JP2020179284A - Coinjection device and program - Google Patents

Abstract

To provide a coinjection device with which it is possible to limit the omission of preparatory work required aside from a coinjection process performed using the coinjection device.SOLUTION: A coinjection device executes, for each piece of preparation data of an output target, a coinjection process in which medicine is sucked from a medicine container using a syringe, on the basis of the preparation data, and the medicine is injected from the syringe into an infusion container. Aside from the coinjection process, the coinjection device can determine if preparatory work must be carried out before executing the coinjection process, and output a preparation schedule list sheet displaying a list of the preparation data and the necessity of the preparatory work for each preparation data.SELECTED DRAWING: Figure 32

Description

The present invention relates to a mixed injection device that executes a mixed injection process of injecting a drug such as an anticancer drug contained in a drug container into an infusion container.

A mixed injection device is known that sucks a drug such as an anticancer drug contained in a drug container such as an ampoule or a vial with a syringe and injects the drug into an infusion container containing the infusion solution. (See, for example, Patent Document 1).

Japanese Unexamined Patent Publication No. 2012-250016

By the way, apart from the mixed injection treatment in the mixed injection device, an injection work of injecting another chemical such as an antiemetic agent into the infusion container may be required as a preliminary work. In addition, when the amount of liquid in the infusion container increases or decreases as a result of the mixed injection treatment in the mixed injection device, in addition to the mixed injection treatment, a extraction work for extracting the infusion solution from the infusion container or a replenishment work for replenishing the infusion solution in the infusion container is performed in advance. It may be necessary as work.

An object of the present invention is to provide a mixed injection device capable of suppressing omission of execution of pre-work required separately from the mixed injection process performed by the mixed injection device.

The control device according to the present invention sucks the drug from the drug container with a syringe based on the preparation data for each preparation data to be output, and injects the drug from the syringe into the infusion container. It is possible to determine whether or not prior work is required before executing the process, and output a preparation schedule list sheet that displays a list of the preparation data and the necessity of the preliminary work in each of the preparation data. .. Further, the control method according to the present invention is a mixed injection process in which a computer sucks a drug from a drug container with a syringe and injects the drug from the syringe into an infusion container for each preparation data to be output. Separately, a preparation schedule list sheet including a step of determining whether or not prior work is required before executing the mixed injection process, a list of the preparation data, and the necessity of the preliminary work in each of the preparation data. It is a control method to execute the step of outputting. Further, the control program according to the present invention is different from the mixed injection process in which the drug is sucked from the drug container with a syringe and the drug is injected from the syringe into the infusion container for each preparation data to be output. Outputs a preparation schedule list sheet including a step of determining whether or not prior work is required before executing the mixed injection process, a list of the preparation data, and the necessity of the preliminary work in each of the preparation data. It is a control program for making a computer execute steps.
Further, the mixed injection device according to the present invention includes a mixed injection control unit that sucks a drug from a drug container with a syringe and injects the drug from the syringe into an infusion container based on preparation data, and a mixed injection process. Separately, it is provided with a notification processing unit capable of notifying a predetermined message when a preliminary work is required before executing the mixed injection processing. As a result, it is possible to suppress omission of the pre-work that is required separately from the mixed injection process performed by the mixed injection device.

Specifically, the pre-work includes at least one of a work of replenishing the infusion solution into the infusion container, an operation of extracting the infusion solution from the infusion container, and an operation of injecting another chemical into the infusion container.

For example, when the drug is a powder drug, in the mixed injection process, a dissolution step of extracting the infusion solution from the infusion container with the syringe and injecting the infusion solution from the syringe into the drug container is executed. Further, in the mixed injection process, an injection step of sucking the drug from the drug container with the syringe and injecting the drug from the syringe into the infusion container is also executed. Here, when the amount of liquid injected into the infusion container in the injection step is smaller than the amount of infusion liquid extracted from the infusion container in the dissolution step, the amount of liquid in the infusion container is transferred to the infusion container. The amount of infusion solution contained will be less than the specified amount. In this case, when the infusion solution in the infusion container is infused to the patient, the infusion time is shorter than in the case where the prescribed amount is administered. Therefore, it is desirable to perform the replenishment operation of replenishing the infusion container with a predetermined amount of the infusion solution before executing the mixed injection treatment.

When the drug is a chemical solution, in the mixed injection process, when the drug is sucked from the drug container with the syringe and injected into the infusion container, the amount of liquid in the infusion container is contained in the infusion container. It will be more than the specified amount of infusion. In this case, when the infusion solution in the infusion container is infused to the patient, the infusion time becomes longer than in the case where the prescribed amount is administered. Therefore, it is desirable to perform a sampling operation of extracting a predetermined amount of the infusion solution from the infusion container before executing the mixed injection process.

Further, there is a case where another drug such as an antiemetic agent, which is originally taken separately from the drug such as an anticancer drug which is originally injected into the infusion container by the mixed injection treatment, can be injected into the infusion container in advance. In some cases, an injection operation of injecting the other chemical into the infusion container is required before the mixed injection treatment is executed.

Here, it is conceivable that the notification processing unit determines that the preliminary work is necessary when the amount of liquid in the infusion container changes as a result of the mixed injection processing based on the preparation data. Specifically, when the drug is a powder drug, the mixed injection control unit performs a dissolution step of extracting the infusion solution from the infusion container with the syringe and injecting the infusion solution from the syringe into the drug container in the mixed injection process. It is conceivable to carry out an injection step of sucking the drug from the drug container with the syringe and injecting the drug from the syringe into the infusion container. In this case, the notification processing unit determines whether or not the amount of liquid has changed based on the difference between the amount of infusion liquid extracted from the infusion container in the dissolution step and the amount of liquid injected into the infusion container in the injection step. It is conceivable to do. In particular, it is conceivable that the notification processing unit determines that the amount of liquid in the infusion container changes when the amount of change in the amount of liquid is equal to or greater than a predetermined threshold value. As a result, when the amount of change in the amount of liquid in the infusion container is small, it is possible to perform an operation that does not require the prior work.

Then, it is conceivable that the notification processing unit notifies a message that the replenishment work is required when the amount of liquid in the infusion container decreases as a result of the mixed injection processing based on the preparation data. Further, it is conceivable that the notification processing unit notifies a message that the extraction work is required when the amount of liquid in the infusion container increases as a result of the mixed injection processing based on the preparation data. Further, when the preparation data stipulates that the notification processing unit needs to inject other chemicals different from the chemicals injected into the infusion container by the mixed injection device into the infusion container. It is conceivable to notify the message that the injection operation is required.

By the way, the notification processing unit may determine that the amount of liquid in the infusion container increases when the chemical is a chemical solution. In particular, it is conceivable that the notification processing unit determines that the amount of liquid in the infusion container increases when the amount of the drug solution is equal to or higher than a predetermined threshold value. As a result, when the amount of change in the amount of liquid in the infusion container is small, it is possible to perform an operation that does not require the prior work.

Further, it is conceivable that the notification processing unit displays an image for guiding the needle stick position to the stopper of the infusion container when notifying the message. As a result, when the user performs the pre-work, the position of the needle stick to the stopper can be easily grasped, and the needle stick position in the pre-work and the needle stick position in the mixed injection process in the mixed injection device. It is possible to prevent duplication. In the present invention, the mixed injection control unit that sucks the drug from the drug container with a syringe and injects the drug from the syringe into the infusion container based on the preparation data, and the mixed injection process separately from the mixed injection process. A notification processing unit capable of transmitting a predetermined message when prior work is required before executing the process is provided, and the notification processing unit sends the message to the stopper of the infusion container when the message is notified. It may be a mixed injection device that displays an image for guiding the needle stick position of the needle.

Specifically, the mixed injection control unit detects a region other than a predetermined specific puncture region on the upper surface of the stopper of the infusion container and punctures the needle of the syringe into the other region. It is conceivable that the image is an image that guides the specific puncture region excluding the predetermined output puncture region as the needle puncture position.

By the way, when the message is notified, the mixed injection control unit may not start the mixed injection process until it receives a confirmation operation for the message. As a result, it is possible to prevent the mixed injection process from being started without performing the preliminary work.

Further, it is considered that the mixed injection control unit can execute a replenishment step of replenishing the infusion solution with the infusion solution when the amount of liquid in the infusion container decreases. Similarly, it is conceivable that the mixed injection control unit executes a sampling step of extracting the infusion solution from the infusion container when the amount of liquid in the infusion container increases. That is, it is conceivable that the pre-work is automatically executed by the mixed injection device instead of the user. The present invention includes a mixed injection control unit that sucks the drug from the drug container with a syringe and injects the drug from the syringe into the infusion container based on the preparation data, and the mixed injection control unit is the same. A mixed injection device capable of executing a replenishment step of replenishing the infusion solution when the amount of liquid in the infusion container decreases due to the preliminary work required before the execution of the mixed injection process separately from the mixed injection process. May be good. Further, the present invention includes a mixed injection control unit that sucks the chemical from the chemical container with a syringe and injects the chemical from the syringe into the infusion container based on the preparation data, and the mixed injection control unit is the same. Even if the mixed injection device is capable of performing a sampling step of extracting the infusion solution from the infusion container when the amount of liquid in the infusion container increases due to the preliminary work required before the execution of the mixed injection process separately from the mixed injection process. Good.

Further, the mixed injection device has a reservation setting processing unit capable of arbitrarily reserving the execution of the mixed injection processing based on the one or a plurality of the preparation data, and the mixed injection processing based on the preparation data reserved by the reservation setting processing unit. It is conceivable to include a reservation execution processing unit capable of executing the mixed injection processing when the execution time of the above is reached. Thereby, by reserving the execution of the mixed injection process of the prepared data, the mixed injection process can be executed at a predetermined execution time such as midnight or a holiday. In the present invention, the mixed injection control unit that sucks the drug from the drug container with a syringe and injects the drug from the syringe into the infusion container based on the preparation data, and one or more of the preparation data. The mixed injection process can be executed when the reservation setting processing unit that can arbitrarily reserve the execution of the mixed injection process based on the above and the execution time of the mixed injection process based on the preparation data reserved by the reservation setting processing unit arrives. It may be a mixed injection device including a reservation execution processing unit.

According to the present invention, a mixed injection device capable of suppressing omission of execution of pre-work required separately from the mixed injection process performed by the mixed injection device is realized.

FIG. 1 is a block diagram showing a system configuration of a mixed injection device according to an embodiment of the present invention. FIG. 2 is a perspective view showing an external configuration of a mixed injection device according to an embodiment of the present invention. FIG. 3 is a perspective view of the mixed injection device according to the embodiment of the present invention in a state where the main door is opened. FIG. 4 is a front view of the mixed injection device according to the embodiment of the present invention in a state where a part of the main door and the front wall is removed. FIG. 5 is a perspective view showing a tray used in the mixed injection device according to the embodiment of the present invention. FIG. 6 is a perspective view of the mixed injection device according to the embodiment of the present invention as viewed from below. FIG. 7 is a perspective view showing a holding portion of the first robot arm of the mixed injection device according to the embodiment of the present invention. FIG. 8 is a perspective view showing a holding portion of the second robot arm of the mixed injection device according to the embodiment of the present invention. FIG. 9 is a schematic plan view showing a tray transport portion of the mixed injection device according to the embodiment of the present invention. FIG. 10 is a perspective view showing the mechanism of the tray transport portion of the mixed injection device according to the embodiment of the present invention. FIG. 11 is a perspective view showing an ampoule cutter of the mixed injection device according to the embodiment of the present invention. FIG. 12 is a perspective view showing the internal configuration of the stirring device of the mixed injection device according to the embodiment of the present invention. FIG. 13 is a perspective view showing a chemical reading unit of the mixed injection device according to the embodiment of the present invention. FIG. 14 is a perspective view showing a needle bending detection unit of the mixed injection device according to the embodiment of the present invention. FIG. 15 is a perspective view showing the internal structure of the injection needle attachment / detachment device of the mixed injection device according to the embodiment of the present invention. FIG. 16 is a perspective view showing the internal structure of the injection needle attachment / detachment device of the mixed injection device according to the embodiment of the present invention. FIG. 17 is a diagram showing an example of a captured image of the needle insertion confirmation camera of the mixed injection device according to the embodiment of the present invention. FIG. 18 is a flowchart showing an example of a procedure of loading preparation processing executed by the mixed injection device according to the embodiment of the present invention. FIG. 19 is a diagram showing an example of a display screen in a loading preparation process executed by the mixed injection device according to the embodiment of the present invention. FIG. 20 is a diagram showing an example of a display screen in a loading preparation process executed by the mixed injection device according to the embodiment of the present invention. FIG. 21 is a diagram showing an example of a display screen in the loading preparation process executed by the mixed injection device according to the embodiment of the present invention. FIG. 22 is a diagram showing an example of a display screen in the loading preparation process executed by the mixed injection device according to the embodiment of the present invention. FIG. 23 is a diagram showing an example of a display screen in the loading preparation process executed by the mixed injection device according to the embodiment of the present invention. FIG. 24 is a diagram showing an example of a display screen in the loading preparation process executed by the mixed injection device according to the embodiment of the present invention. FIG. 25 is a diagram showing an example of a display screen in the loading preparation process executed by the mixed injection device according to the embodiment of the present invention. FIG. 26 is a diagram showing an example of a display screen in the loading preparation process executed by the mixed injection device according to the embodiment of the present invention. FIG. 27 is a diagram showing an example of a display screen in the loading preparation process executed by the mixed injection device according to the embodiment of the present invention. FIG. 28 is a flowchart showing an example of a procedure of infusion volume control processing executed by the mixed injection device according to the embodiment of the present invention. FIG. 29 is a flowchart showing another example of the procedure of the infusion volume control process executed by the mixed injection device according to the embodiment of the present invention. FIG. 30 is a flowchart showing an example of a procedure of reservation setting processing executed by the mixed injection device according to the embodiment of the present invention. FIG. 31 is a flowchart showing an example of a procedure of mixed injection control processing executed by the mixed injection device according to the embodiment of the present invention. FIG. 32 is a diagram showing an example of a preparation schedule list sheet output by the mixed injection device according to the embodiment of the present invention.

Hereinafter, embodiments of the present invention will be described with reference to the accompanying drawings for the purpose of understanding the present invention. The following embodiment is an example embodying the present invention, and does not limit the technical scope of the present invention. It is also conceivable to combine the configurations or processes of each embodiment to realize other embodiments.

[First Embodiment]
First, the mixed injection device 1 according to the first embodiment of the present invention will be described.

[Mixed injection device 1]
As shown in FIGS. 1 and 2, the mixed injection device 1 according to the present embodiment includes a mixed injection control unit 100, a chemical loading unit 200, and a mixed injection processing unit 300. Then, in the mixed injection device 1, the operation of the mixed injection processing unit 300 is controlled by the mixed injection control unit 100, so that the syringe can use the chemicals such as the anticancer agent shown in the preparation data in a predetermined amount. A mixed injection process is performed in which one or more ampoules or vials or the like containing the container are injected into another container such as an infusion container. Further, in another example of the mixed injection treatment, a treatment of sucking chemicals from a container such as an ampoule or a vial with a syringe and injecting the drug into another container such as an ampoule or a vial, or a treatment using a syringe from a container such as an infusion container It also includes the process of sucking chemicals and injecting them into other containers such as vials. That is, a physiological saline solution or glucose contained in the infusion bag is also an example of a drug to be subjected to the mixed injection treatment.

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

The processing sharing of each of the first control unit 400 and the second control unit 500 described in the present embodiment is only an example, and each processing procedure of the mixed injection processing is described in the first control unit 400 and the second control. It may be executed by any of the parts 500. Further, it is considered as another embodiment that the mixed injection control unit 100 has one control unit or three or more control units. Further, a part or all of the processes executed by the first control unit 400 and the second control unit 500 may be executed by an electronic circuit such as an ASIC or DSP.

In addition, the first control unit 400 can communicate with a higher-level system 600 such as an electronic medical record system or a dispensing management system that inputs preparation data to the mixed injection device 1. The preparation data is preparation data generated based on the prescription data or the prescription data itself. For example, the prescription data includes 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. Includes (such as after meals three times a day), type of treatment (outpatient, inpatient, etc.), department, ward, and room. In addition, the preparation data includes patient information, doctor information, drug information, prescription amount of drug, type of drug container (ampoule containing drug solution, vial bottle containing drug solution, vial bottle containing powder drug, etc.), preparation content information (mixed injection processing). Drug container, syringe, type and number of injection needles, etc.), preparation procedure information (work content, dissolving drug, solvent, dissolving drug amount, solvent amount, sampling amount), preparation date, prescription classification, medication date, Includes medical department, ward, preparation time, etc.

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. Various electric components such as a display 203, a barcode reader 204, and an air purifying device 205, which will be described later, are connected to the first control unit 400, which are provided in the chemical loading unit 200.

The CPU 401 is a processor that executes processing according to various control programs. The ROM 402 is a non-volatile memory in which 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 deploying various control programs by the CPU 401 and temporarily storing data.

The data storage unit 404 is a hard disk or the like that stores various application programs and various data for causing the CPU 401 to execute various processes. Specifically, the data storage unit 404 stores the preparation data input from the higher-level system 600.

Here, the first control unit 400 stores the 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 higher system 600. For example, the association between the preparation data and the tray 101 is performed by the first control unit 400. It is also conceivable that information indicating the correspondence between the preparation data and the tray 101 is input to the mixed injection device 1 together with the preparation data.

Further, the data storage unit 404 stores various databases such as an injection needle master, a drug master, a patient master, a doctor master, a prescription classification master, a clinical department master, and a ward master. The shape of the needle tip 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 tip, 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), drug bottle code, classification (dosage form: powder, tablet, liquid medicine, external drug, etc.), specific gravity, drug type (ordinary drug, Anti-cancer drugs, poisons, narcotics, powerful drugs, anti-psychiatric drugs, therapeutic drugs, etc.), formulation changes, excipients, precautions, types of drug containers (ampoules, vials), drug storage capacity per drug container ( Includes information such as the default amount) and the weight of the drug container.

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

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

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

The CPU 501 is a processor that executes processing according to various control programs. The ROM 502 is a non-volatile memory in which 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 deploying various control programs by the CPU 501 and temporarily storing data.

The data storage unit 504 is a hard disk or the like that stores various application programs and various data for causing the CPU 501 to execute various processes. Specifically, the data storage unit 504 stores in advance a mixed injection control program for causing the CPU 501 to execute a mixed injection process described later. Even if the mixed injection control program is read from a recording medium such as a CD, DVD, BD, or flash memory by a reading device (not shown) included in the second control unit 500 and installed in the data storage unit 504. Good.

The present invention may be regarded as an invention of the mixed injection control program for causing the CPU 401 and the CPU 501 to execute various processes in the mixed injection control unit 100, or a computer-readable recording medium in which the mixed injection control program is recorded. Good. Further, the present invention may be regarded as an invention of a mixed injection method including each processing procedure executed in the mixed injection device 1.

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

[Chemical loading unit 200]
Next, the schematic configuration of the chemical loading unit 200 will be described with reference to FIGS. 2 and 3.

As shown in FIGS. 2 and 3, the chemical loading section 200 is a clean bench including a door 201, a work table 202, a display 203, a bar code reader 204, and an air purifying device 205. As shown in FIG. 3, the chemical loading unit 200 and the mixed injection processing unit 300 are communicated with each other by a tray insertion port 114 formed on the side surface of the mixed injection processing unit 300.

The display 203 is a display unit such as a liquid crystal display or an organic EL display that displays various information in response to a control instruction from the first control unit 400. Specifically, the display 203 displays preparation data and the like that are candidates for the mixed injection target in the mixed injection device 1. Further, the barcode reader 204 reads a barcode written on a prescription, a preparation instruction sheet, or the like, and inputs the content of the barcode to the first control unit 400. The air purifier 205 supplies air into the chemical loading unit 200 through a predetermined filter.

The door 201 is provided on the front surface of the chemical loading unit 200 and can be opened and closed vertically in the vertical direction. As shown in FIG. 2, the user performs a preparatory work for the mixed injection process executed by the mixed injection device 1 with the door 201 slightly opened and a hand placed in the chemical loading unit 200. Specifically, as shown in FIG. 5, the tray 101 placed on the work table 202 has a chemical container 10, a syringe 11, and an infusion bag used in the mixed injection process executed by the mixed injection device 1. 12 (an example of an infusion container) and the like are stored. The infusion bag 12 contains an infusion solution such as a predetermined amount of physiological saline, glucose, or a high-calorie infusion solution corresponding to the type of the infusion bag 12. The drug contained in the drug container 10 is, for example, an anticancer drug, but may be a drug other than the anticancer drug. The preparatory work includes, for example, a loading work in which the medicine container 10, the syringe 11, and the infusion bag 12 are placed at a predetermined position on the tray 101, and the tray 101 is loaded into the mixed injection processing unit 300. Is done. Hereinafter, when the chemical container 10 is an ampoule, the chemical container 10 is referred to as an ampoule 10A, and when the chemical container 10 is a vial, the chemical container 10 is referred to as a vial bottle 10B.

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

Further, the tray 101 holds the medicine container 10 and the equipment mounting portion 102 (see FIG. 9) on which the syringe 11 (syringe 11a, injection needle 11c, cap 11d) is placed, and the infusion bag 12. It has an infusion bag holding unit 103 (see FIG. 5). The equipment mounting portion 102 and the infusion bag holding portion 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 obliquely erected by the support portion 102A. As a result, chemicals do not collect on the neck of the ampoule 10A. Further, in addition to the ampoule 10A, the injection needle 11c of the syringe 11 and the like are also set in a state of being obliquely erected on the support portion 102A.

The injection needle 11c also includes an injection needle with a syringe filter. Specifically, when the ampoule 10A is used, the debris when the neck of the ampoule 10A is broken is injected from the syringe 11 into the infusion bag 12, or the debris flows into the syringe 11. An ampoule with a syringe filter is used to prevent this. The syringe filter is a filter generally also called a coma-type filter, and has a function of preventing the passage of foreign substances other than chemicals. For example, a syringe filter manufactured by Nippon Pole Co., Ltd. is generally known.

On the other hand, the vial bottle 10B and the syringe 11 are set in a state of being laid down on the equipment mounting portion 102 as shown in FIGS. 5 and 9. 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 mounting portion 102 described here is an example, and the present invention is not limited to this.

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

Then, after the medicine container 10, the syringe 11, and the infusion bag 12 are set by the user, the tray 101 is supplied to the mixed injection processing unit 300 through the tray insertion port 114. It is also conceivable that the chemical loading section 200 includes a loading mechanism such as a belt conveyor that automatically loads the tray 101 into the mixed injection processing section 300. It is also conceivable that the carry-in mechanism has a function of automatically discharging the tray 101 from the mixed injection processing unit 300 to the chemical loading unit 200 side.

[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 take-out 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 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. Further, in the mixed injection device 1, in addition to paying out the infusion bag 12 in which the medicine is injected, it is also possible to pay out the syringe 11 in a state of being filled with the medicine. The syringe take-out door 302 is opened and closed when the syringe 11 is taken out from the mixed injection processing chamber 104.

The dust storage chamber door 13 is for removing the waste from the garbage storage chamber 13a in which the waste such as the chemical container 10 and the syringe 11 after being used in the mixed injection treatment in the mixed injection treatment chamber 104 is stored. It is opened and closed. Further, the tray discharge port 15 is opened and closed in order to take out the tray 101 on which the infusion bag 12 is placed after the chemicals have been mixed-injected by the mixed injection treatment in the mixed injection processing chamber 104.

The touch panel monitor 14 is a display unit such as a liquid crystal display or an organic EL display that displays various information in response to a control instruction from the second control unit 500. The touch panel monitor 14 can display, for example, an image or a video image taken by various cameras described later.

[Mixed injection processing room 104]
As shown in FIGS. 3 and 4, in the mixed injection processing chamber 104, a first robot arm 21, a second robot arm 22, an ample cutter 31, a stirrer 32, a mounting shelf 33, a rotating mounting portion 33A, A chemical reading unit 34, a weighing scale 35, a needle bending detection unit 36, a mixed injection communication port 37, a needle insertion confirmation transparent window 38, a dust lid 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 attachment / detachment device 43, a needle insertion confirmation camera 44, a germicidal lamp 45, and the like are provided on the ceiling side of the mixed injection processing chamber 104. There is.

[1st robot arm 21, 2nd 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 with a base end portion fixed to the ceiling side of the mixed injection processing chamber 104. For example, the joints of the first robot arm 21 and the second robot arm 22 have 5 to 8 axes, respectively. Then, in the mixed injection device 1, each work step in the mixed injection process is executed by the double-armed first robot arm 21 and the second robot arm 22.

Specifically, the second control unit 500 individually drives drive motors provided at the joints of the first robot arm 21 and the second robot arm 22, and the first robot arm 21 and the second robot arm 22 and the second robot arm 22 are driven individually. The robot arm 22 is made to execute each work in the mixed injection process. The mixed injection processing unit 300 has, for example, a configuration having one robot arm, a configuration including three or more robot arms, or a configuration without using the robot arm, as long as it has a structure capable of executing the mixed injection processing. It may be.

As shown in FIG. 6, the first robot arm 21 includes a holding portion 25 capable of holding equipment such as the medicine container 10 and the syringe 11, and the holding portion 25 has a predetermined movable range. It is possible to move it to any position within. The second robot arm 22 can hold equipment such as the medicine container 10 and the syringe 11 and move it to an arbitrary position, and also executes operations of suction and injection of the medicine by the syringe 11. This is an example of a holding portion having a holding portion 26 capable of performing. Here, the first robot arm 21 and the second robot arm 22 are examples of the first drive unit, and the holding unit 26 is an example of the second drive unit. Further, the second robot arm 22 can move the medicine container 10, the syringe 11, and the like to an arbitrary 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 and two screw shafts 252 and 253 rotated by the motor 251. It includes nut blocks 254 and 255 screwed into 253. The pair of gripping claws 25a are fixed to the nut blocks 254 and 255, respectively. Then, the nut blocks 254 and 255 are moved by the rotation of the screw shafts 252 and 253, and the pair of gripping claws 25a hold and release the holding portion 25 in close proximity to and away from each other.

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

Further, the holding portion 25 can also hold the injection needle 11c or the syringe 11 to which the cap 11d is attached by the pair of gripping 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 gripping claws 25a of the holding unit 25. It is possible. Therefore, the second control unit 500 can determine whether or not the syringe 11 is the syringe specified in the preparation content information of the preparation data.

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

The plunger holding portion 262 includes a pair of gripping claws 262a for holding the flange portion of the plunger 11b of the syringe 11. The pair of gripping claws 262a are gripping portions that hold and release the flange portion of the plunger 11b of the syringe 11 in close proximity to and away from each other by a mechanism similar to the driving mechanism used in the holding portion 25. is there. A gripping claw 262b is fixed to the upper surface of each of the gripping claws 262a. Each of the gripping claws 262b is a gripping portion that approaches and separates the pair of gripping claws 262a by approaching and separating the pair, and grips not only the syringe 11 but also other equipment such as the medicine container 10. A recess for the flange portion of the plunger 11b to enter is formed on the upper surface of the pair of gripping claws 262a on the opposite side. Further, the tips of the pair of gripping claws 262b project forward from the pair of gripping claws 262a, so that the pair of gripping claws 262b can easily grip the ampoule 10A and the vial bottle 10B. The gripping claw 262b may be provided on the gripping claw 261a.

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

[Tray transport unit 110]
Further, the mixed injection processing unit 300 is provided with a tray transport unit 110 that transports the tray 101 supplied from the tray insertion port 114 at the right end portion in FIG. 6 to the tray transport end portion 110a at the left end portion. ing.

Here, FIG. 9 is a schematic plan view showing an example of a transport path of the tray 101 in the tray transport unit 110. The inside of the tray transport section 110 is set to a more positive pressure than the inside of the mixed injection processing chamber 104. As shown in FIG. 9, the tray transport unit 110 passes the tray 101 through the rear side of the dust storage chamber 13a located below the mixed injection processing chamber 104 and under the dust lid 132a. It is provided to carry. As a result, the dust storage chamber 13a can be accessed from the front side of the mixed injection device 1. In FIG. 9, in order to show the transport path of the tray transport unit 110, the tray 101 moving in the tray transport unit 110 is shown by a chain double-dashed line, and a plurality of the trays are simultaneously contained in the tray transport unit 110. 101 does not exist.

The tray transport unit 110 is provided with 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. For example, the IC reader 101c and the IC reader 15a are RFID readers that read information from RFID tags. The IC reader 101c is provided at a tray transfer start portion 110b where the tray 101 is loaded from the tray insertion port 114, and the IC reader 15a is such that the tray 101 is discharged from the tray discharge port 15. It is provided at the tray transfer end portion 110a.

Then, when the second control unit 500 determines that the tray 101 has been inserted into the tray transfer start unit 110b from the tray insertion port 114 based on a sensor output (not shown), the IC reader 101c determines that the tray 101 has been inserted into the tray transfer start unit 110b. Read information from tag 101b. Further, when the second control unit 500 determines that the tray 101 has been inserted into the tray transport terminal 110a based on a sensor output (not shown), the IC reader 15a reads information from the IC tag 101b. .. Then, the second control unit 500 executes a tray collation process for determining the suitability of the tray 101 or the like according to the reading result by the IC reader 101c and the IC reader 15a.

Further, when the second control unit 500 determines that the tray 101 has reached a predetermined position in the tray transport unit 110 through the tray insertion port 114, for example, based on the output of the sensor, the tray transport The shutter 111 that communicates with and shields the unit 110 and the mixed injection processing chamber 104 is slid in the horizontal direction. When the shutter 111 is opened, the equipment mounting portion 102 is exposed in the mixed injection processing chamber 104. FIG. 9 shows a state in which the equipment mounting portion 102 is exposed in the mixed injection processing chamber 104.

As shown in FIG. 10, the tray transport unit 110 is a tray that raises and lowers the equipment mounting unit 102 in the tray 101 that has been moved into the tray transport unit 110 through the tray insertion port 114. An elevating part 112 is provided. The tray elevating part 112 lifts the equipment mounting part 102 from the bottom to the top by driving the four shafts 112a provided so as to be able to move up and down in the vertical direction.

Then, the second control unit 500 raises the equipment mounting unit 102 by the tray elevating unit 112, and then takes a picture with the tray confirmation camera 41. The tray confirmation camera 41 photographs the chemical container 10 and the syringe 11 and the like placed on the device mounting portion 102, which are predetermined, from above. The second control unit 500 executes an image recognition process using the captured image of the tray confirmation camera 41, and the number of the drug container 10 and the syringe 11 (syringe 11a and the injection needle) shown in the preparation data. It is determined whether or not 11c) or the like exists on the equipment mounting portion 102.

Further, as shown in FIG. 10, the tray transport end portion 110a located in the space on the left side of the mixed injection processing chamber 104 is provided with a bag elevating portion 113 for raising and lowering the infusion bag holding portion 103. After the tray 101 is conveyed to the front of the bag elevating portion 113, the second control unit 500 hooks the hook portion 113a of the bag elevating portion 113 to the engaging hole portion 103a from below. Then, the second control unit 500 raises the infusion bag holding portion 103 by rotationally driving the arc gear portion 113b on which the hook portion 113a is formed by the motor 113c, and opens the mixed injection port of the infusion bag 12. It is located at the mixed injection communication port 37. Further, the second control unit 500 drives the bag elevating unit 113 to incline the infusion bag holding unit 103 by controlling the motor 113c, and causes the mixed injection port of the infusion bag 12 to face upward or downward. can do.

Further, as shown in FIG. 6, a dome-shaped light 120 for illuminating the infusion bag 12 transported to the tray transport end portion 110a and an infusion camera 121 are provided above the tray transport end portion 110a. There is. The infusion camera 121 is provided in the central portion of the dome-shaped 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 file portion 31a, a scrap tray 31b, a head insertion portion 31c, a drive box 31f, a scrap box 31g, and a grip portion 31h.

The file portion 31a is a member for notching the neck of the ampoule 10A, and debris generated by the notch processing in the file portion 31a falls on the waste tray 31b. Specifically, in the mixed injection device 1, the first robot arm 21 holds the ampoule 10A and slides in a state where the neck of the ampoule 10A is in contact with the file portion 31a so that the ampoule 10A is attached to the neck of the ampoule 10A. Notched is applied.

The head insertion portion 31c is located at the side of the hole 31d into which the head of the ampoule 10A having been notched is inserted from below and the head of the ampoule 10A protruding upward from the hole 31d. It has a pusher 31e 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 moved by the cam to the ampoule 10A. It reciprocates in the direction of approaching and separating from the head of the.

Then, in the mixed injection device 1, the first robot arm 21 holds the ampoule 10A by the gripping claw 25a, inserts the head of the ampoule 10A into the hole 31d from below, and raises the head above the neck. Protrude to. After that, 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 of pushing 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 waste box 31g. The grip portion 31h is used for the user to grip the ampoule cutter 31 when sliding the ampoule cutter 31 along a rail 31i (see FIG. 4) that slidably supports the ampoule cutter 31.

[Agitator 32]
When the vial bottle 10B contains a chemical that needs to be dissolved, such as powdered medicine (powder), the stirring device 32 injects an infusion solution or a chemical into the vial bottle 10B to dissolve the chemical. Used when producing mixed chemicals. Specifically, as shown in FIG. 12, the stirring device 32 includes a roller 32a, a holding portion 32b, a rotating support portion 32c, a support base 32d, a horizontal swing mechanism 32e, a support portion 32f, a drive motor 32g, and the like. Is provided.

The two rollers 32a are arranged so as to face each other with a predetermined distance from each other. 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 vial bottles 10B placed on both ends of the roller 32a in the axial direction. ..

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

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

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

On the other hand, when the vial bottle 10B is placed between the two rollers 32a and the drive motor 32g is driven, the chemical container 10 is rotated by the roller 32a connected to the drive motor 32g. The chemicals in the chemical container 10 are stirred. At this time, the other roller 32a rotates in the same direction as the other roller 32a due to the rotation of the chemical container 10. Further, if at least one of the rollers 32a is eccentrically driven, the vial bottle 10B placed on the rollers 32a can be agitated in the vertical direction (vertical direction) as well.

[Placement shelf 33]
As shown in FIG. 4, the above-mentioned storage shelf 33 is used for temporarily placing the medicine container 10 and the syringe 11 in the mixed injection process performed in the mixed injection device 1. The above-mentioned storage shelf 33 is provided at a position accessible to both the first robot arm 21 and the second robot arm 22. On the above-mentioned storage shelf 33, the vial bottle 10B is placed in a predetermined position in a standing state. On the other hand, the above-mentioned storage 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. Further, the above-mentioned storage shelf 33 is formed with a neck holding hole having a predetermined diameter in which the neck portion of the syringe 11 is fitted, and the syringe 11 is a state in which only a syringe without an injection needle 11c is attached. Temporarily placed with the neck facing down.

[Rotating mounting unit 33A]
The rotation mounting portion 33A is used for the work of rotating the syringe 11 in the circumferential direction, and is provided at a position accessible to the first robot arm 21. For example, the rotary mounting portion 33A is formed with a neck holding hole having a predetermined diameter into which the neck portion of the syringe 11 is fitted, similarly to the above-mentioned storage shelf 33, and the syringe 11 has an injection needle. It is placed with the neck facing down with only the syringe without 11c attached. Then, the first robot arm 21 can rotate the syringe 11 by 180 degrees in the circumferential direction after mounting the syringe 11 on the rotation mounting portion 33A. For example, the first robot arm 21 gradually rotates the syringe 11 up to 180 degrees in the circumferential direction by repeatedly executing the following (a) and (b). (A) After grasping the syringe 11 and rotating it by a predetermined amount in one direction in the circumferential direction, the syringe 11 is released and the angle of the first robot arm 21 is moved by a predetermined amount in another direction in the circumferential direction. .. (B) The syringe 11 is gripped again, and the syringe 11 is rotated in a predetermined direction in one direction in the circumferential direction.

[Chemical reading unit 34]
The chemical reading unit 34 reads a bar code written on a label affixed to the chemical container 10 such as the ampoule 10A and the vial bottle 10B and indicating chemical information of the contained chemical. Specifically, the chemical reading unit 34 includes two rollers 34a and a barcode reader 34b, as shown in FIG. The rollers 34a are arranged so as to face each other with a predetermined interval. One of the rollers 34a is rotatably supported, and the other roller 34a is connected to a drive motor (not shown). The two rollers 34a are driven by the drive motor to rotate the chemical container 10 placed between the rollers 34a in the circumferential direction. As a result, the chemical container 10 can be rotated once in the circumferential direction, so that the entire area of the label attached to the chemical container 10 can be directed to the barcode reader 34b. Then, the barcode reader 34b reads the barcode from the label of the chemical container 10 rotated by the roller 34a.

[Weighing meter 35]
The weighing meter 35 is used to measure the weight of the syringe 11 in the mixed injection process performed in the mixed injection device 1, and the measurement result by the weighing meter 35 is input to the second control unit 500. The weighing scale 35 is arranged within the movable range of the second robot arm 22, and measures the weight of the syringe 11 mounted by the second robot arm 22. Further, apart from the weighing scale 35, 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 storage shelf 33 described above.

[Needle bending detection unit 36]
As shown in FIG. 14, the needle bending detection unit 36 is formed with an elongated hole 36a into which the injection needle 11c of the syringe 11 can be inserted and moved. Further, the needle bending detection unit 36 irradiates and receives detection light across the elongated hole 36a, and the first optical sensor 361 and the second optical sensor 362 are arranged so that the detection lights are non-parallel to each other. To be equipped with. That is, the irradiation directions of the detection light of the first optical sensor 361 and the second optical sensor 362 are different. The detection results by the first optical sensor 361 and the second optical 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 optical sensor 361 and the second optical sensor 362 is blocked by the injection needle 11c, the first optical sensor 361 and the second optical sensor 362 are turned off.

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

[Mixed injection communication port 37]
As shown in FIG. 3, the mixed injection communication port 37 is formed at a dome-shaped portion protruding outward on the side wall of the mixed injection processing chamber 104, and the infusion bag 12 is vertically formed at the dome-shaped portion. A notch is formed to allow the mixed injection port to pass through. Therefore, when the infusion bag holding portion 103 rises, the mixed injection port of the infusion bag 12 is located in the mixed injection processing chamber 104.

[Needle insertion confirmation transparent window 38]
The needle insertion confirmation transparent window 38 is a window in which the infusion bag 12 of the tray transport end portion 110a can be visually recognized from the mixed injection processing unit 300, and the injection needle 11c of the syringe 11 is inserted into the infusion bag 12. It is used when taking an image to check the condition.

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

[Injection needle attachment / detachment device 43]
As shown in FIGS. 15 and 16, the injection needle attachment / detachment device 43 is inserted with the tip of the injection needle 11c having the cap 11d attached upward into the hole portion 43b of the chuck portion 43a in which the notch portion is formed. When the motor 43c is driven, a cam mechanism (not shown) expands the hole 43b of the chuck portion 43a 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, the chuck portion 43a is rotated, and the cap 11d and the injection needle 11c are rotated.

Each of the injection needle 11c and the cap 11d is provided with a rib that comes into contact with the cap 11d when it is rotated in the circumferential direction while being attached to the injection needle 11c. Therefore, the injection needle 11c rotates together with the cap 11d when the cap 11d of the injection needle 11c is rotated by the chuck portion 43a, and is attached to and detached from the syringe 11a. Further, in the injection needle attachment / detachment device 43, the injection needle is moved closer to or separated from the chuck portion 43a by the second robot arm 22 while the cap 11d is held by the chuck portion 43a. It is also possible to automatically attach / detach the cap 11d to / from the 11c. In the injection needle attachment / detachment device 43, since the tip of the injection needle 11c faces upward, the tip opening of the syringe 11a from which the injection needle 11c is removed faces upward, and 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 takes a picture of the infusion bag 12 located outside the mixed injection processing chamber 104 and the syringe 11 in the mixed injection processing chamber 104 so as to fit in one image. When the rubber stopper of the mixed injection port of the infusion bag 12 is punctured by the injection needle 11c, the second control unit 500 photographs the direction of the needle insertion confirmation transparent window 38 by the needle insertion confirmation camera 44. Then, the image captured by the needle insertion confirmation camera 44 is displayed on, for example, the touch panel monitor 14. Here, FIG. 17 is an example of an image captured by the needle insertion confirmation camera 44. Thereby, the user can confirm from the photographed image whether or not the tip end side of the injection needle 11c is located in the infusion bag 12. The captured image is stored in a storage unit such as a hard disk provided inside or outside the mixed injection device 1 for the final inspection, for example. Then, when it is determined that the OK button is operated by the user on the touch panel monitor 14 on which the captured image is displayed and the mixed injection process is appropriately completed, the infusion bag 12 is lowered by the bag elevating part 113. , Returned to the tray 101.

[Germicidal lamp 45]
The germicidal lamp 45 is turned on, for example, from 3 hours before the start of the mixed injection process. As shown in FIG. 6, one of the two germicidal lamps 45 is provided at a position between the first robot arm 21 and the second robot arm 22. Therefore, the amount of sterilizing light blocked by the first robot arm 21 and the second robot arm 22 is reduced, and the inside of the mixed injection processing chamber 14 can be sterilized evenly. Further, the mixed injection processing unit 300 sucks the air in the mixed injection processing chamber 104 from the slit 104b (see FIGS. 3 and 4) formed in the lower part 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 the 104 is provided. Further, an air supply system is also provided which purifies the outside air from the intake port formed on the ceiling of the mixed injection processing chamber 104 and guides the outside air to the mixed injection processing chamber 104 or the like.

[Mixed injection processing]
Next, an example of the procedure of the mixed injection processing executed by controlling the mixed injection processing unit 300 by the mixed injection control unit 100 in the mixed injection device 1 will be described. In the mixed injection process, as described below, the second control unit 500 controls the first robot arm 21, the second robot arm 22, and the like, so that one or more of them are based on the prepared data. The drug is sucked from the drug container 10 by the syringe 11, and the drug is 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 mixed injection process when injecting the chemical contained in the ampoule 10A into the infusion bag 12 will be described.

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

Next, the second control unit 500 photographs the equipment mounting unit 102 with the tray confirmation camera 41. Then, the second control unit 500 performs an image recognition process based on an image captured by the tray confirmation camera 41 to position and orient the equipment such as the ampoule 10A and the syringe 11 mounted on the equipment mounting unit 102. To grasp. In particular, the second control unit 500 photographs the equipment mounting unit 102 with the tray confirmation camera 41 each time the ampoule 10A or the syringe 11 is taken out from the equipment mounting unit 102, and the latest image is taken from the captured image. The position and orientation of the ampoule 10A and the syringe 11 of the above are grasped.

Subsequently, the second control unit 500 places the syringe 11 mounted on the equipment mounting unit 102 exposed in the mixed injection processing chamber 104 by the first robot arm 21 on the above-mentioned storage shelf 33. Temporarily place. Further, the second control unit 500 sets the ampoule 10A mounted on the equipment mounting unit 102 on the chemical reading unit 34 by the first robot arm 21. Then, the second control unit 500 reads information such as the type of the chemical contained in the ampoule 10A by the chemical reading unit 34.

In addition, the second control unit 500 sets the first injection needle 11c in the injection needle attachment / detachment device 43 by the first robot arm 21, and sets the second injection needle 11c in the above-mentioned storage shelf 33. Temporarily place. 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 11d is attached to the injection needle 11c mounted on the equipment mounting portion 102, and the cap 11d is attached / detached by the injection needle attachment / detachment device 43. It is also conceivable that the injection needle 11c is set in the tray 101 in a state of being attached to the syringe 11a of the syringe 11. In this case, the step of setting the injection needle 11c in the syringe 11 is omitted.

Then, when the second control unit 500 takes out all the equipment on the equipment mounting unit 102, the tray elevating unit 112 of the tray transporting unit 110 lowers the equipment mounting unit 102 to lower the tray 101. Return to. The second control unit 500 confirms whether or not all the equipment on the equipment mounting unit 102 has been taken out by an image recognition process based on an image captured by the tray confirmation camera 41.

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

Then, the second control unit 500 moves the ampoule 10A set in the chemical reading unit 34 to the above-mentioned storage shelf 33 by the second robot arm 22. Next, the second control unit 500 takes out the syringe 11 from the above-mentioned storage shelf 33 by the first robot arm 21 and sets it on the second robot arm 22. Subsequently, the second control unit 500 moves the syringe 11 to the injection needle attachment / detachment device 43 by the second robot arm 22 to set the injection needle 11c in the syringe 11. After that, the second control unit 500 moves the syringe 11 to the needle bending detection unit 36 by the second robot arm 22 and detects the presence or absence of bending of the injection needle 11c. It is also conceivable that the injection needle 11c is set on the tray 101 in a state of being attached to the syringe 11. In this case, the step of setting the injection needle 11c in the syringe 11 is omitted.

Next, the second control unit 500 takes out the ampoule 10A from the above-mentioned storage shelf 33 by the first robot arm 21, and uses the ampoule cutter 31 to fold the head of the ampoule 10A. Then, the second control unit 500 brings the ampoule 10A and the syringe 11 close to each other by the first robot arm 21 and the second robot arm 22, and the injection needle 11c of the syringe 11 is brought into the ampoule 10A. Insert inside. After that, the second control unit 500 operates the plunger 11b by the second robot arm 22 to suck a predetermined amount of the drug from the ampoule 10A by the syringe 11.

At this time, the first robot arm 21 and the second robot arm 22 gradually tilt the postures of the ampoule 10A and the syringe 11. 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 chemicals are sucked up from the ampoule 10A, and then the ampoule 10A is vertically oriented. A state in which the chemical is moved to the side (neck) of the mouth is formed by inclining about 10 degrees with respect to the direction. This makes it possible to suck up the medicine without leaving the tip of the injection needle 11c of the syringe 11 on the bottom of the ampoule 10A as much as possible.

After that, the second control unit 500 controls one or both of the first robot arm 21 and the second robot arm 22 to suck the ampoule 10A and the chemical after the chemical is sucked. The syringe 11 in this state is moved within the imaging range of the syringe confirmation camera 42. Then, the second control unit 500 photographs the ampoule 10A and the syringe 11 at once by the syringe confirmation camera 42, and records the captured images as inspection images in the data storage unit 504. For example, the syringe confirmation camera 42 captures the predetermined imaging range. On the other hand, the syringe confirmation camera 42 so that the ampoule 10A and the syringe 11 after the second control unit 500 is moved by the first robot arm 21 and the second robot arm 22 can be photographed at one time. It is also conceivable that the shooting range of the above can be changed.

Next, the second control unit 500 replaces the injection needle 11c of the syringe 11 by the first robot arm 21 and the second robot arm 22. Specifically, the second control unit 500 moves the syringe 11 to the needle bending detection unit 36 by the second robot arm 22 and detects the presence or absence of bending of the injection needle 11c. Then, the second robot arm 22 moves the syringe 11 to the injection needle attachment / detachment device 43, and attaches the cap 11d to the injection needle 11c. Then, the second control unit 500 rotates the cap 11d by the injection needle attachment / detachment device 43 to remove the injection needle 11c from the syringe 11. The injection needle 11c may be removed by the rotational operation of the cap 11d by the first robot arm 21 and the second robot arm 22.

Then, the second control unit 500 opens the dust lid 132a and drops the injection needle 11c held by the injection needle attachment / detachment device 43 by the first robot arm 21 into the dust storage chamber 13a for disposal. To do. After that, the second control unit 500 causes the first robot arm 21 to set the injection needle 11c with the syringe filter on the injection needle attachment / detachment device 43 from the above-mentioned storage shelf 33. Then, the second control unit 500 moves the syringe 11 to the injection needle attachment / detachment device 43 by the second robot arm 22 to attach the injection needle 11c to the syringe 11. Also in this case, the second control unit 500 moves the syringe 11 to the needle bending detection unit 36 by the second robot arm 22 and detects the presence or absence of bending of the injection needle 11c. As described above, in the mixed injection device 1, the injection needle 11c is exchanged between when the chemical is sucked from the ampoule 10A and when the infusion solution is injected into the infusion bag 12, and the fragments of the ampoule 10A are separated from the infusion bag. It is prevented from being mixed in 12.

Then, the second control unit 500 punctures the injection needle 11c of the syringe 11 into the rubber stopper of the mixed injection port of the infusion bag 12 conveyed to the tray transfer end portion 110a by the second robot arm 22. Then, 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 lid 132a and drops the ampoule 10A into the dust storage chamber 13a by the first robot arm 21 for disposal. Further, the second control unit 500 moves the syringe 11 to the injection needle attachment / detachment device 43 by the second robot arm 22 to attach the cap 11d to the injection needle 11c of the syringe 11. The syringe 11 is dropped into the garbage storage chamber 13a and discarded.

After that, the second control unit 500 reads various images taken by the syringe confirmation camera 42 and the like from the data storage unit 504 and displays them on the touch panel monitor 14. As a result, the user can inspect the suitability of the mixed injection process while looking at the touch panel monitor 14.

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

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

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

Subsequently, the second control unit 500 places the syringe 11 mounted on the equipment mounting unit 102 exposed in the mixed injection processing chamber 104 by the first robot arm 21 on the above-mentioned storage shelf 33. Temporarily place. Further, the second control unit 500 sets the vial bottle 10B mounted on the equipment mounting unit 102 on the chemical reading unit 34 by the first robot arm 21. Then, the second control unit 500 reads information such as the type of the chemical contained in the vial bottle 10B by the chemical reading unit 34.

Next, when the second control unit 500 takes out all the equipment on the equipment mounting unit 102, the tray elevating unit 112 of the tray transporting unit 110 lowers the equipment mounting unit 102 to lower 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 an image recognition process based on an image captured by the tray confirmation camera 41.

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

Then, the second control unit 500 moves the vial bottle 10B set in the chemical reading unit 34 to the above-mentioned storage shelf 33 by the second robot arm 22. On the other hand, in parallel with this movement process, the second control unit 500 attaches / detaches the injection needle 11c of the syringe 11 mounted on the equipment mounting unit 102 by the first robot arm 21. Set in device 43.

Next, the second control unit 500 takes out the syringe 11 from the above-mentioned storage shelf 33 by the first robot arm 21 and sets it on the second robot arm 22. Subsequently, the second control unit 500 moves the syringe 11 to the injection needle attachment / detachment device 43 by the second robot arm 22 to set the injection needle 11c in the syringe 11. After that, the second control unit 500 moves the syringe 11 to the needle bending detection unit 36 by the second robot arm 22 and detects the presence or absence of bending of the injection needle 11c. It is also conceivable that the injection needle 11c is set in the tray 101 in a state of being attached to the syringe 11a of the syringe 11. In this case, the step of setting the injection needle 11c in the syringe 11 is omitted.

Subsequently, the second control unit 500 punctures the injection needle 11c of the syringe 11 into the rubber stopper of the mixed injection port of the infusion bag 12 conveyed to the tray transfer end portion 110a by the second robot arm 22. Then, the infusion solution in the dissolved amount shown in the preparation data is sucked from the infusion solution bag 12. On the other hand, the second control unit 500 takes out the vial bottle 10B placed on the above-mentioned storage shelf 33 by the first robot arm 21.

Then, the second control unit 500 brings the vial bottle 10B and the syringe 11 closer to each other by the first robot arm 21 and the second robot arm 22, and the injection needle 11c of the syringe 11 is brought into contact with the syringe 11. Puncture the vial bottle 10B. After that, the second control unit 500 injects the infusion solution in the syringe 11 into the vial bottle 10B by operating the plunger 11b by the second robot arm 22. As described above, when the drug is a powder drug, in the mixed injection process, the dissolution step of extracting the infusion solution from the infusion bag 12 with the syringe 11 and injecting the infusion solution from the syringe 11 into the vial bottle 10B is executed. Will be done. As a result, the chemical in the vial bottle 10B is dissolved in the infusion solution. At this time, the postures of the syringe 11 and the vial bottle 10B are such that the injection needle 11c of the syringe 11 is directed vertically downward and the mouth of the vial bottle 10B is directed vertically upward.

Next, the second control unit 500 sets the vial bottle 10B into which the infusion solution has been injected into the stirring device 32 by the first robot arm 21. As a result, the stirring device 32 stirs the chemicals and the infusion solution in the vial bottle 10B. When the stirring by the stirring device 32 is completed, the second control unit 500 takes out the vial bottle 10B from the stirring device 32 by the first robot arm 21.

Then, the second control unit 500 brings the vial bottle 10B and the syringe 11 closer to each other by the first robot arm 21 and the robot arm 22, and puts the injection needle 11c of the syringe 11 into the vial bottle. Puncture into 10B. After that, the second control unit 500 sucks the mixed drug in the vial bottle 10B with the syringe 11 by operating the plunger 11b by the second robot arm 22. At this time, the posture of the syringe 11 and the vial bottle 10B is a state in which the mouth of the vial bottle 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 to suck the vial bottle 10B and the chemical after the chemical is sucked. The aspirated syringe 11 is moved within the imaging range of the syringe confirmation camera 42. Then, the second control unit 500 photographs the vial bottle 10B and the syringe 11 at once by the syringe confirmation camera 42, and records the captured images as inspection images in the data storage unit 504. For example, the syringe confirmation camera 42 captures the predetermined imaging range. On the other hand, the syringe confirmation camera so that the vial bottle 10B and the syringe 11 after the second control unit 500 is moved by the first robot arm 21 and the second robot arm 22 can be photographed at one time. It is also conceivable that the shooting range of 42 can be changed.

Then, the second control unit 500 punctures the injection needle 11c of the syringe 11 into the rubber stopper of the mixed injection port of the infusion bag 12 conveyed to the tray transfer end portion 110a by the second robot arm 22. Then, the mixed drug in the syringe 11 is injected into the infusion bag 12. As described above, in the mixed injection process, the injection step of sucking the drug from the vial bottle 10B with the syringe 11 and injecting the drug from the syringe 11 into the infusion bag 12 is executed.

On the other hand, the second control unit 500 opens the garbage lid 132a, drops the vial bottle 10B into the garbage storage chamber 13a by the first robot arm 21, and discards it. Further, the second control unit 500 moves the syringe 11 to the injection needle attachment / detachment device 43 by the second robot arm 22 to attach the cap 11d to the injection needle 11c of the syringe 11. The syringe 11 is dropped into the garbage storage chamber 13a and discarded.

After that, the second control unit 500 reads various images taken by the syringe confirmation camera 42 and the like from the data storage unit 504 and displays them on the touch panel monitor 14. As a result, the user can inspect the suitability of the mixed injection process while looking at the touch panel monitor 14.

It is also conceivable that the chemical contained in the vial 10B is a chemical such as a chemical solution that does not need to be dissolved. In this case, the mixed injection process dissolves the chemicals contained in the vial bottle 10B, except that the step of sucking the infusion solution from the infusion bag 12 and injecting the infusion solution into the vial bottle 10B and stirring the mixture is not executed. Since it is the same as the mixed injection treatment in the case of a necessary chemical such as powdered medicine, the description thereof will be omitted.

[Loading preparation process]
Then, in the mixed injection device 1, the first control unit 400 prepares the tray 101 for loading the chemical container 10, the syringe 11, the infusion bag 12, and the like before the execution of the mixed injection process. A loading preparation process is performed to assist. Here, FIG. 18 is a flowchart showing an example of the loading preparation process.

<Step S1>
First, in step S1, the first control unit 400 performs a loading preparation start operation for starting the preparatory work for loading the chemicals and equipment required for the mixed injection process based on the preparation data to the operation unit 405. To determine if it was done. The loading preparation start operation includes an operation of selecting the preparation data to be the target of the current preparation work from one or more of the unprocessed preparation data. Here, when it is determined that the loading preparation start operation has been performed (S1: Yes), the process proceeds to step S2. Further, the process waits in step S1 until the loading preparation start operation is performed (S1: No).

<Step S2>
In step S2, the first control unit 400 determines the necessity of prior work before executing the mixed injection process separately from the mixed injection process, based on the preparation data selected in the loading preparation start operation.

Specifically, the first control unit 400 determines that the pre-work is necessary when the amount of liquid in the infusion bag 12 changes as a result of the mixed injection process based on the preparation data.

For example, when the amount of the liquid injected into the infusion bag 12 in the injection step is smaller than the amount of the infusion liquid extracted from the infusion bag 12 in the dissolution step, the amount of liquid in the infusion bag 12 is said. The amount of infusion solution contained in the infusion solution bag 12 is less than the specified amount. In this case, when the infusion solution of the infusion bag 12 is infused to the patient, the infusion time is shorter than that in the case where the prescribed amount is administered. Therefore, the first control unit 400 is based on the difference (decrease amount) between the amount of the infusion solution extracted from the infusion bag 12 in the dissolution step and the amount of the liquid injected into the infusion bag 12 in the injection step. Therefore, it is determined that a replenishment operation of replenishing the infusion bag 12 with a predetermined amount of the infusion solution is necessary as the preliminary work before the execution of the mixed injection process. More specifically, the first control unit 400 determines that the amount of liquid in the infusion bag 12 decreases as a result of the mixed injection process when the difference is equal to or greater than a predetermined threshold value, and the replenishment operation. Judge that is necessary.

Further, when the chemical is a chemical solution, in the mixed injection process, when the chemical is sucked from the chemical container 10 by the syringe and injected into the infusion bag 12, the amount of liquid in the infusion bag 12 becomes the infusion bag. The amount of infusion solution contained in 12 is larger than the specified amount. In this case, when the infusion solution of the infusion bag 12 is administered by infusion to the patient, the infusion time becomes longer than when the prescribed amount is administered. Therefore, the first control unit 400 determines that a sampling operation of extracting a predetermined amount of the infusion solution from the infusion bag 12 is necessary as the preliminary work before the execution of the mixed injection process. More specifically, the first control unit 400 determines that the amount of liquid in the infusion bag 12 increases as a result of the mixed injection process when the amount of liquid of the chemical is equal to or higher than a predetermined threshold value. It is determined that the extraction work is necessary.

Further, it is determined in the preparation data that the first control unit 400 needs to inject other chemicals different from the chemicals injected into the infusion bag 12 by the mixed injection device into the infusion bag 12. If so, it is determined that the injection work is necessary as the preliminary work. In the present embodiment, the case where the necessity of the replenishment work, the extraction work, and the injection work is determined as the pre-work in the step S2 will be described. However, in the present invention, the replenishment work is described. , The necessity of at least one of the extraction work and the injection work may be determined.

<Step S3>
Next, in step S3, the first control unit 400 determines whether or not it is determined in step S2 that the pre-work is necessary. That is, it is determined whether or not it is determined that at least one of the replenishment work, the extraction work, and the injection work is necessary. Here, if the pre-work is required (S3: Yes), the process proceeds to step S4, and if the pre-work is not required (S3: No), the process proceeds to step S301.

<Step S301>
In step S301, the first control unit 400 causes the display 203 to display a display screen D11 including a message for instructing reading of identification information such as the GS1 data bar of the infusion bag 12, and the process is performed in step S8. Migrate. Here, FIG. 19 is a diagram showing an example of the display screen D11. On the display screen D11 shown in FIG. 19, a message M11 such as "Please read the GS1 data bar of the physiological saline solution (500 mL)" is displayed together with the contents of the preparation data.

Here, the first control unit 400 shifts the process to step S8 when the identification information of the infusion bag 12 is read by the barcode reader 204 and the collation result with the prepared data matches. If the identification information of the infusion bag 12 and the collation result of the preparation data do not match, the first control unit 400 may display, for example, an error message.

<Step S4>
On the other hand, when it is determined that the pre-work is necessary, in the following step S4, the first control unit 400 needs the pre-work separately from the mixed injection process before executing the mixed injection process. Notify a predetermined message indicating that effect. The content of the message may be related to the preliminary work, and is not limited to the content described here. Here, the first control unit 400 when executing the processing is an example of the notification processing unit. Specifically, the first control unit 400 needs to perform the pre-work by displaying a display screen D12 including a predetermined message corresponding to each content of the pre-work on the display 203. It is possible to notify that there is. As a result, it is possible to make the user recognize that the pre-work is necessary when executing the mixed injection process for the prepared data, so that omission of the pre-work is suppressed. The notification is not limited to the display of the message, but may be performed by reproducing a predetermined message voice.

Here, FIG. 20 is a diagram showing an example of the display screen D12 displayed when the content of the preliminary work is the sampling work. The display screen D12 shown in FIG. 20 is preset in response to the case where the extraction work is required as the preliminary work, and "there is a pre-extraction work indicating that the extraction work is required. A message M12 such as "Do you want to start loading?" Is displayed.

Further, the pre-work includes the replenishment work, the injection work, and the like in addition to the extraction work. Then, in step S2, when it is determined that the difference is equal to or greater than the threshold value and the replenishment work is necessary, in step S4, there is a "pre-replenishment work" indicating that the replenishment work is required. A message such as "Do you want to start loading?" Is displayed. Further, when it is determined in step S2 that the injection work is necessary as the preliminary work, in the step S4, "there is a pre-injection work. Loading is started." A message such as "Are you sure?" Is displayed. Regardless of the content of the pre-work, a common message such as "There is pre-work. Do you want to start loading?" May be displayed.

<Step S5>
In step S5, similarly to step S301, the first control unit 400 displays the display screen D11 including the message M11 for instructing the reading of identification information such as the GS1 data bar of the infusion bag 12. It is displayed on 203. Here, the first control unit 400 shifts the process to step S6 when the identification information of the infusion bag 12 is read by the barcode reader 204 and the collation result with the prepared data matches. If the identification information of the infusion bag 12 and the collation result of the preparation data do not match, the first control unit 400 may display, for example, an error message.

<Step S6>
In step S6, the first control unit 400 notifies the details of the preliminary work. Specifically, the first control unit 400 displays the content of the pre-work on the display 203 by displaying a display screen D13 including a predetermined message corresponding to each content of the pre-work. Notify. As a result, the user can be made aware of the content of the pre-work when executing the mixed injection process for the prepared data. The notification may be performed by reproducing a predetermined message voice.

Here, FIG. 21 is a diagram showing an example of the display screen D13 displayed when the content of the preliminary work is the sampling work. In the display screen D13 shown in FIG. 21, "a specified amount is extracted from the infusion solution" that is preset in response to the case where the extraction operation is required as the preliminary work together with the contents of the preparation data. A message such as "Please" is displayed. Further, on the display screen D13, a message M132 such as "Please extract 10.0 mL from the infusion solution" indicating the extraction amount in the extraction operation is also displayed. As a result, the user can easily grasp the contents of the preliminary work.

Further, on the display screen D13, an image P131 and a message M133 for guiding the needle stick position of the syringe when the drug solution is extracted from the infusion bag 12 in the extraction operation are displayed. Specifically, in the example shown on the display screen D13, the message M133 such as "Please pierce the extraction needle at the position indicated by the red circle at the needle puncture position" is attached to the upper surface of the rubber stopper of the infusion bag 12. The image P131 whose needle stick position is indicated by the red circle mark P132 is displayed. For example, the mark P132 is not directly written on the upper surface of the rubber stopper of the infusion bag 12, but is displayed on the display screen D13 in the image of the upper surface of the rubber stopper of the infusion bag 12 at the needle stick position. It is an image synthesized as an index. The image of the upper surface of the rubber stopper of the infusion bag 12 and the guide image in which the image of the mark P132 is combined are stored in advance in the data storage unit 404 in association with each type of the infusion bag 12. There is. Further, the upper surface of the rubber stopper of the infusion bag 12 includes an output puncture area and an input puncture area as predetermined specific puncture areas. The output puncture area is marked with the letters "OUT" indicating that the infusion in the infusion bag 12 is the area used when administering the infusion to the patient, and the input puncture area is used for the infusion. The character "IN" indicating that the area is used when injecting a chemical is described. The characters "OUT" and "IN" are also displayed in the image P131. In the display screen D13, the input puncture region excluding the output puncture region in the specific puncture region is guided by the image P131 as the needle puncture position. As a result, the user can easily grasp the needle sticking position where the needle of the syringe is stuck in the preliminary work. Guidance of the needle stick position in the preliminary work is also performed in the same manner when the replenishment work and the injection work are required. The display of the mark P132 is omitted on the display screen D13, and the message M133 uses the input puncture area, for example, "Please puncture the extraction needle at the IN location." It is possible that a message will be displayed.

On the other hand, in the mixed injection device 1, in the mixed injection process, the injection needle 11c of the syringe 11 is punctured in a region other than the needle puncture position and the output puncture region guided on the display screen D13. .. Here, the positions and ranges of the other regions are predetermined for each type of the infusion bag 12, and the data recording unit 404 of the first control unit 400 and the data recording unit 504 of the second control unit 500. It is possible that it is remembered in. Further, the first control unit 400 notifies the second control unit 500 of the needle stick position or the other area guided by the display screen D13 or the like, so that the second control unit 500 can use the other control unit 500. It is also conceivable to determine the position and range of the area. It is also conceivable that the specific puncture region includes a plurality of input puncture regions, and in step S6, only a part of the input puncture regions is guided as the needle puncture position. Be done. In this case, it is conceivable that the other input puncture area, which is not guided as the needle puncture position, is included in the other area. Then, the second control unit 500 takes an image of the rubber stopper of the infusion bag 12 taken by the needle insertion confirmation camera 44 or the like when the injection needle 11c punctures the rubber stopper of the infusion bag 12 in the mixed injection process. The other region excluding the needle puncture position is detected based on the above. Then, the second control unit 500 controls the second robot arm 22 so as to puncture the injection needle 11c into the other region. As a result, overlapping and proximity of needle stick positions in the pre-operation and the mixed injection process are prevented. When the placement posture of the infusion bag 12 on the tray 101 is predetermined, the second control unit 500 detects the other region other than the needle stick position based on the above-mentioned placement posture. Is also possible.

By the way, when the pre-work is executed by the user before the mixed injection process is executed, the data recording unit 404 records that the pre-work was properly performed by the first control unit 400. It is possible that it will be recorded in. For example, a weigh scale connected to the first control unit 400 is provided on the work table 202, and the first control unit 400 obtains the result of weighing by the weigh scale during the display of the display screen D13. It is conceivable to record it as the history. As a result, for example, the weighing result of the infusion bag 12 after the infusion solution has been extracted by the extraction operation, or the weighing result of the infusion bag 12 after the infusion solution has been replenished by the replenishment operation can be recorded as the history. It will be possible. Further, when the other chemicals are injected into the infusion bag 12 in the injection operation, it is possible to record the weighing result of the infusion bag 12 after the injection as the history. Further, it is also conceivable that the chemical loading unit 200 is provided with an imaging unit such as a digital video camera that captures the status of the pre-work, and the status of the pre-work is recorded in the data recording unit 404 as a history. Be done.

<Step S7>
Next, in step S7, the first control unit 400 waits for the confirmation operation of the preliminary work (S7: No). Specifically, on the display screen D13, the operation key K131 for accepting the confirmation operation is displayed, and the first control unit 400 performs the confirmation by operating the operation key K131 using the operation unit 405. Accept operations.

Then, when the confirmation operation is performed (S7: Yes), the process proceeds to step S7. That is, in the mixed injection device 1, when the preliminary work is required for the prepared data, the mixed injection control unit 100 starts the mixed injection process based on the prepared data until the confirmation operation is performed. I won't let you. Therefore, the omission of the pre-work is more effectively suppressed. When a plurality of the pre-work is required, the processes of steps S6 to S7 are repeatedly executed corresponding to each of the pre-work.

<Step S8>
After that, in step S8, the first control unit 400 causes the display 203 to display a display screen D14 for guiding the arrangement of the infusion bag 12 on the tray 101. Here, FIG. 22 is a diagram showing an example of the display screen D14. On the display screen D14 shown in FIG. 22, a message M14 indicating a method of arranging the infusion bag 12 is displayed together with the contents of the preparation data. Then, when the operation input to the effect that the arrangement work of the infusion bag 12 is completed is performed, the first control unit 400 shifts the process to step S9.

<Step S9>
In step S9, the first control unit 400 causes the display 203 to display a display screen D15 including a message for instructing reading of identification information such as the GS1 data bar of the chemical container 10. Here, FIG. 23 is a diagram showing an example of the display screen D15. On the display screen D15 shown in FIG. 23, a message M15 such as "Please read the GS1 data bar of 5-FU Note 1000 mg" is displayed together with the contents of the preparation data.

Here, when the identification information of the chemical container 10 is read by the barcode reader 204 and the collation result with the preparation data matches, the first control unit 400 shifts the process to step S10. The first control unit 400 displays an error message when the identification information of the chemical container 10 and the collation result of the preparation data do not match.

<Step S10>
In step S10, the first control unit 400 causes the display 203 to display a display screen D16 for guiding the arrangement of the chemical container 10 on the tray 101. Here, FIG. 24 is a diagram showing an example of the display screen D16. On the display screen D16 shown in FIG. 24, a message M16 indicating a method of arranging the chemical container 10 is displayed together with the contents of the preparation data. Then, when an operation input indicating that the arrangement work of the chemical container 10 is completed is performed, the first control unit 400 shifts the process to step S11.

<Step S11>
In step S11, the first control unit 400 causes the display 203 to display a display screen D17 for guiding the arrangement of the syringe 11 on the tray 101. Here, FIG. 25 is a diagram showing an example of the display screen D17. On the display screen D17 shown in FIG. 25, a message M17 indicating a method of arranging the syringe 11 is displayed together with the contents of the preparation data. Then, when the operation input to the effect that the arrangement work of the syringe 11 is completed is performed, the first control unit 400 shifts the process to step S12.

<Step S12>
In step S12, the first control unit 400 causes the display 203 to display a display screen D18 including a message prompting registration of loading completion regarding the preparation data. Here, FIG. 26 is a diagram showing an example of the display screen D18. On the display screen D18 shown in FIG. 26, along with the contents of the preparation data, a message M18 prompting registration of loading completion regarding the preparation data that was the target of preparation this time is displayed. Here, when the operation input for the registration of the completion of loading is performed, the first control unit 400 shifts the process to step S13.

<Step S13>
In step S13, the first control unit 400 records a part of the preparation data on the electronic paper 101a of the tray 101, and displays a display screen D19 including a message that the completion registration of the preparation data has been performed. Is displayed on the display 203. As a result, in the mixed injection device 1, the mixed injection process is started when it is detected by a sensor (not shown) that the tray 101 is loaded from the tray insertion port 114.

Here, FIG. 27 is a diagram showing an example of the display screen D19. On the display screen D19 shown in FIG. 27, along with the contents of the preparation data, a message M19 indicating that the preparation of the preparation data, which was the target of preparation this time, is completed is displayed. If an operation input for interrupting loading is performed during the display of the display screens D11 to D19, the loading preparation based on the preparation data is stopped.

[Second Embodiment]
As described above, in the mixed injection device 1, the amount of liquid in the infusion bag 12 may change as a result of the mixed injection treatment. Then, in the first embodiment, the case where the pre-work for adjusting the amount of liquid in the infusion bag 12 in advance is performed by a pharmacist or the like has been described.

[Infusion volume control process]
On the other hand, in the present embodiment, the second control unit 500 automatically adjusts the infusion amount in the infusion bag 12 so that the amount of liquid in the infusion bag 12 does not change in the mixed injection process, or a replenishment step or extraction. A configuration capable of executing the infusion volume control process including the step will be described. In the following embodiments, the description of the same configuration as that of the first embodiment will be omitted. Here, FIG. 28 is a flowchart showing an example of the procedure of the infusion volume control process. For example, the infusion volume control process is executed before the start of the mixed injection process. The infusion volume control process may be executed during the mixed injection process or after the mixed injection process is executed.

<Step S21>
First, in step S21, the second control unit 500 determines whether or not the drug in the drug container 10 used in the mixed injection process based on the preparation data is a powder drug. Here, when the second control unit 500 determines that the chemical is a powder (S21: Yes), the process shifts to step S22. Further, when the second control unit 500 determines that the chemical is not a powder, that is, the chemical is a chemical (S21: Yes), the process shifts to step S211.

<Step S22>
In step S22, the second control unit 500 calculates the difference between the amount of the infusion solution extracted from the infusion bag 12 and the amount of the liquid injected into the infusion bag 12 in the mixed injection process. For example, when the amount of liquid to be injected from the chemical container 10 into the infusion bag 12 is smaller than the amount of infusion required to dissolve the powdered medicine in the chemical container 10, the inside of the infusion bag 12 is used. The amount of liquid in the infusion bag 12 is less than the specified amount of liquid contained in the infusion bag 12. Therefore, in the infusion amount control process, the second control unit 500 has a difference (liquid) between the infusion amount extracted from the infusion bag 12 in the dissolution step and the liquid amount injected into the infusion bag 12 in the injection step. Whether or not there is a change in the amount of the liquid is determined based on the amount of change in the amount).

<Step S23>
In step S23, the second control unit 500 determines whether or not the difference calculated in step S22 is equal to or greater than a preset threshold value. As a result, when the difference is small, it is possible to perform an operation that does not require the prior work. It is conceivable that the threshold value is set at a predetermined ratio with respect to the capacity of the infusion bag 12, such as N% of the capacity of the infusion bag 12. It is also conceivable that the predetermined range is set to a specific value regardless of the capacity of the infusion bag 12.

Here, if it is determined that the difference is equal to or greater than the threshold value (S23: Yes), the process proceeds to step S24, and if it is determined that the difference is not equal to or greater than the threshold value (S23: No), the process proceeds. The infusion volume control process is completed. That is, when the difference is less than the threshold value, the replenishment step (S24) for replenishing the infusion solution in the infusion solution bag 12 is not executed. It is also conceivable that step S23 may be omitted.

<Step S24>
In step S24, the second control unit 500 executes a replenishment step of replenishing the infusion bag 12 with an amount of infusion solution corresponding to the difference calculated in step S22. Specifically, the second control unit 500 controls the first robot arm 21 and the second robot arm 22 in the replenishment step, and is housed in a replenishment container arranged in advance on the tray 101. The infusion solution is withdrawn by the syringe 11 and injected into the infusion solution bag 12. As a result, even after the mixed injection treatment is executed, the infusion bag 12 is in a state in which a predetermined amount of liquid as the amount of liquid in the infusion bag 12 is contained. Therefore, when the infusion solution in the infusion bag 12 is infused to the patient, the required time for the infusion administration coincides with the required time estimated from the specified amount of the infusion bag 12. The second control unit 500 controls the first robot arm 21 and the second robot arm 22, and is placed in the replenishment container previously placed on the above-mentioned storage shelf 33 or the like of the mixed injection processing chamber 104. It is also conceivable to withdraw the contained infusion solution with the syringe 11 and inject it into the infusion solution bag 12.

Here, the replenishment container is a resin infusion container, which is opened by twisting a plug portion formed on the upper part of the body portion. In this case, in the mixed injection device 1, the first robot arm 21 is in a state where one of the first robot arm 21 and the second robot arm 22 grips the body portion and the other grips the plug portion. And the replenishment container is opened by the relative rotation of the second robot arm 22. It is also conceivable that the replenishment container is the vial bottle 10B containing the infusion solution, or another infusion bag 12 arranged in the mixed injection processing chamber 104 as the replenishment container.

<Step S211>
On the other hand, in step S211 the second control unit 500 determines whether or not the amount of the liquid of the chemical injected into the infusion bag 12 is equal to or greater than the threshold value. As a result, when the amount of liquid of the chemical is small, the operation that does not require the prior work is possible. It is also possible that the threshold value in step S23 and the threshold value in step S211 are different. It is also conceivable that step S212, which will be described later, is executed on condition that the chemical is a liquid, that is, step S211 may be omitted.

Here, if it is determined that the liquid amount of the chemical is equal to or greater than the threshold value (S211: Yes), the process proceeds to step S212, and if it is determined that the liquid amount of the chemical is not equal to or greater than the threshold value (S211). : No), the process ends the infusion volume control process. That is, when the amount of the liquid of the chemical is less than the threshold value, the extraction step (S212) for extracting the infusion solution of the infusion solution bag 12 is not executed.

<Step S212>
In step S212, the second control unit 500 executes an extraction step of extracting an infusion solution in an amount corresponding to the liquid amount of the chemical from the infusion solution bag 12. As a result, even after the mixed injection treatment is executed, the infusion bag 12 is in a state in which a predetermined amount of liquid as the amount of liquid in the infusion bag 12 is contained. Therefore, when the infusion solution in the infusion bag 12 is infused to the patient, the required time for the infusion administration coincides with the required time estimated from the specified amount of the infusion bag 12. Specifically, the second control unit 500 controls the first robot arm 21 and the second robot arm 22 in the extraction step, extracts the infusion solution from the infusion bag 12 with the syringe 11, and the tray 101. It is injected into a extraction container arranged in advance in the above, and the extraction container is discarded in the garbage storage chamber 13a in the garbage lid 132a.

Here, the extraction container is the empty or used vial bottle 10B. Further, the second control unit 500 controls the first robot arm 21 and the second robot arm 22, and the infusion solution extracted from the infusion bag 12 by the syringe 11 is placed in the pre-described shelf of the mixed injection processing chamber 104. It is also conceivable to inject into a extraction container placed in advance on 33 or the like. Further, it is conceivable that the second control unit 500 places the withdrawal container as the replenishment container on the above-mentioned storage shelf 33 after the infusion solution is contained in the withdrawal container. It is also conceivable that the extraction container is another infusion bag 12 arranged in the mixed injection processing chamber 104.

By the way, as described above, in the infusion volume control process, before the tray 101 is inserted into the tray insertion port 114, the extraction container or the replenishment container placed on the tray 101 by the user is placed. It is possible that it will be used. Therefore, in the mixed injection device 1, the first control unit 400 uses the extraction container or the replenishment container as the content of the pre-work in the step S6 in the loading preparation process (see FIG. 18). It is conceivable to notify that the container is placed on the tray 101. For example, when the amount of liquid in the infusion bag 12 increases, a message indicating that the extraction container is placed on the tray 101 is displayed, and when the amount of liquid in the infusion bag 12 decreases, the message is displayed. It is conceivable that a message indicating that the replenishment container is placed on the tray 101 is displayed. It is also conceivable that the second control unit 500 can perform the step of injecting the other chemicals to be injected in the infusion operation into the infusion bag 12 together with the mixed injection process. In this case, in step S6 in the loading preparation process, it is conceivable that a message indicating that the chemical container 10 corresponding to the other chemical is placed on the tray 101 is displayed.

Further, in step S6, the first control unit 400 displays an operation key for allowing the user to select whether to execute the pre-work manually or automatically as the content of the pre-work. Can be considered. In this case, the first control unit 400 records the selection result by the user in the data storage unit 404 as the preparation history of the preparation data. Then, when it is selected that the first control unit 400 manually executes the pre-work, the first control unit 400 causes the user to perform the pre-work as shown in the display screen D13 shown in FIG. It is conceivable to give a notification to encourage execution. Further, the first control unit 400 is for urging the tray 101 to place the extraction container or the replenishment container when it is selected to automatically execute the preliminary work. It is conceivable to give a notification.

[Other examples of infusion volume control processing]
Further, FIG. 29 is a flowchart showing another example of the infusion volume control process. In the example shown in FIG. 29, in the infusion volume control process, step S201 is executed before the step S21, and steps S23 and S211 are omitted.

<Step S201>
In step S201, the second control unit 500 determines whether or not the extraction container or the replenishment container is placed on the tray 101. Specifically, the second control unit 500 controls the first robot arm 21 in the mixed injection process, and together with the medicine container 10 and the syringe 11 from the tray 101, the extraction container or the replenishment container. Are taken out in order. Then, the second control unit 500 uses the chemical reading unit 34 to read a barcode for identifying the extraction container or the replenishment container from the extraction container or the replenishment container. After that, the second control unit 500 places the extraction container or the replenishment container on the above-mentioned storage shelf 33. As a result, when the chemical reading unit 34 reads the identification information of the extraction container or the replenishment container, the second control unit 500 puts the extraction container or the replenishment container on the tray 101. It is possible to determine that it was placed. Here, when it is determined that the extraction container or the replenishment container has been placed (S201: Yes), the process proceeds to the step S21. On the other hand, when it is determined that the extraction container or the replenishment container is not placed (S201: No), the infusion volume control process ends. In this way, instead of the method of determining whether or not the amount of liquid in the infusion bag 12 has changed as in step S23 and step S211, the presence or absence of the extraction container or the replenishment container in step S201 is determined. It is also possible to judge. In addition, the second control unit 500 may determine in step S201 whether or not the extraction container or the replenishment container is included as a necessary equipment in the preparation data.

[Third Embodiment]
In the mixed injection device 1, after the loading preparation process is completed, the mixed injection process is started when it is detected by a sensor (not shown) that the tray 101 is loaded from the tray insertion port 114. On the other hand, in the present embodiment, the first control unit 400 and the second control unit 500 can automatically start the mixed injection process based on the preparation data at a reserved execution time. explain.

[Reservation setting process]
First, an example of the reservation setting process executed by the first control unit 400 will be described with reference to FIG. 30.

<Step S31>
First, in step S31, the first control unit 400 waits for a user's reservation setting operation for the operation unit 405 (S31: No). Then, when the first control unit 400 determines that the reservation setting operation has been performed (S31: Yes), the process shifts to step S32.

Specifically, the first control unit 400 displays the reservation screen and displays the reservation screen when a predetermined operation for displaying the reservation screen is performed by using the operation unit 405. In response to the operation of the operation unit 405 during the display, the reservation setting operation of the mixed injection process based on the preparation data is accepted. In the reservation setting operation, the preparation data to be reserved is selected, and the completion time of the mixed injection process of the preparation data is specified. In the reservation setting operation, the start time of the mixed injection process may be specified instead of the completion time of the mixed injection process of the preparation data. For example, the completion time or the start time is specified by inputting a date and time. Further, the completion time or the start time may be specified by inputting the elapsed time from the current date and time.

<Step S32>
In step S32, the first control unit 400 determines whether or not the total of the number of the prepared data already reserved and the current reservation is within a predetermined maximum reserved number. The maximum number of reservations is a number predetermined by the specifications of the mixed injection device 1, and corresponds to the number of trays 101 that can be loaded in the mixed injection device 1. In the mixed injection device 1 according to the present embodiment, only one tray 101 can be inserted into the tray insertion port 114. Therefore, in step S32, whether or not the preparation data already reserved exists. It will be judged. Here, when the first control unit 400 determines that the total is within the maximum reserved number (S32: Yes), the process shifts to step S33. Further, when the first control unit 400 determines that the total is not within the maximum reserved number (S32: No), for example, after displaying a predetermined error message or the like, the process returns to the step S31.

<Step S33>
In step S33, the first control unit 400 executes a process for arbitrarily reserving the mixed injection process based on the preparation data in response to the reservation setting operation. Here, the first control unit 400 when executing the process for enabling the reservation of the mixed injection process is an example of the reservation setting process unit. Specifically, the first control unit 400 executes a time when the mixed injection process based on the preparation data is completed at the completion time based on the preparation data and the completion time specified by the reservation setting operation. Specify as the time. Therefore, for example, the data storage unit 404 stores the required time for each preparation content indicated by the preparation data, or stores information for calculating the required time, and the first control unit 400 Specifies the execution time based on the required time. When the start time of the mixed injection process is specified by the reservation setting operation, the start time is specified as the execution time. Then, the first control unit 400 transmits the reservation information such as the execution time set for the preparation data together with the preparation data to the second control unit 500. For example, in the reservation information, in addition to the execution time, information indicating a correspondence relationship between the information for identifying the preparation data to be reserved and the identification information in the tray 101 corresponding to the preparation data is also included. included. The first control unit 400 can also cancel or change the reservation of the mixed injection process based on the preparation data set in the reservation setting process.

[Mixed injection control processing]
Subsequently, an example of the mixed injection control process executed by the second control unit 500 will be described with reference to FIG. 31.

<Step S41>
In step S41, the second control unit 500 determines whether or not the tray 101 is loaded in the mixed injection processing unit 300 (S41: No). Specifically, the second control unit 500 is loaded with the tray 101 when the identification information is read by the IC reader 101c from the IC tag 101b of the tray 101 loaded from the tray insertion port 114. Judge. Here, when the second control unit 500 determines that the tray 101 is loaded (S41: Yes), the process shifts to step S42. The second control unit 500 waits for the process in step S41 until it is determined that the tray 101 is loaded (S41: No).

In this embodiment, a case where the execution of the mixed injection process is suspended while the tray 101 is loaded from the tray insertion port 114 will be described. Thereby, for example, when the execution of the mixed injection process based on the preparation data is canceled, the tray 101 can be discharged from the tray insertion port 114.

On the other hand, when the tray 101 is loaded into the mixed injection processing unit 300, the second control unit 500 executes the mixed injection process in a state where the equipment in the tray 101 is taken into the mixed injection processing unit 300. It is also possible to put it on hold. Specifically, the chemical container 10 and the syringe 11 placed on the tray 101 are taken into the mixed injection processing chamber 104. In this way, the chemical container 10 and the syringe 11 and the like are housed in the mixed injection processing chamber 104 provided with the exhaust system (not shown), so that dust to the chemical container 10 and the syringe 11 and the like is dusted. Adhesion is suppressed, and the user's hand or the like is prevented from touching the medicine container 10 and the syringe 11. Further, it is conceivable that the infusion bag 12 placed on the tray 101 is transported to the tray transport end portion 110a after the equipment is taken out from the tray 101. As a result, the adhesion of dust to the infusion bag 12 is suppressed, and the user's hand or the like is prevented from being touched.

<Step S42>
In step S42, the second control unit 500 determines whether or not the tray 101 loaded in the tray insertion port 114 corresponds to the preparation data whose execution time has come. Specifically, the second control unit 500 determines whether or not the preparation data to be reserved is associated with the identification information read by the IC reader 101c from the IC tag 101b of the tray 101. .. For example, the reservation information received from the first control unit 400 includes information indicating a correspondence relationship between the preparation data of the reservation target in the reservation information and the identification information of the tray 101, and the second It is conceivable that the control unit 500 determines whether or not the tray 101 corresponds to the preparation data whose execution time has come, based on the reservation information. Then, when the second control unit 500 determines that the tray 101 corresponds to the preparation data whose execution time has come (S42: Yes), the process shifts to step S43. On the other hand, when the second control unit 500 determines that the tray 101 does not correspond to the preparation data whose execution time has come (S42: No), the process shifts to step S44. Even if the determination of suitability of the tray 101 is not executed, an error will occur if it is determined that the equipment contained in the tray 101 and the preparation data do not match in the mixed injection process. , The process of step S42 may be omitted. That is, the second control unit 500 uses the tray 101 loaded in the tray insertion port 114 to perform the mixed injection process without determining the suitability of the tray 101 when the execution time arrives. It is conceivable to start the execution of. In this case, the reservation information may not include information indicating the correspondence between the preparation data of the reservation target and the identification information of the tray 101 in the reservation information.

<Step S43>
In step S43, the second control unit 500 waits for the arrival of the execution time received from the first control unit 400 (S43: No). Then, when the second control unit 500 determines that the execution time has arrived (S43: Yes), the process shifts to step S44.

<Step S44>
In step S44, the second control unit 500 starts the mixed injection process based on the preparation data corresponding to the tray 101 loaded in the tray insertion port 114. That is, when the tray 101 is the prepared data to be reserved, the mixed injection process is started at the timing when the execution time arrives. Here, the second control unit 500 when executing the processing is an example of the reservation execution processing unit. On the other hand, when the tray 101 is not the preparation data to be reserved, the mixed injection process is started at the timing when the tray 101 is loaded into the tray insertion port 114.

As a result, the mixed injection device 1 can execute the mixed injection process at a predetermined execution time such as midnight or a holiday by reserving the execution of the mixed injection process of the prepared data.

Here, the case where the execution of the mixed injection process is started when the execution time of the mixed injection process set in the reservation setting process is reached by the second control unit 500 has been described as an example. It is also conceivable that the first control unit 400 determines whether or not the execution time of the mixed injection process set in the reservation setting process has arrived. In this case, the first control unit 400 transmits the preparation data to the second control unit 500 to start the mixed injection process when the execution time arrives. That is, it is conceivable that the first control unit 400 is an example of the reservation execution processing unit.

By the way, in the present embodiment, the configuration in which one tray 101 can be inserted into the mixed injection device 1 has been described. On the other hand, the mixed injection device 1 also includes a tray accommodating portion for accommodating a plurality of the trays 101 and a tray insertion portion for taking out an arbitrary tray 101 from the tray accommodating portion and inserting it into the tray insertion port 114. It can be considered as another embodiment. Thereby, in the reservation setting process, it is possible to accept reservations for the mixed injection process of a plurality of the prepared data, and in the mixed injection control process, the mixed injection process for each of the reserved prepared data is performed by each of the above. It is possible to start at the execution time.

[Fourth Embodiment]
By the way, it is considered that the mixed injection device 1 has a preparation list output function capable of outputting a preparation schedule list sheet S100 indicating a schedule for executing the mixed injection process based on the preparation data received from the higher system 600. As a result, the user can confirm in advance the execution schedule of the mixed injection process based on the preparation data by referring to the preparation schedule list sheet S100.

Specifically, the first control unit 400 is a condition input screen (not shown) for inputting the creation conditions of the preparation schedule list sheet S100 in response to a preset list output request operation for the operation unit 405. Is displayed. In the preparation conditions, as conditions for narrowing down the preparation data to be output to the preparation schedule list sheet S100, for example, the contents of items such as preparation date, prescription classification, clinical department, and ward included in the preparation data are specified. To. Then, when the creation condition is input on the condition input screen, the first control unit 400 reads out the preparation data matching the creation condition from the data recording unit 404, and outputs the preparation schedule list sheet S100. Data is created and displayed and output on the display 203.

Here, FIG. 32 is a diagram showing an example of the preparation schedule list sheet S100. As shown in FIG. 32, in the preparation schedule list sheet S100, the preparation data matching the preparation conditions are displayed in a list, and the area A32 and the like indicating the necessity and contents of the preliminary work for each of the preparation data and the like are displayed. Information is displayed. Specifically, the first control unit 400 displays a blank in the area A32 for the preparation data that does not require the prior work among the preparation data. On the other hand, the first control unit 400 causes the area A32 to display the characters "manipulation" for the preparation data that requires the extraction work as the preliminary work among the preparation data. Further, the first control unit 400 causes the area A32 to display the characters "manual injection" for the preparation data in which the replenishment work or the injection work is required as the preliminary work among the preparation data. In the area A32, the replenishment work and the injection work may be identifiablely displayed in different characters.

After that, the first control unit 400 is a printer (not shown) that is communicably connected to the mixed injection device 1 or a printer (not shown) provided in the mixed injection device 1 in response to a user operation on the operation unit 405. The print data of the preparation schedule list sheet S100 is output to. As a result, the preparation schedule list sheet S100 is printed by the printer. It is also conceivable that the higher-level system 600 can display or print out the preparation schedule list sheet S100.

As described above, in the configuration in which the preparation schedule list sheet S100 can be output by the mixed injection device 1 or the higher system 600, the user can grasp the execution schedule of the mixed injection process based on the preparation data in advance. In particular, since the necessity of the preliminary work is displayed on the preparation schedule list sheet S100, it is possible to grasp in advance the amount of work of the user associated with the execution of the mixed injection process for each of the preparation data. ..

1 Mixed injection device 10 Chemical container 11 Syringe 12 Infusion bag 21 1st robot arm 22 2nd robot arm 31 Ampoule cutter 32 Stirrer 33 Mounting shelf 34 Chemical reading unit 35 Weighing meter 36 Needle bending detection unit 37 Mixed injection communication port 100 Mixed injection control Unit 101 Tray 101a Electronic paper 101b IC tag 101c IC reader 110 Tray transport unit 200 Chemical loading unit 300 Mixed injection processing unit 400 1st control unit 500 2nd control unit 600 Upper system

Claims (5)

A mixed injection processing unit including a drive unit that can operate the syringe,
A mixed injection control unit that controls the mixed injection processing unit to suck the drug from the drug container with a syringe and execute the mixed injection process of injecting the drug from the syringe into the infusion container based on the preparation data.
A reservation setting processing unit capable of arbitrarily reserving execution of the mixed injection processing based on one or more of the preparation data, and
A reservation execution processing unit capable of executing the mixed injection processing when the execution time of the mixed injection processing based on the preparation data reserved by the reservation setting processing unit has arrived, and a reservation execution processing unit.
A mixed injection device. The reservation execution processing unit suspends the execution of the mixed injection process in a state where the tray on which the equipment used for the mixed injection process is placed is loaded in the mixed injection device.
The mixed injection device according to claim 1. A tray accommodating portion that can accommodate a plurality of trays on which the equipment used for the mixed injection process is placed,
A tray insertion unit for inserting the tray housed in the tray storage unit into the mixed injection processing unit, and a tray insertion unit.
The mixed injection device according to claim 1 or 2. The reservation setting processing unit can accept reservations for the mixed injection processing of a plurality of the adjustment data.
The reservation execution processing unit starts the mixed injection processing for each of the adjustment data at the respective execution time.
The mixed injection device according to claim 3. To a processor that controls a mixed injection device that includes a mixed injection processing unit that includes a drive unit that can operate the syringe.
A mixed injection step of controlling the mixed injection processing unit to perform a mixed injection process of sucking the drug from the drug container with a syringe and injecting the drug from the syringe into the infusion container based on the preparation data.
A reservation step that optionally reserves the execution of the mixed injection process based on one or more of the preparation data.
A reservation execution step for executing the mixed injection process when the execution time of the mixed injection process based on the preparation data reserved by the reservation step has arrived, and a reservation execution step for executing the mixed injection process.
A program that causes the processor to execute.