic mode are merely an example, and in the automatic mode, for example, among errors which may occur in the mixed injection process 1, a specific error set in advance is ignored and the user is performed after the mixed injection process is executed. It is possible to be notified to

  Furthermore, in the automatic mode, the second control unit 500 may set the stirring time in the stirring process to a time longer than the normal mode. In the second control unit 500, it is conceivable that the pulling amount of the plunger 11b is set to be larger than that in the normal mode when the entire amount of medicine in the medicine container 10 is collected in the co-infusion process. As a result, the possibility of insufficient stirring in the stirring step or the possibility of the medicine remaining in the medicine container 10 is reduced.

  Further, in the case where the first control unit 400 or the second control unit 500 is a portable terminal that the user has, when the predetermined number or all of the mixed injection processing set in advance is completed in the automatic mode, It is also conceivable to notify to a predetermined destination such as an e-mail address or an SNS account. As a result, the user can efficiently perform the confirmation operation in the co-infusion apparatus 1.

Fourth Embodiment
In the co-infusion apparatus 1, the second control unit 500 controls the first robot arm 21 or the second robot arm 22, and holds the medicine container 10 by the holding unit 25 or the holding unit 26. There is. In this case, the second control unit 500 adjusts the control amount of the first robot arm 21 or the second robot arm 22 by referring to the container shape information of the medicine container 10 stored in the medicine master. . For example, based on the container shape information, the second control unit 500 holds the medicine container 10 by the holding unit 25 or the holding unit 26. The distance between the holding claws 25a or the holding claws 261a, and the medicine container The posture of the drug container 10 when the drug solution is withdrawn by the syringe 10 from 10, or the moving speed of the injection needle 10c, the puncture depth, the puncture when the injection needle 10c is punctured into the rubber plug of the vial 10B. The position of

  On the other hand, the maker of the medicine container 10 may change the shape of the medicine container 10, and in this case, the container shape of the medicine container 10 in the medicine master stored in the co-infusion apparatus 1 Information will be updated. However, in a medical facility such as a hospital where the co-infusion apparatus 1 is installed, since the inventory of the drug container 10 before the change in shape is also present, the drug container 10 after the change in shape is actually loaded into the co-infusion device 1 There is a possibility that a time lag will occur before being used.

  Therefore, in the co-infusion apparatus 1, it is conceivable that the first control unit 400 can store a plurality of container shape information in the data storage unit 404 for a medicine container corresponding to each medicine in the medicine master. More specifically, it is conceivable that two pieces of information of the latest container shape information of each of the medicine containers 10 and the immediately preceding container shape information are registered in the medicine master. Then, when there is a plurality of container shape information of the medicine container 10 in the medicine master, the first control unit 400 refers to the container shape information arbitrarily selected from the plurality of container shape information, It is possible to control one lot arm 21 or the second robot arm.

  For example, the first control unit 400 executes the shape selection process shown in FIG. 33 to select the container shape information to be referred to when the mixed injection process is performed. Here, the first control unit 400 when executing such processing is an example of the shape selection processing unit. When the first control unit 400 reads identification information such as a medicine code from the GS1 data bar attached to the medicine container 10 in step S25 of the loading preparation process (see FIG. 24), The shape selection process is performed. The shape selection process may be performed, for example, when the second control unit 500 executes the mixed injection process.

<Step S91>
First, with regard to the medicine corresponding to the identification information of the medicine container 10 read by the bar code reader 204, it is determined whether a plurality of container shape information of the medicine container is registered in the medicine master. Here, if it is determined that a plurality of container shape information of the medicine container is registered (S91: Yes), the process proceeds to step S92, and it is determined that a plurality of container shape information of the medicine container is not registered. When it is done (S91: No), one registered container shape information is adopted, and the shape selection processing is finished.

<Step S92>
In step S92, the first control unit 400 causes the display 203 to display a selection screen for causing the user to select a plurality of pieces of container shape information. For example, on the selection screen, the outer diameter of the medicine container, the thickness of the rubber stopper, the puncture position, the depth of the medicine container, the appearance image of the medicine container, the planar image of the rubber stopper, the container shape information The various information such as the registration date of is displayed together with the operation key for selecting the container shape information.

<Step S93>
In step S93, the first control unit 400 waits for the selection operation of the container shape information (S93: No). Then, when it is determined that the container shape information is selected (S93: Yes), the processing is shifted to step S94.

<Step S94>
In step S94, the first control unit 400 selects the container shape information determined to be selected in step S93 as container shape information of the medicine container 10 to be referred to in the co-infusion process based on the preparation data. Do. Specifically, the first control unit 400 transmits the selected container shape information to the second control unit 500 when transmitting an execution request for the mixed injection process based on the preparation data to the second control unit 500. Notice. Thereby, the second control unit 500 reads the container shape information notified from the first control unit 400 from the pharmaceutical master and controls the first robot arm 21 and the second robot arm 22. Become.

  As described above, in the co-infusion apparatus 1 according to the present embodiment, one of the plurality of container shape information stored in the medicine master is selected, and the first robot arm 21 and the second robot arm 22 are selected. It is controlled. Thereby, even when the shape of the medicine container 10 is changed, it is possible to arbitrarily select the container shape information before and after the change, so that any one of the medicine containers 10 before and after the shape change is used It is possible.

  In addition, after the container shape information of the medicine container in the pharmaceutical master is updated, the first control unit 400 updates the container shape information before and after the change only for a predetermined period (one month or two months) set in advance. It is possible to make it possible to make the selection of the container shape information before the change impossible after the elapse of the predetermined period. Specifically, in step S91, the first control unit 400 may determine whether there is a plurality of container shape information counted from the present and registered within the predetermined period. Thereby, after the said container shape information is registered and the said predetermined period passes, the effort of the user who selects the said container shape information is omissible.

Fifth Embodiment
In the co-infusion apparatus 1, there is a possibility that an attachment error of the holding unit 26 with respect to the second robot arm 22 may occur. For example, the center axis of the joint at the tip of the second robot arm 22 may deviate from the center axis of the holder 26. Then, when such an attachment error occurs, accurate control using the holding unit 26 of the second robot arm 22 is not performed.

  Therefore, according to an error detection function of detecting the mounting error of the holding unit 26 with respect to the second robot arm 22 using the needle bending detection unit 36 and the error detected by the error detection function, the second control unit 500 It is conceivable to provide an error correction function for correcting the operation of the second robot arm 22 based on the above.

  For example, as shown in FIG. 34, a jig 90 provided with a needle-like distal end portion 91 is mounted at a predetermined position of the holding portion 26 of the second robot arm 22. The jig 90 may be held by the holding unit 26. Then, the second control unit 500 inserts the tip portion 91 into the detection area of the needle bending detection unit 36. After that, the second control unit 500 controls the second robot arm 22 to move the holding unit 26 in one or more directions set in advance with respect to the detection area of the needle bending detection unit 36. The detection position of the jig 90 at the time is acquired.

  Specifically, on the detection surface formed by the light irradiated from the first light sensor 361 and the second light sensor 362 in the long hole 36a of the needle bending detection unit 36, the vertical direction is the X axis, the long hole 36a The insertion / extraction direction with respect to Y is taken as the Y axis, and the direction perpendicular to the X axis and the Y axis as the Z axis. In this case, the second control unit 500 detects the position of the tip portion 91 of the jig 90 when the holding unit 26 of the second robot arm 22 is moved along the Y-axis direction. Then, the second control unit 500 detects a value obtained by dividing the amount of movement of the tip portion 91 on the X axis by the amount of movement on the Y axis as a displacement angle in the X axis direction, and detects the Z axis of the tip portion 91. A value obtained by dividing the amount of movement above by the amount of movement on the Y axis is detected as a deviation angle in the Z axis direction. After that, the second control unit 500 corrects the control amount of the holding unit 26 of the second robot arm 22 based on the deviation angle on the X axis and the deviation angle on the Z axis. As a result, in the co-infusion apparatus 1, an error in attachment of the holding unit 26 to the second robot arm 22 is corrected to realize accurate control.

Sixth Embodiment
Here, FIG. 35 is a view showing a plan view of the rubber plug of the mixed injection port of the infusion bag 12. As shown in FIG. 35, one or more recesses 12b may be formed in the puncture position of the injection needle 11c of the syringe 11 on the surface 12a of the rubber plug of the mixing inlet of the infusion bag 12. Here, when the injection needle 11c is punctured in the recess 12b and injection or suction of the drug solution is performed in the co-infusion process, the drug solution adhering to the recess 12b of the infusion bag 12 taken out after the co-infusion process is cotton May be wiped off using a ball or the like. However, since the recess 12b is recessed from the surface 11a of the rubber plug, even if a cleaning member such as a cotton ball is pressed against the surface of the rubber plug to adsorb a chemical solution, the cleaning member does not The drug solution may remain at a position where it does not reach. In particular, when the depth of the recess 12 b is deep or when the area of the recess 12 b is small, it is difficult to remove the chemical solution by the cleaning member.

  Therefore, when the second control unit 500 controls the second robot arm 52 to puncture the injection needle 11c of the syringe 11 into the rubber plug of the infusion bag 12, the second control section 500 performs the above-described operation on the surface 12a of the rubber plug. It is conceivable to cause the injection needle 11c to puncture the flat portion 12c avoiding the recess 12b. For example, a camera is provided at the tip of the second robot arm 52 or the inner surface of the mixed injection processing chamber 104 at a position at which the rubber plug of the infusion bag 12 can be photographed, and the second control unit 500 It is conceivable to detect the position of the recess 12 b by image analysis based on a captured image captured by the camera. As described above, when a drug solution adheres to the puncture site of the injection needle 11c by the injection needle 11c being punctured by the rubber plug with the flat portion 12c avoiding the recess 12b, the drug solution is cotton ball etc. It becomes possible to clean easily with the cleaning member of.

Seventh Embodiment
In the co-infusion apparatus 1, the plunger 11b of the syringe 11 is controlled in the suction process of suctioning the drug solution from the vial 10B using the syringe 11, and the process of sucking the drug solution from the vial 10B and the inside of the syringe 11a. The step of injecting air from the syringe 11 to the vial 10B may be repeatedly performed a plurality of times. As a result, the inside of the syringe 11 is prevented from becoming too positive pressure, and the inside of the drug solution container 10 is prevented from becoming too negative.

  For example, as shown in FIG. 36A, in the initial state, the injection needle 11c is punctured into the vial 10B in a state where air is contained in the syringe 11a, and the plunger 11b is pulled to open the vial Drug is aspirated from 10B. As a result, as shown in FIG. 36 (B), the medicine is sucked from the vial 10B to the syringe 11a. Subsequently, the plunger 11b is pushed to inject the air in the syringe 11a into the vial 10B.

  And similarly, as shown in FIG. 36C, the injection needle 11c is punctured into the vial 10B in the second time, and the plunger 11b is pulled to aspirate the medicine from the vial 10B. Thereby, as shown in FIG. 36 (D), the medicine is sucked from the vial 10B to the syringe 11a. Subsequently, the plunger 11b is pushed to inject the air in the syringe 11a into the vial 10B.

  By the way, in the suction step, the larger the amount of pulling the plunger 11b of the syringe 11 at one time, the larger the amount of drug solution that can be sucked at one time, and the step of sucking the drug solution from the vial 10B and air in the vial 10B. Since the number of repetitions with the injecting step is reduced, the time required for the suction step is shortened. Therefore, in the suction step, it is preferable that the amount of pulling the plunger 11 b of the syringe 11 at a time is set large enough to prevent negative pressure in the drug solution container 10. That is, in the suction step, it is desirable to suction as much chemical solution as possible within the range in which the inside of the vial 10B does not become negative pressure at one time.

  Here, the pressure in the vial 10B and the volume of the air layer in the vial 10B are known immediately before the first suction of the drug solution in the suction process. However, when the air in the plunger 11b is injected into the vial 10B after suction of the drug solution, the drug solution in the plunger 11b may return to the vial 10B. Therefore, the air pressure in the vial 10B after the second or subsequent suction of the drug solution can not be accurately calculated.

  For example, the volume of the air layer in the vial 10B before pulling the plunger 10b for the first time is V1, the plunger 10b is pulled for the first time, and the drug solution corresponding to the pulling amount of the plunger 10b (distance when the plunger 10b is pulled And the volume of the air layer in the vial 10B after the product of the cross-sectional area of the syringe 10a is aspirated by the syringe 10a is V2. When the pressure in the vial 10B before pulling the plunger 10b at first is P ', the pressure P in the vial 10B after pulling the plunger 10b at first is taken as P1. In this case, the pressure P is represented by P = (V1 / V2) × P ′. Here, the volume V1 is dissolved from the volume of the vial 10B from the volume of the drug solution in the vial 10B (if the infusion is injected into the vial 10B and the powdered medicine in the vial 10B is dissolved) This is the value obtained by subtracting the volume of the later liquid). That is, as the pulling amount of the plunger 10b increases, the volume of the air layer increases, and the air pressure in the vial 10B decreases. Then, at the first time, the volume of the infusion injected into the vial 10B is appreciable from the infusion bag 12 and the volume of the infusion injected into the vial 10B is clear, and before the plunger 10b is pulled The volume of the air layer in the vial 10B can be calculated.

  On the other hand, after the plunger 10b is pulled for the first time and the drug solution is sucked from the vial 10B, the drug solution is injected into the vial 10B when the air in the syringe 10a is injected into the vial 10B. There is a fear. Therefore, the volume of the air layer in the vial 10B before pulling the plunger 10b for the second time is unknown, and the volume V1 can not be accurately calculated for the second and subsequent times.

  Therefore, the second control unit 500 maximizes the pulling amount of the plunger 10b at the time of the first suction in the range in which the pressure P does not fall below the lower limit of the internal pressure that the vial 10B can withstand. On the other hand, it is conceivable that the second control unit 500 makes the pulling amount of the plunger 10b at the second and subsequent suctions smaller than the pulling amount of the plunger 10b at the first suction. More specifically, the second control unit 500 sets the pulling amount of the plunger 11b to a pulling amount set in advance according to the pressure in the vial 10B at the time of first suction of the chemical solution, or Based on the air pressure in the vial 10B, it is set to a pulling amount calculated according to a previously set arithmetic expression. On the other hand, in the suction process, the second control unit 500 pulls the amount of pull of the plunger 11b smaller than the control amount corresponding to the first suction of the drug solution at the time of suction of the second and subsequent drug solutions. The draw amount is set to a predetermined ratio to the draw amount).

  Thereby, at the time of the first suction of the medicine, it is possible to suction as much chemical solution as possible within the range that the inside of the vial 10B does not become too negative pressure, and at the time of suction of the second and subsequent medicines, the inside of the vial 10B is It is possible to carry out the aspiration step so that it does not become overpressured. In the suction step, it may be considered that the pulling amount is set to about 80% or 90% of the pulling amount just before the second time and thereafter.

DESCRIPTION OF SYMBOLS 1 co-infusion apparatus 10 drug container 11 syringe 12 infusion bag 21 first robot arm 22 second robot arm 31 ampoule cutter 32 stirring apparatus 33 placement shelf 34 drug reading part 35 weighing meter 36 needle bending detection part 37 co-injection communication port 100 co-injection control Section 101 Tray 101a Electronic Paper 101b IC Tag 101c IC Reader 110 Tray Conveying Unit 200 Drug Loading Unit 300 Mixed Infusion Processing Unit 400 First Control Unit 500 Second Control Unit 600 Host System 700 Containing Unit 800 Lifting Unit 900 Tray Conveying Unit

Claims (7)

A co-infusion apparatus comprising: a co-infusion processing unit capable of executing co-infusion processing of injecting a drug in a first container into a second container based on preparation data; and a co-infusion control unit controlling the co-infusion processing unit,
In the co-infusion processing based on the first preparation data by the co-infusion processing part, the co-infusion control part associates the second preparation data different from the first preparation data, and the first container loaded in advance in the co-infusion apparatus A co-infusion device that can use the medicines inside. A tray accommodating portion capable of accommodating a plurality of trays on which at least the first container is placed;
A first storage processing unit that stores first correspondence information indicating a correspondence between the preparation data and the tray;
Equipped with
In the co-infusion processing based on the first preparation data by the co-infusion processing unit, the co-infusion control unit associates the first correspondence information with the second preparation data among the trays accommodated in the tray accommodation unit It is possible to use the medicine in the first container contained in the tray,
The co-infusion apparatus according to claim 1. A container placement unit provided in the mixed injection processing unit and on which one or more of the first containers can be placed;
A second storage processing unit that stores second correspondence information indicating a correspondence between the preparation data and the first container placed on the container placement unit;
Equipped with
In the co-infusion processing based on the first preparation data by the co-infusion processing unit, the co-infusion control unit performs the second preparation in the second correspondence information of the first containers placed on the container placement unit. The medicine in the first container stored in the tray associated with the data can be used.
The co-infusion apparatus according to claim 1 or 2. It is possible to execute the pre-stirring process in which the mixing control unit performs the stirring step of mixing the medicine in the first container in the mixing treatment by the mixing treatment unit before the start timing of the execution of the mixing treatment. The first container after the pre-stirring process can be placed on the container placement unit.
The co-infusion apparatus according to claim 3. It has a syringe mount on which one or more syringes can be placed;
The co-infusion control unit
When medicine remains in the first container after execution of the co-infusion process, after the medicine remaining in the first container is aspirated by a syringe, the syringe can be placed on the syringe mounting portion,
In the co-infusion process, medicines contained in the syringe placed on the syringe placement part can be used.
The co-infusion apparatus according to any one of claims 1 to 4. A syringe dispenser capable of removing a syringe from the mixed injection processing unit;
When the drug remains in the first container after the co-infusion process, the co-infusion control unit sucks the drug remaining in the first container with a syringe, and then the syringe can be moved to the syringe dispensing part. is there,
The co-infusion apparatus according to any one of claims 1 to 5. A mixed injection processing unit capable of executing mixed injection processing for injecting medicine in the first container into the second container based on preparation data, a mixed injection control unit for controlling the mixed injection processing unit, and a container shape related to the shape of the first container A co-infusion apparatus including a storage unit capable of storing a plurality of information for each medicine,
The co-infusion processing unit includes a robot arm capable of holding the first container based on the container shape information,
The co-infusion control unit can control the robot arm based on container shape information selected according to a user operation among a plurality of the container shape information.
Co-infusion device.